CN107300861B - Distributed computing method for spacecraft dynamics - Google Patents
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Abstract
A distributed computing method for spacecraft dynamics belongs to the technical field of control and simulation. The method utilizes a distributed computing strategy to distribute the dynamics simulation work of a plurality of spacecrafts among different simulation computers, each simulation computer only carries out dynamics calculation aiming at one spacecraft, and then the dynamics data of other spacecrafts are obtained through data exchange among the different simulation computers, so that the multi-spacecraft joint simulation test task is completed. The invention overcomes the defects of insufficient computational power, repeated modeling and the like of the simulation computer in the multi-target dynamics centralized simulation (such as spacecraft formation flight) of the existing centralized simulation technology, and improves the computational efficiency of the simulation.
Description
Technical Field
The invention relates to a distributed computing method for spacecraft dynamics, in particular to a distributed computing method for multi-target dynamics joint simulation, and belongs to the technical field of control and simulation.
Background
For the design and verification of a spacecraft GNC system, spacecraft dynamics simulation is an indispensable link and runs through the whole project. The simulation system simulates the space environment of the spacecraft and the orbit and attitude motion of the spacecraft, and provides a mathematical simulation environment for the design of a spacecraft control system. And the control system calculates control information according to attitude and orbit information and sensor information generated by the dynamics simulation system and feeds the control information back to the dynamics simulation system, so that the effectiveness of the control system is verified.
When the spacecraft is used for ground physical simulation experiments, the requirement on the dynamics calculation efficiency is very strict, and all dynamics calculation and sensor excitation work needs to be completed in one control period. However, because no distributed computing method exists at present, the spacecraft dynamics simulation is to establish a specific dynamics simulation model aiming at a task, and all dynamics calculations are carried out in the same simulation computer in a centralized manner. When a plurality of spacecrafts need to be jointly tested (such as tasks of formation flight of the spacecrafts and the like), the test work is difficult to complete by using the current dynamic simulation means. The problems encountered are mainly as follows:
1) due to the fact that the number and the types of the spacecrafts related to different tasks and different formation configurations are different, the same spacecraft can be repeatedly modeled in different simulation tasks, and a dynamic model or a simulation calculation structure needs to be redesigned.
2) Because the computing power of a single simulation computer is limited, when a plurality of spacecrafts needing to be simulated simultaneously exist, the simulation computing tasks of the plurality of spacecrafts cannot be completed in the same control period.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a distributed computation method of spacecraft dynamics, and solves the problem of distributed computation of dynamics during joint simulation of multiple spacecrafts.
The technical scheme of the invention is as follows: a distributed computing method for spacecraft dynamics comprises the following steps:
(1) respectively arranging each spacecraft model to be simulated simultaneously on each simulation computer, selecting one simulation computer as the simulation computer, and arranging the spacecraft on the simulation computer as the spacecraft;
(2) initializing physical parameters of the spacecraft which is arranged by the spacecraft and other jointly simulated spacecrafts on each simulation computer, wherein the physical parameters to be initialized of the spacecraft which is arranged by the spacecraft comprise mass, rotational inertia, a mass center position, a sailboard flexible model, a butt joint position, an actuating mechanism and a sensor mounting position, and the physical parameters of the other jointly simulated spacecrafts comprise the mass center position, a relative navigation sensor mounting position, the rotational inertia and the mass;
(3) at the T simulation moment, the simulation computer obtains dynamics data of other spacecrafts except the spacecraft at the T-1 simulation moment through data exchange, and performs extended calculation on the obtained dynamics data of the other spacecrafts to obtain dynamics parameters of the other spacecrafts at the T-1 simulation moment;
(4) performing relative navigation calculation among multiple spacecrafts by using the dynamic data of other spacecrafts at the T-1 simulation moment, the dynamic parameters calculated by expansion and the dynamic data of the spacecraft at the T-1 simulation moment to obtain the relative relation between the spacecraft and other spacecrafts at the T-1 simulation moment;
(5) calculating excitation data of the relative navigation sensor and the non-relative navigation sensor of the spacecraft at the T-1 simulation moment by utilizing the dynamic data of the T-1 simulation moment of the spacecraft and the relative relation between the spacecraft obtained in the step (4) and other spacecrafts;
(6) judging the butt joint state of the spacecraft and other spacecrafts according to the relative relation between the spacecraft and other spacecrafts obtained in the step (4);
(7) calculating dynamic data of the spacecraft T at the simulation moment according to the butt joint state;
(8) and outputting the dynamics data of the spacecraft at the T simulation moment to other spacecrafts according to a communication protocol, so as to realize the distributed computation of the multi-target dynamics joint simulation at the T simulation moment.
