CN109213190A - Electronic sail Spacecraft Formation Flying cooperative control method on a kind of day heart suspension railway - Google Patents
Electronic sail Spacecraft Formation Flying cooperative control method on a kind of day heart suspension railway Download PDFInfo
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- CN109213190A CN109213190A CN201810814598.6A CN201810814598A CN109213190A CN 109213190 A CN109213190 A CN 109213190A CN 201810814598 A CN201810814598 A CN 201810814598A CN 109213190 A CN109213190 A CN 109213190A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The invention discloses electronic sail Spacecraft Formation Flying cooperative control methods on a kind of day heart suspension railway, the how electronic sail formation flight nearby of day heart suspension railway based on congruity theory, the communication interaction between spacecraft is taken full advantage of, each electronic sail, which is relied on, carries out information Perception to neighbor members to update oneself state.Compared with traditional Leader-Follower Formation's control mode, distributed collaboration control strategy can not only avoid the Single Point of Faliure of main spacecraft and then enhance system robustness, can also realize the state consistency of entire group in mobile process.In addition, the introducing of redundant state information also improves control precision.
Description
Technical field
The invention belongs to space technology fields, and in particular to electronic sail Spacecraft Formation Flying on a kind of day heart suspension railway
Cooperative control method.
Background technique
In recent years, the research hotspot of space industry is increasingly turned to immense deep space from terrestrial space, finds a kind of efficient " star
Border is passed through " mode is the premise of completion task and a ring of most critical.The deep space exploration of early stage is sent out using chemical rocket
Motivation causes the flight time of deep space exploration long and cost height, so that many task conceptions technically cannot achieve or pass through
It is difficult to bear in Ji.Then there has been proposed a variety of propulsion systems based on novel propulsion mode, as electric propulsion, ion propulsion and
Nuclear propulsion system etc..For these propulsion systems mostly characterized by continuous low thrust, specific impulse is more much bigger than pulsed thrust propulsion system.
However as the growth of flying distance, the spending of above-mentioned low thrust propulsion mode is still difficult to bear.
Close several next, meteorological institute of Finland researcher Janhunen proposed the emerging infinitely great specific impulse of one kind in 2004
Electronic sail spacecraft (referred to as electronic sail), with its potential application in deep space exploration by the weight of abroad related scientific research mechanism
Depending on.Electronic sail is made of tens of (20~100) long and thin metal bracelets (25 microns of superfine cables), these metallic bonds are navigating
It spins and is unfolded on its device, schematic illustration is as shown in Figure 1.Electron guns different from the action principle of solar sail, on electronic sail
Electronics is continuously sprayed outward, and metal bracelet is made to remain at the positive potential of height, the metal bracelet of these electrifications
Solar wind protons can be repelled, to make electronic sail generate continuous thrust acceleration using the kinetic energy impulse force of solar wind.Compared to
It is more at present solar sail known to people, electronic sail can generate bigger propulsive acceleration with smaller propulsion-system mass.By
In the thrust that solar sail generates with relative to sun distance, at inverse square relationship, and electronic sail is then an inverse ratio, therefore, in star
In border oceangoing voyage task, the thrust speed of electronic sail is slower relative to the thrust speed of solar sail.In addition, due to electronic
Sail reflects solar wind protons stream using positive electric field, reduces reflecting material quality.Therefore, it is wanted in equivalent feature acceleration
It asks down, electronic sail is lighter compared to solar sail quality；In the case where same load proportion, the acceleration that electronic sail generates is more
Greatly.
Electronic sail is chiefly used in interplanetary trajectory transfer at present and realizes some non-Keplerian orbits, is used to planet or asteroid
It is diversion or is observed.However, it is contemplated that (single metal chain is by 25 for electronic sail structure process itself and the complexity of manufacture
The superfine cable composition of micron, is easily cut off, guarantee is not yet received in reliability at present) so that electronic sail launch cost is high, failure
Risk is big, certain subsystem functional module failure can lead to entire mission failure.In addition, observation scope has single motor sail after all
Limit, and some near-Earth asteroids or tasks of science (Mercury magnetic field) need multi-angle, high-resolution tracking, therefore, it is necessary to
Formation flight is carried out using electronic sail.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide electronic sail Spacecraft formations on a kind of day heart suspension railway to fly
Row cooperative control method is formed into columns by being distributed in constitute around suspension railway by multiple electronic sail spacecrafts, and is based on consistency
Theory carries out distributed collaboration control to formation member, can not only expand the observation scope to planet polar region, improves precision, also
The consistency of formation integrality may be implemented.Compared with traditional primary and secondary structure frame, system robustness is improved.
