CN109992838A - A kind of imaging satellite energy constraint inspection method based on dynamic energy equilibration period - Google Patents
A kind of imaging satellite energy constraint inspection method based on dynamic energy equilibration period Download PDFInfo
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Abstract
The invention discloses a kind of imaging satellite energy constraint inspection methods based on dynamic energy equilibration period, which comprises step 1) calculates the energy-output ratio Δ E of quasi- arrangement taskConsumption；Step 2) according to the beginning/end time for intending arrangement task, inquire in Energy Sources Equilibrium period and the Energy Sources Equilibrium period where the task can distribution energy amount, enable Δ EIt can useIn=Energy Sources Equilibrium the period can distribution energy amount；If step 3) intends the area of illumination that arrangement task is located at track, Δ E is updatedIt can use；Otherwise it does not update；If step 4) Δ EIt can use>ΔEConsumption, then intend arrangement task and meet energy constraint condition, which is inserted into planning tasks list, and update in Energy Sources Equilibrium period and period can distribution energy amount；Otherwise, which is unsatisfactory for energy constraint condition.Method proposed by the present invention reduces the time interval of energy constraint inspection, improves the treatment effeciency of constraint checking on star.
Description
Technical field
The present invention relates to energy constraints in satellite task planning and scheduling to check field, and in particular to one kind is based on dynamic energy
The imaging satellite energy constraint inspection method of source equilibration period.
Background technique
In satellite task planning process, need reasonably to distribute resource and time for various tasks.When planning satellite task
Not only will sequential relationship between consideration task, while being also contemplated that caused by task between consumed resource and different resource
The constraint relationship.Effective resource constraint processing method is a key link of satellite task planning, the Satellite energy
Constraint checking is one of the important step of satellite task projected resources constraint checking.The satellite energy is a kind of consumable resource, is removed
Consider whether insertion point task meets outside energy constraint, also needs to check and subsequent arranged whether task still meets energy constraint item
Part.The energy constraint inspection method of this sequential-type, need every time arrange task when, to insertion task and it is subsequent arranged appoint
Business carries out energy constraint inspection.Existing satellite energy constraint inspection method, it is mostly maximum with satellite maximum lateral swinging angle, power consumption
Energy consumption when load operation is calculation basis, with the side of satellite individual pen/multi-turn Energy Sources Equilibrium principle control satellite single track
Put the time of number and imaging.To guarantee safety satellite reliability service, it is this with the energy that is calculated in the case of maximum power dissipation for
Condition is checked as energy constraint to amount, and there are biggish amount of redundancy, prevent the satellite energy is caused and defended from being fully utilized
The waste of energy source of star.In the prior art, have and be expressed as satellite energy consumption model and moonscope time and side-sway angle
Correlation function, energy-output ratio cannot be greater than the ceiling capacity of satellite.But to how calculating the available maximum energy of satellite not yet
It refers to.Prior art also teaches a kind of, and the satellite Energy Sources Equilibrium model based on satellite operation mode index table calculates the satellite energy
Expenditure Levels improve the accuracy of satellite Energy Sources Equilibrium calculating.But the method is needed to the exhaustion of satellite operation mode, with defending
The increase of star time series constraint, a combination thereof number can increase accordingly, and the concordance list scale of required foundation also increases.There are also a kind of distant
Feel satellite energy constraint analysis system, can be planned according to the actual load task of satellite, dynamic calculates satellite energy state.The party
Method fully considered satellite complex configuration solar wing is blocked, the motor-driven influence to the energy on star of the attitude of satellite, computational accuracy is high.
On the other hand, it plans at present for satellite task greatly both for task object, the various movements of the selection of sequential-type
And distribute resource.Resource allocation is carried out after planning searches out reasonable set of tasks, checks the conflict situations of resource.Work as task
Resource constraint when conflicting, take the method for backtracking or constraint tramsfer to plan again and generate new mission planning sequence.This
The resource constraint test mode kind planned again is using exhaustion strategy, when arranging new task, to having arranged task to carry out energy
Source constraint checking causes first arranging for task to need to carry out multiple energy constraint inspection, affects the efficiency of satellite task planning.
Summary of the invention
It is an object of the invention to the statuses low for existing energy constraint inspection method energy utilization rate, to improve satellite
Energy utilization rate, energy constraint check that treatment effeciency is target, devise it is a kind of can distribution energy based on Energy Sources Equilibrium period
Imaging satellite energy constraint inspection method.
To achieve the goals above, the invention proposes a kind of imaging satellite energy based on dynamic energy equilibration period about
Beam inspection method, which comprises
Step 1) calculates the energy-output ratio Δ E of quasi- arrangement taskConsumption；
Step 2) inquires the Energy Sources Equilibrium period where the task and should according to the beginning/end time for intending arrangement task
In the Energy Sources Equilibrium period can distribution energy amount, enable Δ EIt can useIn=Energy Sources Equilibrium the period can distribution energy amount；
If step 3) intends the area of illumination that arrangement task is located at track, Δ E is updatedIt can use；Otherwise it does not update；
If step 4) Δ EIt can use>ΔEConsumption, then intend arrangement task and meet energy constraint condition, task insertion has been planned
Task list, and update in Energy Sources Equilibrium period and period can distribution energy amount；Otherwise, which is unsatisfactory for energy constraint item
Part.
