CN104679961B - Electromagnetism docks control method and device - Google Patents
Electromagnetism docks control method and device Download PDFInfo
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- CN104679961B CN104679961B CN201510116279.4A CN201510116279A CN104679961B CN 104679961 B CN104679961 B CN 104679961B CN 201510116279 A CN201510116279 A CN 201510116279A CN 104679961 B CN104679961 B CN 104679961B
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Abstract
The invention discloses a kind of electromagnetism to dock control method and device, and using " normal magnetic moment controls+1 magnetic moment switching " pattern, wherein electromagnetism docking control method includes：According to the magnetic induction intensity of target electromagnetic device, the initial distance between initial velocity, initial magnetic moment and the target electromagnetic device of calutron and tracking calutron barycenter is followed the trail of, calculates the initial mechanical energy of docking system；The initial mechanical energy of the switch speed, initial magnetic moment and the docking system that are set according to tracking calutron, calculate the switching distance between target electromagnetic device corresponding with switch speed and tracking calutron barycenter；According to switch speed, switching distance, the expectation docking speed of tracking calutron and it is expected to dock distance, calculate the switching magnetic moment of tracking calutron；When the speed for following the trail of calutron becomes switch speed, the magnetic moment for following the trail of calutron is transformed to switch magnetic moment, solves existing method complex designing and the technical problem higher to control design case robustness requirement.
Description
Technical field
The present invention relates to motion state control field, especially, is related to a kind of electromagnetism docking control method and device.
Background technology
In-orbit service technology represents forward position and the emphasis direction of space science development, and Spacecraft Rendezvous docking is that it is crucial
Basic technology；Meanwhile with in-orbit spacecraft number increase and the enhancing of space tasks complexity, normalization in-orbit service
Demand is gradually shown especially.Spacecraft electromagnetism docking technique is actively to produce magnetic field by calutron on star, and utilizes phase between magnetic field
Relative position/posture between power/Torque Control spacecraft of interaction generation, so as to reach docking purpose.Spacecraft electromagnetism docks
Technology provides a kind of new docking mode for normalization in-orbit service, can effectively avoid traditional thruster mode intrinsic push away
Enter agent consumption, plume contamination and optical interference, there is non-contact, continuous, reversible and Synchronization Control ability, have a extensive future.
Spacecraft launching site typically uses both of which：Hardness docking, flexible docking.Hardness docking can be subsequent mechanical mechanism
Locking provides triggering momentum, and flexible docking is more advanced pattern, and it adjusts docking contact velocity according to demand, can avoid pair
Connect impact.Active force/torque has continuous and reciprocal characteristics used by spacecraft electromagnetism docks, and can be used soft to realize
Property docking control.In addition, electromagnetic force/moment loading has from docking, linear momentum/angular momentum/conservation of mechanical energy characteristic, profit in itself
It can simplify docking control design case with these characteristics and overcome Dynamic model error to influence.
Existing spacecraft electromagnetism docking research is nearly all using " particular task → Dynamic Modeling → control law is set at present
Meter " thinking, without the potentiality for fully excavating electromagnetism docking itself；In addition, there is complex designing, be less frequently utilized electromagnetism in existing method
Act on self character, it is higher to control design case robustness requirement the problems such as, on electromagnetism dock intrinsic propesties and using its carry out
The research of control has not yet to see the document published.
The content of the invention
The invention provides a kind of electromagnetism dock control method and device, with solve complex designing existing for existing method,
It is less frequently utilized electromagnetic action self character and the technical problem higher to control design case robustness requirement.
The technical solution adopted by the present invention is as follows：
According to an aspect of the invention, there is provided a kind of electromagnetism docking control method, comprises the following steps：
According to the magnetic induction intensity of target electromagnetic device, the initial velocity, initial magnetic moment and target for following the trail of calutron are electric
Initial distance between magnetic device and tracking calutron barycenter, calculate the initial mechanical energy of docking system；
Switch speed, initial magnetic moment and the initial mechanical energy set according to tracking calutron, is calculated and switch speed pair
Switching distance between the target electromagnetic device and tracking calutron barycenter answered；
According to switch speed, switching distance, the expectation docking speed of tracking calutron and it is expected to dock distance, calculate
Follow the trail of the switching magnetic moment of calutron；
When the speed for following the trail of calutron becomes switch speed, the magnetic moment for following the trail of calutron is transformed to switch magnetic
Square.