In order to achieve the above object, the present invention the following steps are included:
Step 1 analyzes the performance of the single motor sail on day heart suspension railway according to electronic sail thrust vectoring model；
Step 2, for interplanetary multiple planets, inquire into is allowed under the limitation of electronic sail maximum thrust angle respectively
Suspension railway parameter；
Step 3, if suspension railway is synchronous with planet, the thrust angle and characteristic acceleration of electronic sail pass through parsing and provide.
In the step 1, the specific method is as follows for electronic sail spacecraft performance evaluation on day heart suspension railway:
The thrust acceleration of electronic sail is expressed as
Wherein,Acceleration is characterized,For solar distance, r is the electronic sail distance of the sun-,Represent the sun-electricity
Dynamic sail unit vector,For sail face normal unit vector,For cone angle, a is thrust angle, and k is dimensionless thrust
Acceleration factor, thrust vectoring model shows thrust angle a and coefficient k is cone angle an6 equation of n th order n:
Wherein, coefficient b0,...,b6, c0,...,c6It is obtained by experimental data interpolation fitting；
The kinetics equation of electronic sail spacecraft on General Elliptic suspension railway is established under rotating coordinate system:
Wherein,For suspension railway focus-electronic sail distance, in order to realize the continuous observation to planet, it is assumed that suspend
Electronic rigging has angular speed identical with observed planet on track.If planet major semiaxis is aP, suspension railway height is H,
Thrust angle α and characteristic acceleration can be obtained by formula (4)-(6)Meet:
By formula (8) it is found that the characteristic acceleration of electronic sail is in γ=γmax(f=0) maximum value is obtained when, i.e., in periapsis
It is most harsh to performance requirement, convolution (2)-(3).
In the step 2, electronic sail maximum thrust angle limitation under permitted suspension railway parameter specific method such as
Under:
It is assumed that main electronic sail operates on oval suspension railway, formation flight around it from electronic sail is enabled
I-th position from electronic sail relative to the electronic sail (subscript C) of master is represented, then in mainsail rotating coordinate systemUnder, it is opposite to transport
Dynamic kinetics equation is
Wherein, ωCBased on the angular speed of electronic sail can will be from electronic sail phase since the electronic sail of principal and subordinate is closer
It closes the electronic sail of Xiang Zhu and nearby carries out linearization process, formula (9), which finally arranges, is
In formula, Mυ、MpAnd McTo input related coefficient matrix with speed term, location entries and control, enableFor control input, i-th of difference from electronic sail and main electronic sail correlated variables, wherein Angle of direction of the thrust is represented with θ；
It is assumed that containing N number of electronic sail in fleet system, in order to realize the tracking to target relative configuration, and guarantee motor-driven mistake
Consistency in journey is restrained control as follows based on formula (10) design:
Wherein,For from the relative position of electronic sail and relative velocity error, wijFor adjoining
MatrixThe i-th row j column element, by formula (11) substitute into formula (10), obtain error equation
Wherein,
In formula,For the Lagrangian matrix of communication topology, λ is enablediRepresent matrixIth feature value, ηi
The characteristic value for representing matrix Γ, then have
The asymptotically stable necessary and sufficient condition of linear system that formula (12) represents has negative real as each characteristic value of matrix Γ
Portion, i.e. parameter ζ need to meet:
Compared with prior art, the invention has the following advantages:
1, electronic sail thrust vectoring model depends on obtained by newest experimental data difference fitting process in the present invention, i.e., electronic
The thrust angle and characteristic acceleration of sail are represented by 6 functions of cone angle.Under maximum thrust angle (about 20deg) limitation,
Provide the suspension railway parameter value range of observation planet polar region.