As a kind of improvement of the above method, the step 1) is specifically included:
Step 1-1) calculate the satellite load power consumption P for intending arrangement taski:
Pi=pboard×ti+pimage×timage+pmanoeuvring×tmanoeuvring+pdownload×tdownload
Wherein: pboardFor long term power；pimageTo observe load power；pmanoeuvringFor the motor-driven mean power of platform；
pdownloadPower is passed for number over the ground；tiFor the operating time of i-th quasi- arrangement task, timageFor i-th quasi- arrangement task work
Imaging duration in section；tmanoeuvringFor the motor-driven duration in i-th quasi- arrangement task operation interval；tdownloadIt is i-th
Number over the ground in quasi- arrangement task operation interval passes duration；I is the serial number of quasi- arrangement task；
Step 1-2) calculate the energy-output ratio Δ E for intending arrangement taskConsumption:
Wherein, ηBRDFor adjuster delivery efficiency of discharging；VfFor battery discharge voltage.
It further include being divided to the Energy Sources Equilibrium period before the step 2) as a kind of improvement of the above method
Step specifically includes:
Step S1) initialization the in-orbit task time section of satellite charging and discharging state；Satellite orbit be located at shadow region when
Between section be initialized as electric discharge section；Satellite orbit is located at the time interval in solar irradiation area, if the time interval does not arrange to appoint
Business, then entire light application time section is initialized as charging section, if task is scheduled in the time interval of solar irradiation, arranges task
Time interval be initially electric discharge section, other do not arrange time interval in the solar irradiation area of task to be initialized as charging section；When
Between adjacent electric discharge section merge into an electric discharge section；Then the total charge volume for calculating each charging section and discharging in section time interval
QcWith total discharge capacity Qf；
Step S2) an electric discharge section adjacent on a charging section and its follow-up time is defined as an Energy Sources Equilibrium week
Phase, Energy Sources Equilibrium period are started with charging section, are terminated in electric discharge section；If emulating the time started is electric discharge section, first will be originated
A electric discharge section is defined as first Energy Sources Equilibrium period；Remember the discharge and recharge Q in the Energy Sources Equilibrium periodj=Qf(j)+Qc(j)；Its
In, QjFor the discharge and recharge in j-th of Energy Sources Equilibrium period；QfIt (j) is total discharge capacity in j-th of Energy Sources Equilibrium period；Qc(j) it is
Total charge volume in j-th of Energy Sources Equilibrium period；
Step S3) at the beginning of adjustment each Energy Sources Equilibrium period, the end time；Until all Energy Sources Equilibrium periods are more
Newly finish；
Step S4) calculate j-th of Energy Sources Equilibrium period in can distribution energy amount Ej:
Ej=E0j+EQj-Emin
E0j=E0j-1+EQj-1
Wherein, E0jFor the initial capacity of j-th of Energy Sources Equilibrium period start time battery；EminFor maximum depth of discharge
When battery charge capacity；EQjFor the discharge and recharge in i-th of Energy Sources Equilibrium period；EjFor in j-th of Energy Sources Equilibrium period
It can distribution energy amount.
As a kind of improvement of the above method, the step S3) it specifically includes:
Step S3-1) temporally inverted order, the discharge and recharge out of the last one Energy Sources Equilibrium cyclic check period；If flat
The discharge and recharge Q to weigh in the periodJ> 0, illustrate satellite Energy Sources Equilibrium in the rail, checks previous Energy Sources Equilibrium period QJ-1；Enable j
=J-1；
Step S3-2) if discharge and recharge Q in j-th of equilibration periodj< 0, illustrate that satellite is uneven in the rail energy,
An Energy Sources Equilibrium period, the discharge and recharge Q=Q in the period are then merged into the previous Energy Sources Equilibrium periodj+Qj-1If Q <
0, then continue to merge previous equilibration period, until Q > 0 or j=0；
Step S3-3) enable j successively decrease repetition step S3-2), it is finished until all Energy Sources Equilibrium periods update, i.e. j=0；Often
The parameter of a equilibration period includes: time started, end time, discharge and recharge and can distribution energy amount.
As a kind of improvement of the above method, the update Δ E of the step 3)It can useInclude:
Step 3-1) calculate the solar battery array charging duration T of reduction due to being inserted into quasi- arrangement taskminus:
Enable TminusThe operating time of=quasi- arrangement task, if the charging in the working time section and battery of insertion task
Being full of the period has an overlapping, the when a length of T of both notes overlappingoverlapping, then TminusThe operating time-of=quasi- arrangement task
Toverlapping；
Step 3-2) calculate the increased charging duration T because of quasi- arrangement taskadd:
Enable Tadd=0, it is quasi- in insertion if quasi- arrange in job end time to the time interval of charging section end time
Battery is that charging is full of state before arrangement task, then TaddAt the end of the end time-of=charging section intends arrangement task
Between；
Step 3-3) update the area Yang Zhao be inserted into quasi- arrangement task can distribution energy amount are as follows:
ΔEIt can use+pw×(Tadd-Tminus)
Wherein, pwFor solar battery array windsurfing output power.