Further, calculating the initial mechanical of docking system can include：
Calculate magnetic induction intensity caused by target electromagnetic device at tracking calutron；
Filled according to speed, magnetic moment and the magnetic induction intensity of tracking calutron, and tracking calutron with target electromagnetic
The centroid distance put, calculate the mechanical energy calculation formula of docking system；
According to initial velocity, initial magnetic moment and initial distance, initial mechanical energy is calculated by mechanical energy calculation formula.
Further, it is determined that the switching magnetic moment of calutron includes：
According to switch speed and switching distance, it is determined that to calculate the first formula of mechanical energy after docking system switches；
According to the expectation docking speed of tracking calutron and it is expected to dock distance, it is determined that cutting to calculate docking system
Change the second formula of rear mechanical energy；
The switching magnetic moment of tracking calutron is calculated based on the first formula and the second formula.
Further, electromagnetism docking control method also includes：
Magnetic induction intensity, initial magnetic moment and switch speed are adjusted, to optimize the docking total time of docking system
With power consumption index；
According to multiple different parameters calculate with parameter multiple switching magnetic moments correspondingly, and by every group of parameter and with
Switching magnetic moment is stored and form is made in pairs corresponding to it, and according to the parameter of reality, corresponding switching is selected with table lookup
Magnetic moment, parameter include one or more in initial velocity, initial magnetic moment, initial distance and switch speed.
Further, calculate docking system initial mechanical can before also include：
Differentiate whether docking situation belongs to one-dimensional situation or two-dimensional case：
If docking situation is one-dimensional situation, judge to follow the trail of calutron and target electromagnetic device pole orientation whether one
Cause, if then performing next step, if otherwise judging, docking situation can not be realized from docking；
If it is two-dimensional case to dock situation, judge to dock whether situation meets decision condition, if then performing next step
Suddenly, if otherwise judging, docking situation can not realize that decision condition is as follows from docking：
In formula, μTIt is the magnetic moment of target electromagnetic device, μCIt is the magnetic moment for following the trail of calutron, α is that target electromagnetic device is relative
In the angle of target electromagnetic device and tracking calutron barycenter line, β is tracking calutron relative to target electromagnetic device
Angle with following the trail of calutron barycenter line, m are to follow the trail of calutron quality, ωzIt is tracking calutron and target electromagnetic
The angular speed that device barycenter line rotates, d are to follow the trail of the distance between calutron and target electromagnetic device barycenter, μ0It is vacuum
Magnetic conductivity.
According to another aspect of the present invention, a kind of electromagnetism butt-joint control device is additionally provided, including：
Initial mechanical can determine that module, for the magnetic induction intensity according to target electromagnetic device, follow the trail of the first of calutron
Initial distance between beginning speed, initial magnetic moment and target electromagnetic device and tracking calutron barycenter, calculates docking system
Initial mechanical energy；
Switching is apart from determining module, for switch speed, initial magnetic moment and the initial machine set according to tracking calutron
Tool energy, calculate the switching distance between target electromagnetic device corresponding with switch speed and tracking calutron barycenter；
Switch magnetic moment determining module, for docking speed according to the expectation of switch speed, switching distance, tracking calutron
And it is expected to dock distance, calculate the switching magnetic moment of tracking calutron；
Magnetic moment handover module, for when the speed for following the trail of calutron becomes switch speed, calutron will to be followed the trail of
Magnetic moment is transformed to switch magnetic moment.
Further, initial mechanical can determine that module includes：
Magnetic induction intensity calculates module, strong for calculating magnetic induction caused by target electromagnetic device at tracking calutron
Degree；
Mechanical energy calculation formula determining module, for according to tracking calutron speed, magnetic moment and magnetic induction intensity, with
And the centroid distance of tracking calutron and target electromagnetic device, it is determined that to calculate the mechanical energy calculation formula of docking system；
Initial mechanical energy computing module, for according to initial velocity, initial magnetic moment and initial distance, being calculated by mechanical energy
Formula calculates initial mechanical energy.
Further, switching magnetic moment determining module includes：
First formula determining module, for according to switch speed and switching distance, it is determined that to calculate docking system switching
First formula of mechanical energy afterwards；
Second formula determining module, for docking speed according to the expectation of tracking calutron and it is expected to dock distance,
It is determined that to calculate the second formula of mechanical energy after docking system switches；
Switch magnetic moment computing module, for calculating the switching magnetic of tracking calutron based on the first formula and the second formula
Square.
Further, electromagnetism butt-joint control device also includes adjustment module, and adjustment module is used for magnetic induction intensity, initially
Magnetic moment and switch speed are adjusted, to optimize the docking total time of docking system and power consumption index；
Device includes memory module and enquiry module, wherein, memory module is used to be calculated according to multiple different parameters
Every group of parameter and corresponding switching magnetic moment are simultaneously stored and table are made by multiple switching magnetic moments one-to-one with parameter in pairs
Lattice, enquiry module are used for the parameter according to reality and include initial speed with the corresponding switching magnetic moment of table lookup selection, parameter
One or more of degree, initial magnetic moment, initial distance and switch speed.