2, the day heart suspension railway based on congruity theory nearby how electronic sail formation flight, take full advantage of spacecraft it
Between communication interaction, each electronic sail, which is relied on, to carry out information Perception to neighbor members and updates oneself state.With traditional master-slave mode
Formation control mode is compared, and distributed collaboration control strategy can not only avoid the Single Point of Faliure and then enhancing system of main spacecraft
Robustness can also realize the state consistency of entire group in mobile process.In addition, the introducing of redundant state information also improves
Control precision.
Detailed description of the invention
Fig. 1 is electronic sail spacecraft operation principle schematic diagram；
Fig. 2 is electronic sail (formation flight) schematic diagram on day heart suspension railway；
Fig. 3 is suspension railway parameter value range and maximum thrust acceleration contour map；
Fig. 4 is from the communication topology figure between electronic sail；
Fig. 5 is the location error variation diagram from electronic sail；
Fig. 6 is the velocity error variation diagram from electronic sail；
Fig. 7 is to input to scheme from the control of electronic sail.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
1, electronic sail spacecraft performance evaluation on day heart suspension railway；
The thrust acceleration of electronic sail is expressed as
Wherein,Acceleration is characterized,For solar distance, r is the electronic sail distance of the sun-, as shown in Figure 1,
The electronic sail unit vector of the sun-is represented,For sail face normal unit vector,For cone angle, α is thrust angle, k
For dimensionless thrust acceleration coefficient, thrust vectoring model shows thrust angle α and coefficient k is cone anglen6 equation of n th order n:
Wherein, coefficient b0,...,b6, c0,...,c6It is obtained by experimental data interpolation fitting；
As shown in Fig. 2, establishing the dynamics side of electronic sail spacecraft on General Elliptic suspension railway under rotating coordinate system
Journey:
Wherein,For suspension railway focus-electronic sail distance, in order to realize the continuous observation to planet, it is assumed that suspend
Electronic rigging has angular speed identical with observed planet on track.If planet major semiaxis is aP, suspension railway height is H,
Thrust angle α and characteristic acceleration can be obtained by formula (4)-(6)Meet:
By formula (8) it is found that the characteristic acceleration of electronic sail is in γ=γmax(f=0) maximum value is obtained when, i.e., in periapsis
Most harsh to performance requirement, convolution (2)-(3), Fig. 3 gives suspension railway parameter corresponding to different planets in the solar system
Value range and electronic sail maximum thrust acceleration contour map.
2, electronic sail Spacecraft Formation Flying around day heart suspension railway；
It is assumed that main electronic sail operates on oval suspension railway, formation flight around it from electronic sail is enabled
I-th position from electronic sail relative to the electronic sail (subscript C) of master is represented, then in mainsail rotating coordinate systemUnder, it is opposite to transport
Dynamic kinetics equation is
Wherein, ωCBased on the angular speed of electronic sail can will be from electronic sail phase since the electronic sail of principal and subordinate is closer
It closes the electronic sail of Xiang Zhu and nearby carries out linearization process, formula (9), which finally arranges, is
In formula, Mυ、MpAnd McTo input related coefficient matrix with speed term, location entries and control, enableFor control input, i-th of difference from electronic sail and main electronic sail correlated variables, wherein Angle of direction of the thrust is represented with θ；
Assuming that containing N number of electronic sail in fleet system, in order to realize the tracking to target relative configuration, and guarantee motor-driven mistake
Consistency in journey is restrained control as follows based on formula (10) design:
Wherein,For from the relative position of electronic sail and relative velocity error, wijFor adjoining
MatrixThe i-th row j column element, by formula (11) substitute into formula (10), obtain error equation
Wherein,
In formula,For the Lagrangian matrix of communication topology, λ is enablediRepresent matrixIth feature value, ηi
The characteristic value for representing matrix Γ, then have
The asymptotically stable necessary and sufficient condition of linear system that formula (12) represents has negative real as each characteristic value of matrix Γ
Portion, i.e. parameter ζ need to meet:
Illustrate the validity of the method below by an example.
Assuming that main solar sail on suspension railway with Geo-synchronous, and orbit parameter be aC=0.95au, HC=0.05au,
eC=0.0167.By Fig. 3 (c) it is found that this parameter is in feasible zone.Three form formation from solar sail around it, relatively main
The target trajectory of solar sail is
Wherein,For the angular speed of relative orbit, phaseiπ/3=(i-1).