In the step (3), the simulation computer obtains dynamic data of other spacecraft T-1 at the simulation moment in the following structure:
{
numbering the spacecraft;
a time system;
a spacecraft inertial system position;
the velocity of the spacecraft inertial system;
acceleration of the inertial system of the spacecraft;
attitude quaternion of the inertial system of the spacecraft;
projecting the angular velocity of the spacecraft system relative to the inertial system on the spacecraft system;
projecting the angular acceleration of the spacecraft main body system relative to the inertial system on the main body system;
specific force acceleration of the spacecraft;
a spacecraft flight state;
}。
in the step (6), when the relative relationship between the spacecraft and the other spacecraft satisfies any one of the following conditions, it is determined that the spacecraft is in butt joint with the other spacecraft:
① the relative distance between the spacecraft and other spacecraft in the flying direction is equal to 0;
② the relative distance between the flying direction of the spacecraft and other spacecraft is equal to 0, and the relative attitude angle is less than 1 degree.
The implementation method of the step (7) is as follows:
(4.1) if the spacecraft is not connected with other spacecrafts in an abutting mode, directly calculating dynamic data of the spacecraft at the T simulation moment by using physical parameters of the spacecraft;
(4.2) if the spacecraft is butted with other spacecrafts, judging whether the spacecraft is a main control spacecraft, if so, directly calculating the dynamic data of the spacecraft at the T simulation moment by using the physical parameters of the butted assembly, and otherwise, entering the step (4.3);
(4.3) determining master control spacecrafts in other spacecrafts according to the flight states of the spacecrafts in the T-1 simulation time dynamic data of the other spacecrafts, extrapolating the T-1 simulation time dynamic data of the master control spacecrafts to obtain the dynamic parameters of the master control spacecrafts at the T simulation time, and entering the step (4.4);
and (4.4) calculating the dynamic data of the spacecraft at the T simulation moment according to the relative relation between the spacecraft and the main control spacecraft.
The method for calculating the dynamic data of the spacecraft T at the simulation moment in the step (4.1) comprises the following steps:
(5.1) calculating a sailboard corner of the spacecraft according to a sailboard control instruction at the T simulation moment, and calculating a flexible moment and a plume at the T simulation moment of the spacecraft according to the sailboard corner and control force, moment, environmental disturbance force and disturbance moment applied to the T simulation moment of the spacecraft;
(5.2) calculating the specific force acceleration of the spacecraft T at the simulation moment according to the control force and moment, the environmental disturbance force, the disturbance moment, the flexible moment and the plume which are applied to the spacecraft T at the simulation moment;
(5.3) calculating the position, the speed and the acceleration of the spacecraft T at the simulation moment under an inertial system by using a numerical integration algorithm according to the physical parameters and the specific force acceleration of the spacecraft T at the simulation moment;
(5.4) carrying out iterative computation on the attitude quaternion by utilizing the moment and physical parameters received by the spacecraft T at the simulation time to obtain the attitude of the spacecraft T at the simulation time;
(5.5) updating the simulation time;
(5.6) acquiring six orbits according to the position of the inertial system of the spacecraft T at the simulation moment;
(5.7) solving an attitude rotation matrix of the spacecraft body system relative to the orbit system and the inertia system according to the position and the attitude of the inertia system at the simulation time of the spacecraft T, and calculating to obtain the attitude angular velocity at the simulation time of the spacecraft T;
and (5.8) obtaining the attitude and attitude angular velocity of the inertial system and the orbital system of the spacecraft at the T simulation moment through conversion.