Further, the electromagnetism butt-joint control device also includes docking situation discrimination module, for differentiating that docking situation is
It is no to belong to one-dimensional situation or two-dimensional case：
If docking situation is one-dimensional situation, judge to follow the trail of calutron and target electromagnetic device pole orientation whether one
Cause, if then performing initial mechanical can determine that module, docked if otherwise judging docking situation can not realize certainly；
If it is two-dimensional case to dock situation, judge to dock whether situation meets decision condition, if then performing initial machine
Tool can determine that module, if otherwise judging, docking situation can not realize that decision condition is as follows from docking：
In formula, μTIt is the magnetic moment of target electromagnetic device, μCIt is the magnetic moment for following the trail of calutron, α is that target electromagnetic device is relative
The angle of line between target electromagnetic device barycenter and tracking calutron barycenter, β are tracking calutrons relative to target
The angle of line between calutron barycenter and tracking calutron barycenter, m are to follow the trail of calutron quality, ωzIt is tracking electricity
The angular speed that magnetic device and target electromagnetic device barycenter line rotate, d be tracking calutron and target electromagnetic device barycenter it
Between distance, μ0It is space permeability.
The invention has the advantages that：
Electromagnetism of the present invention docks control method and device, according to the magnetic induction intensity of target electromagnetic device, follows the trail of electromagnetic installing
Initial distance between initial tracking speed, initial magnetic moment and the target electromagnetic device and tracking calutron barycenter put, is calculated
The initial mechanical energy of docking system；Switch speed, initial magnetic moment and the initial mechanical energy set according to tracking calutron, is calculated
Switching distance between target electromagnetic device corresponding with switch speed and tracking calutron barycenter；According to switch speed, cut
Change distance, tracking calutron expectation dock between speed and target electromagnetic device and tracking calutron barycenter away from
From calculating the switching magnetic moment of calutron；When the speed for following the trail of calutron becomes switch speed, calutron will be followed the trail of
Magnetic moment is transformed to switch magnetic moment.Electromagnetism of the present invention docks control method and device, using " normal magnetic moment controls+1 magnetic moment switching "
Pattern, using electromagnetic action self character, dock control for electromagnetism and provide a kind of simple and rapid design method, there is design
Parameter is few, permanent magnetic moment pattern, strong robustness feature, solves complex designing existing for existing method, is difficult by electromagnetic action
Self character and the technical problem higher to control design case robustness requirement.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do 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-dimensional electromagnetism docking situation schematic diagram of the preferred embodiment of the present invention；
Fig. 4 and Fig. 5 is that the one-dimensional electromagnetism of the preferred embodiment of the present invention docks magnetic moment direction schematic diagram certainly；
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 control result of the preferred embodiment of the present invention under the conditions of different switch speeds；
Fig. 9 is control result of the preferred embodiment of the present invention under different initial tracking velocity conditions；
Figure 10 is control result of the preferred embodiment of the present invention under the conditions of different initial distances.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
According to an aspect of the present invention, reference picture 1, the preferred embodiments of the present invention provide a kind of electromagnetism docking control
Method, comprise the following steps：
Step S101, according to the magnetic induction intensity of target electromagnetic device, follow the trail of the initial velocity of calutron, initial magnetic moment
Initial distance between target electromagnetic device and tracking calutron barycenter, calculate the initial mechanical energy of docking system；
Step S102, switch speed, initial magnetic moment and the initial mechanical energy set according to tracking calutron, calculates and cuts
Switching distance between target electromagnetic device corresponding to throw-over degree and tracking calutron barycenter；
Step S103, speed is docked according to the expectation of switch speed, switching distance, tracking calutron and it is expected to dock
Distance, calculate the switching magnetic moment of tracking calutron；
Step S104, when the speed for following the trail of calutron becomes switch speed, the magnetic moment for following the trail of calutron is converted
To switch magnetic moment.
The embodiment of the present invention, using " normal magnetic moment controls+1 magnetic moment switching " pattern, using electromagnetic action self character, it is
Electromagnetism docking control provides a kind of simple and rapid design method, has few design parameter, permanent magnetic moment pattern, strong robustness
Feature, solve complex designing existing for existing method, be difficult by electromagnetic action self character and to control design case robust
Property require higher technical problem.