It is assumed that three can get the status information of main electronic sail from electronic sail, and from the adjacency matrix between electronic sail
For
Its communication topology is as shown in Figure 4.Select gain coefficient σ=105, ζ=5 × 10-3.Three from electronic sail relative to mesh
The initial error for marking track is as shown in table 1:
1 three, the table initial errors from electronic sail
In order to verify based on control law designed by congruity theory (11), Fig. 5 and Fig. 6 be set forth location error and
Speed-error curve, Fig. 7 give the variation of control variable.It can be seen that error is decreased to zero in two days, and in machine
Three convergence rates from electronic sail are almost consistent during dynamic.
Claims (3)
1. electronic sail Spacecraft Formation Flying cooperative control method on a kind of day heart suspension railway, which is characterized in that including following
Step:
Step 1 analyzes the performance of the single motor sail on day heart suspension railway according to electronic sail thrust vectoring model；
Step 2 inquires into permitted outstanding under the limitation of electronic sail maximum thrust angle interplanetary multiple planets respectively
Floating orbit parameter；
Step 3, if suspension railway is synchronous with planet, the thrust angle and characteristic acceleration of electronic sail pass through parsing and provide.
2. electronic sail Spacecraft Formation Flying cooperative control method on a kind of day heart suspension railway according to claim 1,
It is characterized in that, the specific method is as follows for electronic sail spacecraft performance evaluation on day heart suspension railway in the step 1:
The thrust acceleration of electronic sail is expressed as
Wherein,Acceleration is characterized,For solar distance, r is the electronic sail distance of the sun-,Represent the electronic sail of the sun-
Unit vector,For sail face normal unit vector,For cone angle, α is thrust angle, and k is the acceleration of dimensionless thrust
Coefficient is spent, thrust vectoring model shows thrust angle α and coefficient k is cone anglen6 equation of n th order n:
Wherein, coefficient b0,...,b6, c0,...,c6It is obtained by experimental data interpolation fitting；
The kinetics equation of electronic sail spacecraft on General Elliptic suspension railway is established under rotating coordinate system:
Wherein, R is suspension railway focus-electronic sail distance, μ⊙For solar gravitation constant,For instantaneous angular velocity, in order to realize
To the continuous observation of planet, it is assumed that electronic rigging has angular speed identical with observed planet on suspension railway, if planet is long
Semiaxis is aP, suspension railway height is H, can obtain thrust angle α and characteristic acceleration by formula (4)-(6)Meet:
By formula (8) it is found that the characteristic acceleration of electronic sail is in γ=γmax(f=0) maximum value is obtained when, i.e., in periapsis to property
It can require most harsh, convolution formula (2) and formula (3).
3. electronic sail Spacecraft Formation Flying cooperative control method on a kind of day heart suspension railway according to claim 1,
It is characterized in that, in the step 2, the specific method of permitted suspension railway parameter under the limitation of electronic sail maximum thrust angle
It is as follows:
It is assumed that main electronic sail operates on oval suspension railway, formation flight around it from electronic sail is enabledIt represents
I-th of position from electronic sail relative to the electronic sail of master, main electronic sail is subscript C, then in mainsail rotating coordinate systemUnder, phase
It is to kinematics equation
Wherein, wCBased on the angular speed of electronic sail can will exist from electronic sail continuous item since the electronic sail of principal and subordinate is closer
Main electronic sail nearby carries out linearization process, and formula (9), which finally arranges, is
In formula, Mv、MpAnd McTo input related coefficient matrix with speed term, location entries and control, enableFor control input, i-th of difference from electronic sail and main electronic sail correlated variables, wherein Angle of direction of the thrust is represented with θ；
It is assumed that containing N number of electronic sail in fleet system, in order to realize the tracking to target relative configuration, and guarantee in mobile process
Consistency, based on formula (10) design control as follows rule:
Wherein,For from the relative position of electronic sail and relative velocity error, wijFor adjacency matrix
The i-th row j column element, by formula (11) substitute into formula (10), obtain error equation
Wherein,
In formula,For the Lagrangian matrix of communication topology, l is enablediRepresent matrixIth feature value, hiRepresent square
The characteristic value of battle array Γ, then have
The asymptotically stable necessary and sufficient condition of linear system that formula (12) represents has negative real part as each characteristic value of matrix Γ, i.e.,
Parameter ζ needs to meet:
。
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