Present invention has an advantage that
1, the invention proposes it is a kind of suitable on star contexture by self can distribution energy amount based on the Energy Sources Equilibrium period
The restriction range of the satellite energy is divided into several time zones as unit of equilibration period by satellite energy constraint inspection method
Between, the time interval of energy constraint inspection is reduced, the treatment effeciency of constraint checking on star is improved；
2, method of the invention establishes energy consumption relational model, is checked by effective energy constraint, improves the energy
Utilization rate, to improve satellite utilization rate；
3, method of the invention reduces the backtracking number during mission planning, improves satellite task planning efficiency；
4, method of the invention is that technical foundation is established in the application of the autonomous operation technology of spacecraft, to promote China's deep space
Detection and the raising of space technology level are of great significance.
Detailed description of the invention
Fig. 1 is the flow chart of imaging satellite energy constraint inspection method of the invention；
Fig. 2 is accumulator cell charging and discharging schematic diagram on star；
Fig. 3 is satellite battery energy consumption curve synoptic diagram, and black curve indicates the charge capacity of battery at any time
Situation of change, round rectangle block indicate that the task sequence of satellite, " point-line " pattern lines and " half draws lines " pattern lines distinguish table
Show that satellite flight track is located at area of illumination and shadow region；
Fig. 4 be the satellite energy of the invention can sendout computation model flow chart；
Fig. 5 is the flow chart of satellite energy constraint inspection model of the invention；
Fig. 6 is of the invention in area of illumination insertion each time relationship schematic diagram of observation mission；
The initial capacity of Fig. 7 satellite A battery is 30Ah, under conventional operating mode, the energy consumption curve of satellite A；
The initial capacity of Fig. 8 satellite A battery is 24Ah, under conventional operating mode, the energy consumption curve of satellite A；
The initial capacity of Fig. 9 satellite A battery is 30Ah, in the imaging task of simulation time the 10700th second insertion 2min
Afterwards, the energy consumption curve of satellite A；
Figure 10 is that the initial capacity of satellite A battery is 24Ah, is appointed in the imaging of simulation time the 10700th second insertion 2min
After business, the energy consumption curve of satellite A；
Figure 11 is that the initial capacity of satellite A battery is 30Ah, respectively at simulation time the 5900th second, is inserted within 10700 seconds
After imaging task, the energy consumption curve of satellite A；
Figure 12 is that the initial capacity of satellite A battery is 24Ah, respectively at simulation time the 5900th second, is inserted within 10700 seconds
After imaging task, the energy consumption curve of satellite A；
Figure 13 is that the initial capacity of satellite A battery is 30Ah, is appointed in the imaging of simulation time the 8700th second insertion 2min
After business, the energy consumption curve of satellite A；
Figure 14 is that the initial capacity of satellite A battery is 24Ah, is appointed in the imaging of simulation time the 8700th second insertion 2min
After business, the energy consumption curve of satellite A；
The initial capacity of Figure 15 satellite A battery is 30Ah, is initially at simulation time the 5900th second, 10700 seconds and is scheduled
The imaging task of 2min, the energy consumption curve after the 13000th second (shadow region of the second rail) insertion imaging task.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawing.
The present invention discusses the energy constraint inspection method in satellite task planning using the energy on star as research object.
The present invention establishes satellite for battery depth of discharge on star and task and its close correlation of execution time
The consumption relational model of the energy.According to the energy situation of change of battery on star, will dynamically be divided during the in-orbit task of satellite
For several Energy Sources Equilibrium periods, propose a kind of energy in Energy Sources Equilibrium period can sendout computation model, reduce the energy about
Coupling when beam checks between task improves energy constraint and checks efficiency.The present invention is from satellite energy consumption relational model
Start with, establish the satellite energy can distributive condition model, the constraint checking process in planning is converted into demand for energy and the energy
Can sendout comparison procedure, improve constraint checking efficiency, just can determine that whether resource meets in task distribution and can distribute item
Part reduces the backtracking number that weight-normality is drawn, to improve resource constraint treatment effeciency.
The present invention using improve satellite energy utilization rate, energy constraint check treatment effeciency as target, the research satellite energy
Constraint checking method.Start with from satellite energy consumption relational model, calculates the energy consumption curve of satellite, establishing the satellite energy can
Sendout model, by the constraint checking process in planning be converted to resources requirement and resource can sendout comparison procedure, mention
High constraint checking efficiency, just can determine that in task distribution resource whether meet can distributive condition, reduce the backtracking time that weight-normality is drawn
Number, to improve resource constraint treatment effeciency.Its technology path is as shown in Figure 1.
1, energy consumption relational model
For the energy sources of satellite in solar battery array, the charge and discharge of satellite battery are as shown in Figure 2.Solar battery array is preferential
It powers to the load, when solar battery windsurfing institute output power, which can satisfy, loads required power, is responsible for by solar battery array
It powers to the load.If solar battery array, which powers to the load, affluence, and when accumulator capacity is discontented, solar battery array is to battery
Charging.If solar battery array output power still has affluence, extra power can be fallen by current divider point.When solar battery array can not
When satisfaction, which loads, or solar battery array is in shadow region to power, then to be powered to the load by battery.