Alternatively, step S101, calculating the initial mechanical of docking system can include：Calculate target electricity at tracking calutron
Magnetic induction intensity caused by magnetic device；
According to tracking speed, magnetic moment and the magnetic induction intensity of tracking calutron, and tracking calutron and target electricity
The centroid distance of magnetic device, calculate the mechanical energy calculation formula of docking system；
According to initial velocity, initial magnetic moment and initial distance, initial mechanical energy is calculated by mechanical energy calculation formula.
Alternatively, step S103, determining the switching magnetic moment of calutron includes：
According to switch speed and switching distance, it is determined that to calculate the first formula of mechanical energy after docking system switches；
According to the expectation docking speed of tracking calutron and it is expected to dock distance, it is determined that cutting to calculate docking system
Change the second formula of rear mechanical energy；
The switching magnetic moment of tracking calutron is calculated based on the first formula and the second formula.
Wherein, the initial mechanical energy calculation formula of docking system is as follows：
In formula, BT(d0) it is magnetic induction intensity, v caused by target electromagnetic device at tracking calutron0It is tracking electromagnetic installing
The initial velocity put, m are to follow the trail of calutron quality, μTIt is the magnetic moment of target electromagnetic device, μC0It is the first of tracking calutron
Beginning magnetic moment, μ0It is space permeability, d0It is target electromagnetic device and follows the trail of the initial distance between calutron barycenter, E0It is pair
The initial kinetic energy of welding system, V0It is the initial magnetic potential energy of docking system, C0It is the initial mechanical energy of docking system.
In the present embodiment, the formula that initial mechanical energy is calculated using the switch speed for following the trail of calutron is as follows：
In formula, v1Be follow the trail of calutron switch speed, d1It is between target electromagnetic device and tracking calutron barycenter
Switching distance, E1It is that the speed of tracking calutron is changed into the kinetic energy of docking system during switch speed, V1It is tracking calutron
Speed be changed into the magnetic potential energy of docking system during switch speed., can quick obtaining d using above-mentioned two formula1Value.
In the present embodiment, the first formula is as follows：
In formula, μC1Be follow the trail of calutron switching magnetic moment, V2It is that the magnetic moment for following the trail of calutron is changed into after switching magnetic moment
The magnetic potential energy of docking system, C1It is that the magnetic moment of tracking calutron is changed into the mechanical energy of docking system after switching magnetic moment.
Meeting electromagnetism from when docking magnetic moment condition, two calutrons can realize self alignment and automatic absorbing, but dock
Impact velocity is excessive, need to apply master control control.Beeline approaching section is docked for electromagnetism, two calutrons are characterized with respect to structure with Fig. 2
Shape.
In the present embodiment, the second formula is as follows：
In formula, vsoftIt is that speed, reference picture 2, d are docked in the expectation that calutron is followed the trail of during docking contactfWhen being docking contact
Distance, E are docked in expectation between target electromagnetic device and tracking calutron barycenterfIt is that the speed change for following the trail of calutron schedules to last
The kinetic energy of docking system, V when hoping docking speedfIt is that the magnetic moment for following the trail of calutron is changed into docking when switching magnetic moment and docking contact
The magnetic potential energy of system, CfThe mechanical energy of docking system when being docking contact.
Utilize C1And CfIt is equal, you can switching magnetic moment μ is calculatedC1Value.
It is assumed that the parameter of certain docking mission is：
Take and determine switch speed, you can try to achieve μ using above-mentioned parameterC1, analyze different switch speeds, initial velocity, initially away from
Switch the solution of magnetic moment and corresponding control result from the case of, as shown in Fig. 8 to Figure 10, the simulation results show present invention
The validity of the method and device of proposition.
In the present embodiment, two calutron relative motions regard target electromagnetic device ' T ' as static, and follow the trail of electromagnetic installing
' C ' is put with respect to its motion, then the magnetic induction intensity calculating formula of target electromagnetic device ' T ' is as follows：
In formula, reference picture 2, μ0It is space permeability, μTIt is the magnetic moment of target electromagnetic device, d is the matter of two calutrons
Heart distance,It is the unit vector of two barycenter lines, B (d) is magnetic induction intensity.
Alternatively, electromagnetism docking control method also includes：
Magnetic induction intensity, initial magnetic moment and switch speed are adjusted, to optimize the docking total time of docking system
With power consumption index；
According to multiple different parameters calculate with parameter multiple switching magnetic moments correspondingly, and by every group of parameter and with
Switching magnetic moment is stored and form is made in pairs corresponding to it, and according to the parameter of reality, corresponding switching is selected with table lookup
Magnetic moment, parameter include one or more in initial tracking speed, initial magnetic moment, initial distance and switch speed.