The method for calculating the dynamic data of the spacecraft T at the simulation moment in the step (4.2) is as follows:
(6.1) calculating a sailboard corner of the butted assembly according to a sailboard control instruction at the T simulation moment, and calculating a flexible moment and a plume at the T simulation moment of the assembly according to the sailboard corner, and a control force, a moment, an environmental disturbance force and an interference moment which are applied to the assembly at the T simulation moment;
(6.2) calculating the specific force acceleration of the simulation moment of the combination T according to the control force and moment, the environmental disturbance force and disturbance moment, the flexible moment and the plume which are applied to the simulation moment of the combination T;
(6.3) calculating the position, the speed and the acceleration of the simulation moment of the combination body T under an inertial system by using a numerical integration algorithm according to the physical parameters and the specific force acceleration of the simulation moment of the combination body T;
(6.4) carrying out iterative computation on the attitude quaternion by utilizing the moment and physical parameters received by the assembly T at the simulation time to obtain the attitude of the assembly T at the simulation time;
(6.5) updating the simulation time;
(6.6) acquiring six orbits according to the position of the inertia system of the assembly T at the simulation moment;
(6.7) solving an attitude rotation matrix of the spacecraft body system relative to the orbit system and the inertial system according to the position and the attitude of the inertial system at the simulation moment of the assembly T, and calculating to obtain the attitude angular velocity at the simulation moment of the assembly T;
and (6.8) obtaining the attitude and attitude angular velocity of the inertial system and the orbital system of the assembly T at the simulation moment through conversion, wherein the attitude and attitude angular velocity of the inertial system and the orbital system of the assembly T are the attitude and attitude angular velocity of the inertial system and the orbital system of the spacecraft.
Compared with the prior art, the invention has the advantages that:
1) each simulation computer only carries out simulation calculation aiming at the dynamics of a single spacecraft, so that the simulation calculation efficiency is improved, and the problem that the simulation calculation task cannot be completed in a control period due to the limitation of the calculation capacity of a single computer is fundamentally solved.
2) Aiming at the same spacecraft, only a dynamic model needs to be established once, so that the problems of high development cost and long period caused by the fact that the existing dynamic simulation system needs to repeatedly establish the simulation model aiming at different tasks or formation configurations are fundamentally solved.
Drawings
FIG. 1 is a timing diagram illustrating the operation of the present invention.
Detailed Description
The distributed computing method for spacecraft dynamics provided by the invention can be used for completing multi-spacecraft joint simulation.
The method comprises the steps of firstly, respectively arranging each spacecraft model to be simulated simultaneously on each simulation computer.
Each simulation computer only carries out dynamics calculation aiming at one spacecraft, and the dynamics data of other spacecrafts are obtained through data exchange among different simulation computers, so that the distributed joint calculation of the multi-spacecraft dynamics is completed. As shown in fig. 1, the dynamic calculation of each simulation computer includes the following steps:
(1) power initialization
Initializing physical parameters of a spacecraft (called the spacecraft) with self layout, wherein the physical parameters comprise mass, moment of inertia, a mass center position, a sailboard flexible model, a butt joint position (only a rendezvous and butt joint function), sensor installation and actuator characteristics. And initializing physical parameters of other spacecrafts to be subjected to combined simulation, wherein the physical parameters comprise a centroid position, a relative navigation sensor mounting position, rotational inertia and mass. For subsequent relative navigation calculations and dynamics calculations in the docked mode.
And performing relative navigation calculation among the multiple spacecrafts by using the relative data at the time T-1.
(2) Obtaining other spacecraft dynamics data
In order to complete the joint simulation of the dynamics of the multiple spacecrafts, the dynamics data of other spacecrafts need to be obtained. According to a data exchange protocol, the simulation computer obtains dynamic data of T-1 simulation moments of other spacecrafts except the spacecraft, and the dynamic data mainly comprises information such as position, speed and attitude of an inertial system. And performing extended calculation on the obtained dynamic data of other spacecrafts to obtain the parameters of six orbits, attitude rotation matrix, orbital angular velocity and the like of the other spacecrafts at the T-1 simulation time for subsequent relative navigation resolving or one-step extrapolation.
(3) Calculating the relative relation among the spacecrafts at the T-1 moment
And calculating relative information such as relative positions and relative attitudes between the spacecraft and other spacecrafts at the T-1 simulation moment by utilizing the dynamic data of other spacecrafts at the T-1 simulation moment, the expanded and calculated dynamic parameters and the dynamic data of the spacecraft at the T-1 moment obtained by the current simulation computer.
(4) Sensor excitation
And (4) calculating the excitation data (theoretical output value) of the spacecraft relative to the relative navigation sensors such as radar and the like and the excitation data (theoretical output value) of the non-relative navigation sensors such as gyroscope, star sensor and the like at the T-1 simulation moment by utilizing the dynamic data of the spacecraft and the calculation result of the step (3).
(5) Docking state determination
And (4) judging the butt joint state of the spacecraft and other spacecrafts at the T-1 simulation moment according to the relative relation between the spacecraft and other spacecrafts obtained in the step (3).