1.1 power supply power supply and distributions and accumulator cell charging and discharging model
The area Yang Zhao, if solar battery array output power consumption is not less than load power consumption, battery discharge electricity amount is zero at this time, electric power storage
Pond charge capacity are as follows:
Wherein:
Qc: charge capacity (Ah)；
pw: solar battery array windsurfing output power (W)；
Pi: the load power consumption (Wh) in i-th task working time section；
ti: the duration (h) in i-th task working time section；
ηc: charge efficiency.
The area Yang Zhao when that is, solar battery array is unable to satisfy load, stores if solar battery array output power consumption is less than load power consumption
Battery will be to bus discharge: at this point, battery charge capacity is zero, battery discharge electricity amount are as follows:
Wherein:
Qf: discharge electricity amount (Ah)；
ηBRD: electric discharge adjuster delivery efficiency；
Vf: battery discharge voltage (V).
In shadow region, satellite battery charge capacity is zero, battery discharge electricity amount are as follows:
1.2 satellite load power consumption models
The load power consumption of satellite system includes: long-term power consumption, short-term power consumption and pulse power consumption.Long-term power consumption: refer in satellite
The load power consumption of equal continuous work during entire task.Short-term power consumption: refer to the load that discontinuous operation is in during satellite flight
Power consumption.Pulse power consumption: refer to moment power consumption when priming system igniting or motor, solenoid valve starting.
For during imaging satellite operation on orbit, short-term power consumption mainly includes with Types Below: imaging load, platform are motor-driven
(attitude control), number passes over the ground, and pulse power consumption is negligible, then satellite load power consumption P in i-th task working time sectioniAre as follows:
Wherein:
pboard: long term power (W)；
pimage: observation load power (W)；
pmanoeuvring: the motor-driven mean power of platform (W)；
pdownload: number passes power (W) over the ground；
timage: the imaging duration in i-th task working time section；
tmanoeuvring: the motor-driven duration in i-th task working time section；
tdownload: the number over the ground in i-th task working time section passes duration.
2, energy consumption curve computation model
The power consumption of load on task and star has been arranged according to satellite, calculates energy situation of change:
1) the energy consumption situation P of each task arranged is calculatedi；
2) solar battery array windsurfing output power p is calculatedw=n × cos β × S；Wherein, n: for every loss factor；β: for
The angle of sunray and solar battery array windsurfing normal；S: for solar battery array area.
3) according to the initial capacity of battery, arranged the chronological order of task, estimate the energy of satellite battery
Change with time situation, remembers CwThe current accumulator capacity of expression system:
By above-mentioned formula, the charge capacity situation that changes with time that can calculate satellite battery (is defined as the energy to disappear
Consume curve), as shown in black curve in Fig. 3.
3, the satellite energy can distribution model
It is in view of satellite is able to maintain Energy Sources Equilibrium in electric discharge section, then subsequent satellite battery to be filled into charging section
Electricity must also can guarantee its Energy Sources Equilibrium.Conversely, also being needed needed for reserved after discharge section if keeping Energy Sources Equilibrium in charging section
Quantity of energy, can guarantee the Energy Sources Equilibrium in after discharge section.Taking into account the above, under conventional operating mode, it is every to define satellite
One rail is an Energy Sources Equilibrium period, is started with charging section, to discharge, section terminates.With the insertion of planning tasks, dynamic is adjusted
The equilibration period of the energy on star.It is always ensured that within an Energy Sources Equilibrium period, the charge volume of satellite battery, which is more than or equal to, to be stored
Total discharge electricity amount of battery.By the above method, it is not required to calculated in advance satellite and belongs under which kind of operating mode, in this operating mode
It is lower to need a few rail Energy Sources Equilibriums.It is single with the Energy Sources Equilibrium period but according to having arranged task dynamic to calculate the Energy Sources Equilibrium period
Position, issue on star can distribution energy amount, by the energy-output ratio of required by task with can check energy on star compared with sendout
Source constraint.Its algorithmic descriptions and calculation flow chart are as shown in Figure 4:
(1) charging and discharging state in the in-orbit task time section of satellite is initialized.Satellite orbit is located at the time zone in shadow region
Between be initialized as electric discharge section；Satellite orbit is located at the time interval in solar irradiation area, if the time interval does not arrange task,
Entire light application time section is initialized as charging section, if task is scheduled in the time interval of solar irradiation, arrange task when
Between section be initially electric discharge section, other do not arrange time interval in the solar irradiation area of task to be initialized as charging section.Time phase
Adjacent electric discharge section merges into an electric discharge section.The total charge volume Q for calculating each charging section and discharging in section time intervalcWith always put
Electricity Qf；
(2) charging section electric discharge section adjacent thereto is initially defined as an Energy Sources Equilibrium period, the energy is flat
The weighing apparatus period is started with charging section, is terminated in electric discharge section.If emulating the time started is electric discharge section, first electric discharge Duan Ding will be originated
Justice is first Energy Sources Equilibrium period.Remember the discharge and recharge Q in the Energy Sources Equilibrium periodi=Qf(i)+Qc(i)；
Wherein, Qi: the discharge and recharge in i-th of Energy Sources Equilibrium period
Qf(i): total discharge capacity in i-th of Energy Sources Equilibrium period；
Qc(i): total charge volume in i-th of Energy Sources Equilibrium period.