, it is necessary to be switched over by master control set to the magnetic moment for following the trail of calutron in whole electromagnetism docking control process,
And the space articulation task for complexity docks pose adjustment, it is necessary to according to actual conditions by multiple, when docking total with optimization
Between and energy consumption index, and carry out the complicated floating point arithmetic process resource excessive by master control set is taken, we by experiment,
Required parameter information is stored in form when pose adjustment is docked in the case of in advance will be various, passes through the mode master control tabled look-up
Device can obtain corresponding parameter rapidly, and be effectively saved the resource of master control set, ensure that docking gesture stability when
Effect property and accuracy, and have greatly expanded the application of the embodiment of the present invention.
Alternatively, also include before step S101：Differentiate whether docking situation belongs to one-dimensional situation or two-dimensional case：
If docking situation is one-dimensional situation, judge to follow the trail of calutron and target electromagnetic device pole orientation whether one
Cause, if then performing next step, if otherwise judging, docking situation can not be realized from docking；
If it is two-dimensional case to dock situation, judge to dock whether situation meets decision condition, if then performing next step
Suddenly, if otherwise judging, docking situation can not realize that decision condition is as follows from docking：
In formula, μTIt is the magnetic moment of target electromagnetic device, μCIt is the magnetic moment for following the trail of calutron, α is that target electromagnetic device is relative
In the angle of target electromagnetic device and tracking calutron barycenter line, β is tracking calutron relative to target electromagnetic device
Angle with following the trail of calutron barycenter line, m are to follow the trail of calutron quality, ωzIt is tracking calutron and target electromagnetic
The angular speed that device barycenter line rotates, d are to follow the trail of the distance between calutron and target electromagnetic device barycenter, μ0It is vacuum
Magnetic conductivity.
Relative attitude autoregistration inspired by phenomenon in by magnetic line of force principle and electromagnetism docking experiment, define electromagnetism docking from right
Connecing property is：Under the conditions of meeting certain magnetic moment vector, two calutron relative positions/posture is independently reduced to 0.Below, provide and ask
Electromagnetism is solved from the method for docking magnetic moment condition.
1) one-dimensional situation
One-dimensional docking situation is as shown in figure 3, ' T ' and ' C ' bar magnet characterizes target electromagnetic device and tracking electromagnetism respectively
Device, ' S ' and ' N ' represent south, the arctic of magnet, o respectivelyCMxEMyEMzEMFor the coordinates computed being connected with electromagnet center of mass motion
System.Base this, establishing one-dimensional electromagnetic force/moment model is
In formula, μ0It is space permeability, μTIt is the magnetic moment of target electromagnetic device, μCIt is the magnetic moment for following the trail of calutron, d is
The distance between two calutron barycenter, FCxEMAnd FTxEMIt is two calutrons along oCMxEMThe magnetic force of axle, τTxEMIt is target
Magnetic torque caused by calutron, τCxEMIt is magnetic torque caused by tracking calutron.Analysis understands that one-dimensional electromagnetism docks magnetic certainly
Moment condition is only needs to meet that direction is consistent, as shown in Fig. 4 or Fig. 5.
2) two-dimensional case
Two-dimensional electromagnetic docks situation as shown in fig. 6, between star under electromagnetic force/moment loading, and two calutrons are in docking plane
Kinematic Decomposition as shown in fig. 7, comprises：The rotations of two calutron barycenter lines, translation of the calutron along barycenter line with
And two respective attitude motion of calutron.The external interferences such as planar friction power are not considered, and two dimension docks two electromagnetic installings in plane
Put only by electromagnetic force, meet the conservation of momentum, conservation of angular momentum and the law of conservation of mechanical energy.It can be seen from 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
Establishing two-dimensional electromagnetic Docking dynamics model is
In formula, reference picture 6, ωzFor oCMxEMyEMzEMSystem is around oCMxIyIzIThe angular velocity of rotation of system, FCyEMTo follow the trail of electromagnetic installing
Put along oCMyEMThe magnetic force of axle.
Analyze above formula to understand, such as initial relative velocityCauseIt can makeOffset and revolved using electromagnetic force
Leave mental and physical efforts and guide stream oriented device to dock, be derived by needed for electromagnetism from docking and meet that condition is
In formula, reference picture 6, ωzFor oCMxEMyEMzEMSystem is around oCMxIyIzIThe angular velocity of rotation of system, α and β be respectively ' T ' and
' C ' is relative to oCMxEMAngle, μTIt is the magnetic moment of target electromagnetic device, μCIt is the magnetic moment for following the trail of calutron, m is tracking electromagnetism
The quality of device, d are to follow the trail of the distance between calutron and target electromagnetic device barycenter, μ0It is space permeability.