When the relative relation between the spacecraft and other spacecrafts meets any one of the following conditions, judging that the spacecraft is in butt joint with other spacecrafts:
① the relative distance between the spacecraft and other spacecraft in the flying direction is equal to 0;
② the relative distance between the flying direction of the spacecraft and other spacecraft is equal to 0, and the relative attitude angle is less than 1 degree.
In actual operation, other docking judgment principles can be set according to specific engineering requirements, and are not limited to the two types.
And (3) calling different dynamics resolving branches by the simulation computer according to the judgment result in the step (5), entering the step (6) if the docking is not completed, and entering the step (7) if the docking is not completed, and beginning to resolve dynamics data of the spacecraft at the T simulation moment:
(6) in single spacecraft mode (incomplete docking): and (8) calculating the dynamic data of the spacecraft at the T simulation moment by using the physical parameters of the spacecraft.
The method for calculating the dynamic data of the spacecraft T at the simulation moment comprises the following steps:
1) calculating a sailboard corner of the spacecraft according to a sailboard control instruction at the T simulation moment, and calculating a flexible moment and a plume at the T simulation moment according to the sailboard corner and a control force, a moment, an environmental disturbance force and an interference moment applied to the spacecraft at the T simulation moment;
2) calculating the specific force acceleration at the T simulation moment according to the control force and moment, the environmental disturbance force, the disturbance moment, the flexible moment and the plume which are borne by the spacecraft at the T simulation moment;
3) calculating the position, the speed and the acceleration of the spacecraft under an inertial system at the T simulation moment by utilizing the physical parameters and the specific acceleration of the spacecraft at the T simulation moment and utilizing a numerical integration algorithm (such as a Runge Kutta method);
4) carrying out iterative computation on the attitude quaternion by utilizing the moment and the physical parameters borne by the spacecraft at the T simulation moment to obtain the attitude of the spacecraft at the T simulation moment;
5) updating the simulation time and the corresponding julian day time;
6) acquiring six orbits according to the position of the inertial system of the spacecraft at the T simulation moment;
7) solving the attitude rotation matrix of the spacecraft body system relative to the orbit system and the inertia system according to the position and the attitude of the spacecraft inertia system at the T simulation moment, and calculating to obtain the attitude angular velocity of the spacecraft at the T simulation moment;
8) and obtaining the attitude and attitude angular velocity of the inertial system and the orbital system of the spacecraft at the T simulation moment through conversion.
(7) The butt-joint mode has already been formed,
1) if the spacecraft is a following spacecraft (a non-active control spacecraft), extrapolating the dynamic data of the main control spacecraft at the T-1 moment obtained in the step (2) to obtain dynamic parameters of the main control spacecraft at the T simulation moment, and then obtaining the dynamic data of the spacecraft at the T simulation moment according to the relations of the relative position, the relative attitude and the like obtained in the step (3);
2) and if the spacecraft is the main control spacecraft, performing orbit dynamics and attitude dynamics calculation on the spacecraft by using the physical parameters of the butted assembly to obtain the dynamics data of the spacecraft at the T simulation moment.
The implementation method of the step 2) is similar to the calculation method when the docking is not completed, but only the physical parameters of the spacecraft are replaced by the physical parameters of the docked assembly, and finally the attitude and the attitude angular velocity of the assembly are obtained by solving, namely the attitude and the attitude angular velocity of the spacecraft.
(8) The simulation computer outputs the dynamics data of the spacecraft at the T simulation moment to other spacecrafts according to a communication protocol to complete data exchange.
After the steps are completed, the current simulation computer completes all the work of distributed dynamics calculation at the time of T simulation. And (5) repeating the steps (2) to (8) when the T +1 simulation moment comes.
It should be noted that, if only a single spacecraft needs to be subjected to dynamics simulation, only the steps (1), (4) and (6) need to be performed in sequence.
In order to complete the distributed relative navigation solution of multiple spacecrafts and the solution of the relative position and attitude of the spacecrafts in a docking mode, the invention provides the following minimum dynamic data structure needing to be exchanged among simulation computers:
{
numbering the spacecraft;
a time system;
a spacecraft inertial system position;
the velocity of the spacecraft inertial system;
acceleration of the inertial system of the spacecraft;
attitude quaternion of the inertial system of the spacecraft;
projecting the angular velocity of the spacecraft system relative to the inertial system on the spacecraft system;
projecting the angular acceleration of the spacecraft main body system relative to the inertial system on the main body system;
specific force acceleration of the spacecraft;
a spacecraft flight state;
}
the spacecraft number is used for representing the dynamic data of a spacecraft of several numbers, a time system such as julian days and the like, and the flight state of the spacecraft refers to whether butt joint is completed or not, whether the spacecraft is a main control aircraft or not and the like.