(3) according to energy consumption curve, at the beginning of adjusting the Energy Sources Equilibrium period, the end time.
1) temporally inverted order, the discharge and recharge out of the last one Energy Sources Equilibrium cyclic check period；
A. it pushes away from back to front, if the discharge and recharge Q in equilibration periodi> 0, illustrate satellite Energy Sources Equilibrium in the rail, examines
Look into previous Energy Sources Equilibrium period Qi-1；
B. if discharge and recharge Q in some equilibration periodi< 0, illustrate that satellite is uneven in rail energy, then with it is previous
A Energy Sources Equilibrium period merges into an Energy Sources Equilibrium period, the discharge and recharge Q=Q in the periodi+Qi-1If Q < 0 is continued
Merge previous equilibration period, until Q > 0；
2) it repeats the above steps, is finished until all Energy Sources Equilibrium periods update.Energy Sources Equilibrium period parameter after note updates
For EnergyBalance [], the i-th dx end time equilibration period was EnergyBalance [idx] .endtime, time started
For EnergyBalance [idx] .begintime, discharge and recharge is EnergyBalance [idx] .Q, the energy can sendout be
EnergyBalance[idx].available。
(4) calculate in each Energy Sources Equilibrium period can sendout EnergyBalance [idx] .available
EnergyBalance [i] .available=Einit(i)+EnergyBalance[i].Q-Emin
Einit(i)=Einit(i-1)+EnergyBalance[i-1].Q
Wherein:
Einit(i): the initial capacity of i-th of Energy Sources Equilibrium period start time battery；
Emin: the charge capacity of battery when maximum depth of discharge；
Discharge and recharge in .Q: the i-th Energy Sources Equilibrium period of EnergyBalance [i]；
In .available: the i-th Energy Sources Equilibrium period of EnergyBalance [i] can distribution energy amount.
4, energy constraint relationship inspection model
The basic principle of energy constraint inspection model is the energy-output ratio and the place energy by comparing quasi- arrangement task
Relationship between the energy available quantity of equilibration period, to determine whether quasi- arrangement task meets energy constraint.Its algorithmic descriptions and
Calculation flow chart is as shown in Figure 5:
(1) energy-output ratio of quasi- arrangement task is calculated
(2) energy for calculating the Energy Sources Equilibrium period where quasi- arrangement task can consumption Δ EIt can use；
1) according to the beginning/end time for intending arrangement task, the Energy Sources Equilibrium period where the task is inquired, and in the energy
In source equilibration period can distribution energy amount；
Enable Δ EIt can useIn the Energy Sources Equilibrium period of=place can distribution energy amount EnergyBalance [i] .available
2) calculate positioned at the area of illumination of track when if insertion task works and fail solar array because of insertion task
The charge volume of reduction to day charging；
If (area of illumination that quasi- arrangement task is located at track)
{
A. the solar battery array charging duration T of reduction due to insertion task is calculatedminus,
Tminus=Ttask
if(te_task>ts_saturation): # insertion task has overlapping with charging saturation time section
{
Toverlapping=te_task-max(ts_saturation, ts_task)
Tminus=Tminus-Toverlapping
}
B. the increased charging duration T because of insertion task is calculatedadd
Tadd=0
if(ts_saturation>te_charged)and(te_charged>te_task):
Tadd=te_charged-te_task
C. update the area Yang Zhao insertion task can distribution energy amount
ΔEIt can use=Δ EIt can use+pw×(Tadd-Tminus)
}
Wherein,
Tminus: the charging duration of reduction due to being inserted into task；
Tadd: because insertion task makes the saturation charging zone of script, become chargeable, and increased charging duration
Ttask: it is inserted into the operating time of task；
Toverlapping: the overlapping duration of insertion task and battery charging saturation period before insertion；
ts_saturation: the battery charging saturation time started；
ts_task: at the beginning of quasi- insertion task；
te_task: the end time of quasi- insertion task；
te_charged: the end time of this charging tasks.
It is as shown in Figure 6: to intend being inserted into observation mission in the 2nd charging section, after being inserted into observation mission, charging section has been divided into quasi-
Arrange 2 charging sections before and after task time section.What blue energy consumption curve indicated is the energy before observation mission is inserted into
Source variation relation.