According to another aspect of the present invention, a kind of electromagnetism butt-joint control device is additionally provided, including：Initial mechanical can determine that
Module, for the magnetic induction intensity according to target electromagnetic device, the initial velocity, initial magnetic moment and target for following the trail of calutron are electric
Initial distance between magnetic device and tracking calutron barycenter, calculate the initial mechanical energy of docking system；
Switching is apart from determining module, for switch speed, initial magnetic moment and the initial machine set according to tracking calutron
Tool energy, calculate the switching distance between target electromagnetic device corresponding with switch speed and tracking calutron barycenter；
Switch magnetic moment determining module, for docking speed according to the expectation of switch speed, switching distance, tracking calutron
And it is expected to dock distance, calculate the switching magnetic moment of tracking calutron；
Magnetic moment handover module, for when the speed for following the trail of calutron becomes switch speed, calutron will to be followed the trail of
Magnetic moment is transformed to switch magnetic moment.
Alternatively, initial mechanical can determine that module includes：
Magnetic induction intensity calculates module, strong for calculating magnetic induction caused by target electromagnetic device at tracking calutron
Degree；
Mechanical energy calculation formula determining module is strong for the tracking speed according to tracking calutron, magnetic moment and magnetic induction
Degree, and the centroid distance of tracking calutron and target electromagnetic device, it is determined that being calculated to calculate the mechanical energy of docking system
Formula；
Initial mechanical energy computing module, for according to initial velocity, initial magnetic moment and initial distance, being calculated by mechanical energy
Formula calculates initial mechanical energy.
Alternatively, switching magnetic moment determining module includes：
First formula determining module, for according to switch speed and switching distance, it is determined that to calculate docking system switching
First formula of mechanical energy afterwards；
Second formula determining module, for docking speed according to the expectation of tracking calutron and it is expected to dock distance,
It is determined that to calculate the second formula of mechanical energy after docking system switches；
Switch magnetic moment computing module, for calculating the switching magnetic of tracking calutron based on the first formula and the second formula
Square.
Alternatively, electromagnetism butt-joint control device also includes adjustment module, and adjustment module is used for magnetic induction intensity, initial magnetic
Square and switch speed are adjusted, to optimize the docking total time of docking system and power consumption index；
Electromagnetism butt-joint control device includes memory module and enquiry module, wherein, memory module is used for according to multiple differences
Parameter calculate multiple switching magnetic moments one-to-one with parameter and every group of parameter and corresponding switching magnetic moment is paired
Store and form is made, enquiry module is used for the parameter according to reality and with the corresponding switching magnetic moment of table lookup selection, ginseng
Number includes one or more of initial velocity, initial magnetic moment, initial distance and switch speed.
Alternatively, electromagnetism butt-joint control device also includes docking situation discrimination module, for differentiating whether docking situation belongs to
In one-dimensional situation or two-dimensional case；
If docking situation is one-dimensional situation, judge to follow the trail of calutron and target electromagnetic device pole orientation whether one
Cause, if then performing initial mechanical energy computing module, docked if otherwise judging docking situation can not realize certainly；
If it is two-dimensional case to dock situation, judge to dock whether situation meets decision condition, if then performing initial machine
Tool energy computing module, if otherwise judging, docking situation can not realize that decision condition is as follows from docking：
In formula, μTIt is the magnetic moment of target electromagnetic device, μCIt is the magnetic moment for following the trail of calutron, α is that target electromagnetic device is relative
The angle of line between target electromagnetic device barycenter and tracking calutron barycenter, β are tracking calutrons relative to target
The angle of line between calutron barycenter and tracking calutron barycenter, m are to follow the trail of calutron quality, ωzIt is tracking electricity
The angular speed that magnetic device and target electromagnetic device barycenter line rotate, d be tracking calutron and target electromagnetic device barycenter it
Between distance, μ0It is space permeability.