In the invention, a distributed computing strategy is utilized to distribute the dynamics simulation work of a plurality of spacecrafts among different simulation computers, each simulation computer only carries out dynamics calculation aiming at one spacecraft, and then the dynamics data of other spacecrafts is obtained through data exchange among different simulation computers, thereby completing the task of multi-spacecraft joint simulation test.
By distributed computation, the invention can solve the dynamics calculation tasks of a plurality of spacecrafts and can complete the simulation of two working modes of rendezvous and docking and non-rendezvous and docking spacecrafts.
The method can also be applied to the non-aerospace fields such as industrial automation (such as multi-robot joint control) and the like, and the multi-target dynamic distributed simulation calculation is realized.
The invention overcomes the defects of insufficient computational power, repeated modeling and the like of the simulation computer in the multi-target dynamics centralized simulation (such as spacecraft formation flight) of the existing centralized simulation technology, and improves the computational efficiency of the simulation.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.
Claims (6)
1. A distributed computing method for spacecraft dynamics is characterized by comprising the following steps:
(1) respectively arranging each spacecraft model to be simulated simultaneously on each simulation computer, selecting one simulation computer as the simulation computer, and arranging the spacecraft on the simulation computer as the spacecraft;
(2) initializing physical parameters of the spacecraft which is arranged by the spacecraft and other jointly simulated spacecrafts on each simulation computer, wherein the physical parameters to be initialized of the spacecraft which is arranged by the spacecraft comprise mass, rotational inertia, a mass center position, a sailboard flexible model, a butt joint position, an actuating mechanism and a sensor mounting position, and the physical parameters of the other jointly simulated spacecrafts comprise the mass center position, a relative navigation sensor mounting position, the rotational inertia and the mass;
(3) at the T simulation moment, the simulation computer obtains dynamics data of other spacecrafts except the spacecraft at the T-1 simulation moment through data exchange, and performs extended calculation on the obtained dynamics data of the other spacecrafts to obtain dynamics parameters of the other spacecrafts at the T-1 simulation moment;
(4) performing relative navigation calculation among multiple spacecrafts by using the dynamic data of other spacecrafts at the T-1 simulation moment, the dynamic parameters calculated by expansion and the dynamic data of the spacecraft at the T-1 simulation moment to obtain the relative relation between the spacecraft and other spacecrafts at the T-1 simulation moment;
(5) calculating excitation data of the relative navigation sensor and the non-relative navigation sensor of the spacecraft at the T-1 simulation moment by utilizing the dynamic data of the T-1 simulation moment of the spacecraft and the relative relation between the spacecraft obtained in the step (4) and other spacecrafts;
(6) judging the butt joint state of the spacecraft and other spacecrafts according to the relative relation between the spacecraft and other spacecrafts obtained in the step (4);
(7) calculating dynamic data of the spacecraft T at the simulation moment according to the butt joint state;
(8) and outputting the dynamics data of the spacecraft at the T simulation moment to other spacecrafts according to a communication protocol, so as to realize the distributed computation of the multi-target dynamics joint simulation at the T simulation moment.
2. A distributed computation method of spacecraft dynamics according to claim 1, characterized in that in the step (3), the simulation computer obtains the dynamics data of other spacecraft T-1 at the simulation time as follows:
{
numbering the spacecraft;
a time system;
a spacecraft inertial system position;
the velocity of the spacecraft inertial system;
acceleration of the inertial system of the spacecraft;
attitude quaternion of the inertial system of the spacecraft;
projecting the angular velocity of the spacecraft system relative to the inertial system on the spacecraft system;
projecting the angular acceleration of the spacecraft main body system relative to the inertial system on the main body system;
specific force acceleration of the spacecraft;
a spacecraft flight state;
}。
3. a distributed computation method of spacecraft dynamics as claimed in claim 1, wherein in step (6), it is determined that the spacecraft is docked with other spacecraft when the relative relationship between the spacecraft and other spacecraft satisfies the following condition:
the relative distance between the spacecraft and other spacecraft in the flight direction is equal to 0.