(3) judge whether to meet energy constraint
if(ΔEIt can use>ΔEConsumption) meet energy constraint condition
Else is unsatisfactory for energy constraint condition
Assuming that certain imaging satellite A is operated on sun-synchronous orbit over the ground, orbit altitude 500km, when southbound node place is
10:00, orbital period are 94.61 minutes, and in 2019.4-2010.4 1 year, longest light application time is 61.725 in a rail
Minute, the shortest time is 60.235 minutes, and average light application time is 60.84 minutes/rail.If the battery total capacity of satellite
30Ah, depth of discharge are generally required no more than 30%, i.e. 9Ah, the minimum limit value of battery is 21Ah.Solar array output power
It is limited by temperature, illumination condition, radiation parameter etc., computation model is complex, for the energy for intuitively illustrating this patent proposition
Source can sendout computation model, it is assumed that satellite is constant in the temperature of area of illumination, illumination condition and radiation parameter, solar battery array
Output power is steady state value.The load power consumption and parameter of each single machine are as shown in the table on satellite.
1 satellite A relevant parameter of table
In the normal mode of operation, satellite A predominantly obtains the energy, prepares for target observation.Into area of illumination satellite
Motor-driven turn to day, subhost turn absolute orientation when into shadow region.When satellite has observation mission, satellite carries out posture in advance
It is motor-driven to switch to corresponding directing mode, 2min is then imaged, carries out attitude maneuver after imaging, it is fixed to day then to change into area of illumination
To then changing into absolute orientation in shadow region.Primary according to load single-rail working, each operating time 2 minutes, the attitude of satellite is motor-driven
When, an attitude maneuver time is 2 minutes, and a number biography working time is 8 minutes to calculate.Each load is not or not same a period of time on star
Between be switched on work.Energy Sources Equilibrium situation of the satellite under different working modes is as follows:
Table 2
According to satellite A parameters and energy consumption curve computation model, simulate satellite A [2019-9-4-04:
00:00,2017-9-5-04:00:00] in time interval, the electric power storage on energy constraint checking process and star when planning different task
Pond energy situation of change.Fig. 7 and Fig. 8 be battery initial capacity be 30Ah and 24Ah when, under conventional operating mode, satellite
The simulation result of the energy consumption situation of A.Horizontal axis indicates the time with emulation time started 2019-9-4-04:00:00 in figure
Difference, unit: second.0 moment of horizontal axis corresponding emulation time started 2019-9-4-04:00:00, the longitudinal axis indicate the charge capacity of battery.
Black broken line indicates that the charge capacity of battery on star changes with time situation." dotted line " double arrowed line of figure lower section indicates herein
Battery is in charged state, referred to as charging section on time interval star；" dotted line " double arrowed line indicates on this time interval star
Battery is in discharge condition, referred to as electric discharge section；" solid line " double arrowed line indicates to be an Energy Sources Equilibrium in this time interval
Period." grey slash " rectangular block and grey rectangle block indicate that satellite is located at area of illumination and the shadow region of track, there is long-term power consumption
Energy consumption demand." grey cross bar " rectangular block indicates that satellite carries out attitude maneuver in this time interval, there is the motor-driven function of platform
The energy consumption demand of consumption." gray circles " rectangular block indicates that satellite is executing imaging task, and progress attitude maneuver first switchs to
2min is then imaged in corresponding directing mode, time kept in reserve 3min, and attitude maneuver is carried out after imaging and (is then turned in area of illumination
At Direct to the sun, absolute orientation is then changed into shadow region), time kept in reserve 3min.This series of actions will be generated to platform machine
Dynamic power consumption and the energy consumption demand for observing load power consumption." grey grid " rectangular block indicates that satellite passes task under execution, first
It first carries out attitude maneuver and switchs to corresponding directing mode, then number passes 8min, and number carries out attitude maneuver again after the completion of passing.This is a series of
Movement will generate the motor-driven power consumption of platform and number passes the energy consumption demand of power consumption over the ground.
Fig. 9 and Figure 10 is the initial capacity of satellite battery when being 30Ah and 24Ah, in 10700 seconds (the 3rd rails of simulation time
The area Yang Zhao), be inserted into the imaging task over the ground of 2min, the energy change curve situation of satellite A.Before insertion task, satellite is normal
Operating mode is advised, each rail is an Energy Sources Equilibrium period.After being inserted into imaging task, in the case of initial capacity is 30Ah, first three
Rail merges into an Energy Sources Equilibrium period；Initial capacity be 24Ah in the case of, then the first rail be an Energy Sources Equilibrium period, second
Rail and third rail are an Energy Sources Equilibrium period.The former, the energy within first Energy Sources Equilibrium period can sendout be
3.551Ah；The latter, the energy within first and second Energy Sources Equilibrium period can sendout be respectively 0.508Ah and 3.551Ah.
According to traditional Energy Sources Equilibrium calculation method, load task is imaged in area of illumination arrangement, the time of 2 rails is needed to realize
Energy Sources Equilibrium.But according to simulation result, in this case, in the 2nd rail area of illumination, it is inserted into 2min pairs within simulation time the 5900th second
Ground imaging task, imaging task consumption the energy be 3.083Ah, less than the place Energy Sources Equilibrium period the energy can sendout, energy
Meet the energy constraint condition of satellite A.After being inserted into imaging task, energy curve is as is illustrated by figs. 11 and 12.Initial capacity is
The simulation result of 30Ah is, preceding 3 rail has been divided into 2 Energy Sources Equilibrium periods, the 1st, 2 rails be an Energy Sources Equilibrium period, the 3rd rail
For an Energy Sources Equilibrium period, in each Energy Sources Equilibrium period can sendout be 1.047Ah, 1.441Ah respectively.Initial capacity
That preceding 3 rail has been divided into 3 Energy Sources Equilibrium periods for the simulation result of 24Ah, in each Energy Sources Equilibrium period can sendout
It is 0.508Ah, 0.903Ah, 1.298Ah respectively.