For device embodiment, because it is substantially similar to embodiment of the method, so description is fairly simple, it is related
Part illustrates referring to the part of embodiment of the method.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (8)
1. a kind of electromagnetism docks control method, it is characterised in that comprises the following steps：
According to the magnetic induction intensity of target electromagnetic device, the initial velocity, initial magnetic moment and the target for following the trail of calutron are electric
Initial distance between magnetic device and the tracking calutron barycenter, calculate the initial mechanical energy of docking system；
Switch speed, the initial magnetic moment and the initial mechanical energy set according to the tracking calutron, calculating and institute
State the switching distance between the target electromagnetic device corresponding to switch speed and the tracking calutron barycenter；
According to the switch speed, the switching distance, the expectation docking speed of the tracking calutron and it is expected docking
Distance, calculate the switching magnetic moment of the tracking calutron；
The magnetic induction intensity, the initial magnetic moment and the switch speed are adjusted, to optimize the docking system
Docking total time and power consumption index；
Calculated and the parameter multiple switching magnetic moments, and by described in every group correspondingly according to multiple different parameters
Parameter and the corresponding switching magnetic moment store and form are made in pairs, according to the parameter of reality, with the table
The corresponding switching magnetic moment of lattice inquiry selection, the parameter include the initial velocity, the initial magnetic moment, it is described initially away from
From and the switch speed in one or more；
When the speed of the tracking calutron becomes the switch speed, the magnetic moment of the tracking calutron is transformed to
The switching magnetic moment.
2. electromagnetism according to claim 1 docks control method, it is characterised in that
Calculating the initial mechanical of docking system can include：
Calculate the magnetic induction intensity caused by the target electromagnetic device at the tracking calutron；
According to speed, magnetic moment and the magnetic induction intensity of the tracking calutron, and the tracking calutron and institute
The centroid distance of target electromagnetic device is stated, it is determined that to calculate the mechanical energy calculation formula of docking system mechanical energy；
According to the initial velocity, the initial magnetic moment and the initial distance, institute is calculated by the mechanical energy calculation formula
State initial mechanical energy.
3. electromagnetism according to claim 1 docks control method, it is characterised in that
Calculating the switching magnetic moment of the calutron includes：
According to the switch speed and the switching distance, it is determined that public to calculate first of mechanical energy after docking system switches
Formula；
Distance is docked according to the expectation docking speed of the tracking calutron and the expectation, it is determined that to calculate
State the second formula of mechanical energy after docking system switches；
The switching magnetic moment of the tracking calutron is calculated based on first formula and second formula.
4. electromagnetism according to any one of claims 1 to 3 docks control method, it is characterised in that is calculating docking system
Initial mechanical can also include before：
Differentiate whether docking situation belongs to one-dimensional situation or two-dimensional case：
If the docking situation is one-dimensional situation, the magnetic pole side of the tracking calutron and the target electromagnetic device is judged
Unanimously whether to, if then performing next step, if otherwise judging, the docking situation can not be realized from docking；
If the docking situation is two-dimensional case, judge whether the docking situation meets decision condition, if under then performing
One step, if otherwise judging, the docking situation can not realize that the decision condition is as follows from docking：
<mrow>
<msub>
<mi>&mu;</mi>
<mi>T</mi>
</msub>
<msub>
<mi>&mu;</mi>
<mi>C</mi>
</msub>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&alpha;</mi>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&beta;</mi>
<mo>-</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&alpha;</mi>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&beta;</mi>
<mo>)</mo>
</mrow>
<mo>></mo>
<mn>2</mn>
<msubsup>
<mi>&pi;m&omega;</mi>
<mi>z</mi>
<mn>2</mn>
</msubsup>
<msup>
<mi>d</mi>
<mn>5</mn>
</msup>
<mo>/</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<msub>
<mi>&mu;</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
In formula, μTIt is the magnetic moment of the target electromagnetic device, μCIt is the magnetic moment of the tracking calutron, α is the target electromagnetic
For device relative to the angle of the target electromagnetic device and the tracking calutron barycenter line, β is the tracking electromagnetic installing
The angle relative to the target electromagnetic device and the tracking calutron barycenter line is put, m is the tracking calutron
Quality, ωzIt is the angular speed that the tracking calutron and the target electromagnetic device barycenter line rotate, d is the tracking
The distance between calutron and the target electromagnetic device barycenter, μ0It is space permeability.