4. A distributed spacecraft dynamics computation method according to claim 1, wherein said step (7) is implemented as follows:
(4.1) if the spacecraft is not connected with other spacecrafts in an abutting mode, directly calculating dynamic data of the spacecraft at the T simulation moment by using physical parameters of the spacecraft;
(4.2) if the spacecraft is butted with other spacecrafts, judging whether the spacecraft is a main control spacecraft, if so, directly calculating the dynamic data of the spacecraft at the T simulation moment by using the physical parameters of the butted assembly, and otherwise, entering the step (4.3);
(4.3) determining master control spacecrafts in other spacecrafts according to the flight states of the spacecrafts in the T-1 simulation time dynamic data of the other spacecrafts, extrapolating the T-1 simulation time dynamic data of the master control spacecrafts to obtain the dynamic parameters of the master control spacecrafts at the T simulation time, and entering the step (4.4);
and (4.4) calculating the dynamic data of the spacecraft at the T simulation moment according to the relative relation between the spacecraft and the main control spacecraft.
5. A distributed computation method of spacecraft dynamics according to claim 4, characterized in that, the method for computing the dynamics data of the spacecraft T simulation moment in step (4.1) is as follows:
(5.1) calculating a sailboard corner of the spacecraft according to a sailboard control instruction at the T simulation moment, and calculating a flexible moment and a plume at the T simulation moment of the spacecraft according to the sailboard corner and control force, moment, environmental disturbance force and disturbance moment applied to the T simulation moment of the spacecraft;
(5.2) calculating the specific force acceleration of the spacecraft T at the simulation moment according to the control force and moment, the environmental disturbance force, the disturbance moment, the flexible moment and the plume which are applied to the spacecraft T at the simulation moment;
(5.3) calculating the position, the speed and the acceleration of the spacecraft T at the simulation moment under an inertial system by using a numerical integration algorithm according to the physical parameters and the specific force acceleration of the spacecraft T at the simulation moment;
(5.4) carrying out iterative computation on the attitude quaternion by utilizing the moment and physical parameters received by the spacecraft T at the simulation time to obtain the attitude of the spacecraft T at the simulation time;
(5.5) updating the simulation time;
(5.6) acquiring six orbits according to the position of the inertial system of the spacecraft T at the simulation moment;
(5.7) solving an attitude rotation matrix of the spacecraft body system relative to the orbit system and the inertia system according to the position and the attitude of the inertia system at the simulation time of the spacecraft T, and calculating to obtain the attitude angular velocity at the simulation time of the spacecraft T;
and (5.8) obtaining the attitude and attitude angular velocity of the inertial system and the orbital system of the spacecraft at the T simulation moment through conversion.
6. A distributed computation method of spacecraft dynamics according to claim 4, characterized in that, the method for computing the dynamics data of the spacecraft T simulation moment in step (4.2) is as follows:
(6.1) calculating a sailboard corner of the butted assembly according to a sailboard control instruction at the T simulation moment, and calculating a flexible moment and a plume at the T simulation moment of the assembly according to the sailboard corner, and a control force, a moment, an environmental disturbance force and an interference moment which are applied to the assembly at the T simulation moment;
(6.2) calculating the specific force acceleration of the simulation moment of the combination T according to the control force and moment, the environmental disturbance force and disturbance moment, the flexible moment and the plume which are applied to the simulation moment of the combination T;
(6.3) calculating the position, the speed and the acceleration of the simulation moment of the combination body T under an inertial system by using a numerical integration algorithm according to the physical parameters and the specific force acceleration of the simulation moment of the combination body T;
(6.4) carrying out iterative computation on the attitude quaternion by utilizing the moment and physical parameters received by the assembly T at the simulation time to obtain the attitude of the assembly T at the simulation time;
(6.5) updating the simulation time;
(6.6) acquiring six orbits according to the position of the inertia system of the assembly T at the simulation moment;
(6.7) solving an attitude rotation matrix of the spacecraft body system relative to the orbit system and the inertial system according to the position and the attitude of the inertial system at the simulation moment of the assembly T, and calculating to obtain the attitude angular velocity at the simulation moment of the assembly T;
and (6.8) obtaining the attitude and attitude angular velocity of the inertial system and the orbital system of the assembly T at the simulation moment through conversion, wherein the attitude and attitude angular velocity of the inertial system and the orbital system of the assembly T are the attitude and attitude angular velocity of the inertial system and the orbital system of the spacecraft.
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