If the above process is changed to be scheduled 2min's at simulation time the 8700th second (being still the second area Gui Yangzhao)
The energy change curve of imaging task, satellite A is as shown in Figure 13 and Figure 14, and the Energy Sources Equilibrium period of satellite is become at this time
Change.When the initial capacity of battery be 30Ah when, the available quantity of energy in first and second Energy Sources Equilibrium period be 0.631Ah and
4.451Ah.When the initial capacity of battery is 24Ah, the available quantity of energy in first, second and third Energy Sources Equilibrium period is
0.508Ah, 0.631Ah and 4.451Ah.If (being located at initial then at the 5900th second insertion 2min imaging task of simulation time at this time
Second energy period that first energy period and initial capacity that capacity is 30Ah are 24Ah).The energy of required by task disappears
Consumption is 3.083Ah, according to energy constraint inspection model, is unsatisfactory for energy constraint demand.
It to sum up analyzes, is all to arrange imaging to appoint in the same area Gui Yangzhao although the initial capacity of satellite battery is identical
Business, only the beginning and ending time of imaging task is different, and the task quantity for being able to satisfy energy constraint condition also can be different.Traditional energy
Constraint checking method is able to satisfy energy constraint requirement, but some the meeting energy constraint condition of the tasks may foreclose, no
Satellite task can maximumlly be arranged.It, can showing according to satellite based on the energy constraint inspection method of dynamic energy equilibration period
Stateful dynamic calculating energy constraint, maximized planning tasks.
Similarly, logarithm passes task and has done following emulation experiment.When initial, satellite battery initial capacity is 30Ah, satellite A
The imaging task of 2min was scheduled (respectively in the first rail and the second area Gui Yangzhao) at simulation time the 5900th second, 10700 seconds.
Energy change curve is as shown in figure 11.If the biography down for increasing 8min at simulation time the 11300th second (the second area Gui Yangzhao) is appointed
Business, the energy-output ratio of the task is 1.433Ah.The energy in Energy Sources Equilibrium period where the task can sendout be 1.441Ah,
Again because the task is located at the area Yang Zhao, the energy constraint inspection model proposed according to the present invention is unsatisfactory for the satellite energy at this time
Constraint condition.
If will pass task down adjusts simulation time the 13000th second (shadow region of the second rail), the lower energy consumption for passing task
Measure 1.433Ah < Energy Sources Equilibrium period energy can sendout be 1.441Ah, meet the constraint condition of the satellite energy.Insertion task
Afterwards, energy consumption curve is as shown in figure 15.
By above-mentioned simulating, verifying, the satellite energy constraint inspection method proposed by the present invention based on the Energy Sources Equilibrium period,
The initial capacity of energy foundation battery, the task situation and satellite load power consumption arranged, dynamic calculate the available energy of satellite,
Effectively check whether quasi- arrangement task meets energy constraint.It can be under the premise of ensureing safety satellite, peace as much as possible
Arrange satellite task.The energy constraint reviewing party to compare according to one rail of satellite operation mode calculated in advance or more rail Energy Sources Equilibriums
Method, method of the invention are not necessarily to calculated in advance satellite operation mode, the multiple-working mode of dynamic adaptable satellite, moreover it is possible to effectively
Improve the utilization rate of the satellite energy.Compare the energy constraint inspection method of sequential-type, the available energy based on the Energy Sources Equilibrium period
Source constraint checking method can be rejected first and be unsatisfactory for energy constraint conditioning tasks, only carry out to the meeting energy constraint condition of the task
Energy consumption updates, to improve the efficiency of energy constraint inspection.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (5)
1. a kind of imaging satellite energy constraint inspection method based on dynamic energy equilibration period, which comprises
Step 1) calculates the energy-output ratio Δ E of quasi- arrangement taskConsumption；
Step 2) inquires the Energy Sources Equilibrium period where the task and the energy according to the beginning/end time for intending arrangement task
In equilibration period can distribution energy amount, enable Δ EIt can useIn=Energy Sources Equilibrium the period can distribution energy amount；
If step 3) intends the area of illumination that arrangement task is located at track, Δ E is updatedIt can use；Otherwise it does not update；
If step 4) Δ EIt can use> Δ EConsumption, then intend arrangement task and meet energy constraint condition, task insertion has been planned and has been appointed
Be engaged in list, and update in Energy Sources Equilibrium period and period can distribution energy amount；Otherwise, which is unsatisfactory for energy constraint item
Part.