5. a kind of electromagnetism butt-joint control device, it is characterised in that the electromagnetism butt-joint control device includes：
Initial mechanical can determine that module, for the magnetic induction intensity according to target electromagnetic device, follow the trail of the initial speed of calutron
Initial distance between degree, initial magnetic moment and the target electromagnetic device and the tracking calutron barycenter, calculates docking system
The initial mechanical energy of system；
Switching is apart from determining module, for the switch speed, the initial magnetic moment and institute set according to the tracking calutron
State initial mechanical energy, calculate the target electromagnetic device corresponding with the switch speed with it is described follow the trail of calutron barycenter it
Between switching distance；
Switch magnetic moment determining module, for the expectation according to the switch speed, the switching distance, the tracking calutron
Dock speed and it is expected to dock distance, calculate the switching magnetic moment of the tracking calutron；
Adjustment module, the adjustment module are used to carry out the magnetic induction intensity, the initial magnetic moment and the switch speed
Regulation, to optimize the docking total time of the docking system and power consumption index；
Memory module and enquiry module, wherein, the memory module is used to be calculated and the ginseng according to multiple different parameters
The one-to-one multiple switching magnetic moments of number simultaneously store parameter described in every group and the corresponding switching magnetic moment in pairs
And form is made, the enquiry module is used for the parameter according to reality and described in table lookup selection accordingly
Switch magnetic moment, the parameter is included in the initial velocity, initial magnetic moment, the initial distance and the switch speed
It is one or more；
Magnetic moment handover module, for when the speed of the tracking calutron becomes the switch speed, electricity to be followed the trail of by described
The magnetic moment of magnetic device is transformed to the switching magnetic moment.
6. electromagnetism butt-joint control device according to claim 5, it is characterised in that
The initial mechanical can determine that module includes：
Magnetic induction intensity calculates module, for calculating magnetic induction caused by the target electromagnetic device at the tracking calutron
Intensity；
Mechanical energy calculation formula determining module is strong for the speed according to the tracking calutron, magnetic moment and the magnetic induction
Degree, and the centroid distance of the tracking calutron and the target electromagnetic device, it is determined that to calculate docking system machinery
The mechanical energy calculation formula of energy；
Initial mechanical energy computing module, for according to the initial velocity, the initial magnetic moment and the initial distance, passing through institute
State mechanical energy calculation formula and calculate the initial mechanical energy.
7. electromagnetism butt-joint control device according to claim 5, it is characterised in that
The switching magnetic moment determining module includes：
First formula determining module, for according to the switch speed and the switching distance, it is determined that to calculate docking system
First formula of mechanical energy after switching；
Second formula determining module, for docking speed and the expectation pair according to the expectation of the tracking calutron
Distance is connect, it is determined that to calculate the second formula of mechanical energy after the docking system switches；
Switch magnetic moment computing module, for calculating the tracking calutron based on first formula and second formula
The switching magnetic moment.
8. according to any described electromagnetism butt-joint control device of claim 5 to 7, it is characterised in that also include：
Situation discrimination module is docked, for differentiating whether docking situation belongs to one-dimensional situation or two-dimensional case：
If the docking situation is one-dimensional situation, the magnetic pole side of the tracking calutron and the target electromagnetic device is judged
Unanimously whether to, if then performing the initial mechanical can determine that module, if otherwise judging, the docking situation can not be realized certainly
Docking；
If the docking situation is two-dimensional case, judge whether the docking situation meets decision condition, if then performing institute
State initial mechanical and can determine that module, the docking situation can not realize that the decision condition is as follows from docking if otherwise judging：
<mrow>
<msub>
<mi>&mu;</mi>
<mi>T</mi>
</msub>
<msub>
<mi>&mu;</mi>
<mi>C</mi>
</msub>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&alpha;</mi>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&beta;</mi>
<mo>-</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&alpha;</mi>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&beta;</mi>
<mo>)</mo>
</mrow>
<mo>></mo>
<mn>2</mn>
<msubsup>
<mi>&pi;m&omega;</mi>
<mi>z</mi>
<mn>2</mn>
</msubsup>
<msup>
<mi>d</mi>
<mn>5</mn>
</msup>
<mo>/</mo>
<mn>3</mn>
<msub>
<mi>&mu;</mi>
<mn>0</mn>
</msub>
</mrow>
In formula, μTIt is the magnetic moment of the target electromagnetic device, μCIt is the magnetic moment of the tracking calutron, α is the target electromagnetic
For device relative to the angle of the target electromagnetic device and the tracking calutron barycenter line, β is the tracking electromagnetic installing
The angle relative to the target electromagnetic device and the tracking calutron barycenter line is put, m is the tracking calutron
Quality, ωzIt is the angular speed that the tracking calutron and the target electromagnetic device barycenter line rotate, d is the tracking
The distance between calutron and the target electromagnetic device barycenter, μ0It is space permeability.
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Non-Patent Citations (2)
| Title |
|---|
| "Self-docking capability and control strategy of electromagnetic docking technology";Yuan-Wen Zhang等;《Acta Astronautica》;20111231;第69卷(第11-12期);第1073-1081页 * |
| "空间电磁对接/分离动力学与控制研究";张元文;《中国博士学位论文全文数据库 工程科技II辑》;20141015(第10期);正文第21-30页第2.3,2.4,2.5节,第35页第3.2节,图2.6,2.7,2.9,2.11 * |
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