2. the imaging satellite energy constraint inspection method according to claim 1 based on dynamic energy equilibration period, special
Sign is that the step 1) specifically includes:
Step 1-1) calculate the satellite load power consumption Pi for intending arrangement task:
Pi=pboard×ti+pimage×timage+pmanoeuvring×tmanoeuvring+pdownload×tdownload
Wherein: pboardFor long term power；pimageTo observe load power；pmanoeuvringFor the motor-driven mean power of platform；pdownload
Power is passed for number over the ground；tiFor the operating time of i-th quasi- arrangement task, timageFor in i-th quasi- arrangement task operation interval
Imaging duration；tmanoeuvringFor the motor-driven duration in i-th quasi- arrangement task operation interval；tdownloadFor i-th quasi- arrangement
Number over the ground in task operation interval passes duration；I is the serial number of quasi- arrangement task；
Step 1-2) calculate the energy-output ratio Δ E for intending arrangement taskConsumption:
Wherein, ηBRDFor adjuster delivery efficiency of discharging；VfFor battery discharge voltage.
3. the imaging satellite energy constraint inspection method according to claim 2 based on dynamic energy equilibration period, special
Sign is, further includes the steps that dividing the Energy Sources Equilibrium period before the step 2), specifically include:
Step S1) initialization the in-orbit task time section of satellite charging and discharging state；Satellite orbit is located at the time zone in shadow region
Between be initialized as electric discharge section；Satellite orbit is located at the time interval in solar irradiation area, if the time interval does not arrange task,
Entire light application time section is initialized as charging section, if task is scheduled in the time interval of solar irradiation, arrange task when
Between section be initially electric discharge section, other do not arrange time interval in the solar irradiation area of task to be initialized as charging section；Time phase
Adjacent electric discharge section merges into an electric discharge section；Then the total charge volume Q for calculating each charging section and discharging in section time intervalcWith
Total discharge capacity Qf；
Step S2) an electric discharge section adjacent on a charging section and its follow-up time is defined as an Energy Sources Equilibrium period,
The Energy Sources Equilibrium period is started with charging section, is terminated in electric discharge section；If emulating the time started is electric discharge section, put originating first
Electric section is defined as first Energy Sources Equilibrium period；Remember the discharge and recharge Q in the Energy Sources Equilibrium periodj=Qf(j)+Qc(j)；Wherein, Qj
For the discharge and recharge in j-th of Energy Sources Equilibrium period；QfIt (j) is total discharge capacity in j-th of Energy Sources Equilibrium period；Qc(j) it is j-th
Total charge volume in Energy Sources Equilibrium period；
Step S3) at the beginning of adjustment each Energy Sources Equilibrium period, the end time；Until all Energy Sources Equilibrium periods have updated
Finish；
Step S4) calculate j-th of Energy Sources Equilibrium period in can distribution energy amount Ej:
Ej=E0j+EQj-Emin
E0j=E0j-1+EQj-1
Wherein, EOjFor the initial capacity of j-th of Energy Sources Equilibrium period start time battery；EminTo be stored when maximum depth of discharge
The charge capacity of battery；EQjFor the discharge and recharge in i-th of Energy Sources Equilibrium period；EjFor dividing in j-th of Energy Sources Equilibrium period
With quantity of energy.
4. the imaging satellite energy constraint inspection method based on dynamic energy equilibration period according to right 3, feature exist
It is specifically included in the step S3):
Step S3-1) temporally inverted order, the discharge and recharge out of the last one Energy Sources Equilibrium cyclic check period；If balance week
Discharge and recharge Q in phaseJ> 0 illustrates satellite Energy Sources Equilibrium in the rail, checks previous Energy Sources Equilibrium period QJ-1；Enable j=
J-1；
Step S3-2) if discharge and recharge Q in j-th of equilibration periodj< 0 illustrates that satellite is uneven in rail energy, then with
The previous Energy Sources Equilibrium period merges into an Energy Sources Equilibrium period, the discharge and recharge Q=Q in the periodj+Qj-1If Q < 0,
Then continue to merge previous equilibration period, until Q > 0 or j=0；
Step S3-3) enable j successively decrease repetition step S3-2), it is finished until all Energy Sources Equilibrium periods update, i.e. j=0；It is each flat
The parameter in weighing apparatus period includes: time started, end time, discharge and recharge and can distribution energy amount.
5. the imaging satellite energy constraint inspection method according to claim 4 based on dynamic energy equilibration period, special
Sign is, the update Δ E of the step 3)It can useInclude:
Step 3-1) calculate the solar battery array charging duration T of reduction due to being inserted into quasi- arrangement taskminus:
Enable TminusThe operating time of quasi- arrangement task, if the working time section and charging of battery when being full of of insertion task
Section has an overlapping, the when a length of T of both notes overlappingoverlapping, then TminusOperating time-the T of quasi- arrangement taskoverlapping；
Step 3-2) calculate the increased charging duration T because of quasi- arrangement taskadd:
Enable Tadd=0, if quasi- arrange in job end time to the time interval of charging section end time, in the quasi- arrangement of insertion
Battery is that charging is full of state before task, then TaddThe end time-of=charging section intends the end time of arrangement task；
Step 3-3) update the area Yang Zhao be inserted into quasi- arrangement task can distribution energy amount are as follows:
ΔEIt can use+pw×(Tadd-Tminus)
Wherein, pwFor solar battery array windsurfing output power.
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