CN110254753B - Earth geostationary orbit satellite electric thruster and layout optimization method thereof - Google Patents

Earth geostationary orbit satellite electric thruster and layout optimization method thereof Download PDF

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CN110254753B
CN110254753B CN201910482301.5A CN201910482301A CN110254753B CN 110254753 B CN110254753 B CN 110254753B CN 201910482301 A CN201910482301 A CN 201910482301A CN 110254753 B CN110254753 B CN 110254753B
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electric thruster
thruster
layout
ignition
satellite
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CN110254753A (en
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龙腾
魏钊
史人赫
武宇飞
唐亦帆
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Beijing Institute of Technology BIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B64G1/245—Attitude control algorithms for spacecraft attitude control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/40—Arrangements or adaptations of propulsion systems

Abstract

The invention discloses an electric thruster for geostationary orbit satellites and a layout optimization method thereof, and belongs to the field of optimization of subsystems of spacecrafts. The invention relates to an electric thruster for geostationary orbit satellites, which comprises an electric thruster and a vector adjusting mechanism. The invention relates to a layout optimization method of an electric thruster of a geostationary orbit satellite, which comprises the steps of establishing a perturbation motion model of the geostationary orbit satellite; establishing an electric thruster layout for a position keeping strategy, and calculating the projection coefficients of thrust vectors of all thrusters along three axes; customizing a location maintenance policy; establishing a thruster layout optimization model, and obtaining an optimal thruster layout scheme of each small control period through optimization solution; and optimizing the layout of the thruster in each small control period to obtain the optimal scheme of the layout of the thruster in the whole position keeping period. The invention can improve the north-south component coefficient of the thrust generated by the thruster, thereby improving the position holding efficiency and reducing the fuel consumption required by satellite position holding.

Description

Earth geostationary orbit satellite electric thruster and layout optimization method thereof
Technical Field
The invention relates to an electric thruster and a layout optimization method thereof, and belongs to the field of spacecraft subsystem optimization.
Background
Geostationary Earth Orbit (GEO) satellites are subject to perturbation factors such as Earth non-spherical shape, third body attraction, sunlight pressure and the like when in Orbit operation, so that the Geostationary Earth Orbit (GEO) satellites gradually deviate from a nominal Orbit. Therefore, GEO satellites need to perform position maintenance operations during in orbit operations. The electric propulsion system has the characteristics of higher specific impulse, small thrust and the like, and the position protection based on the electric propulsion system can effectively reduce fuel consumption and improve position protection precision, and is widely applied in recent years.
During the position assurance period of the electric propulsion GEO satellite, the fuel consumed by the north-south position assurance accounts for more than 80% of the fuel consumed by the whole position assurance process, and therefore, the component coefficient of the thrust generated by the electric thruster along the north-south direction is an important index for evaluating the position assurance efficiency. However, for the conventional electric thruster, which is usually installed on the back floor of a satellite, due to the constraints of the installation position of the electric thruster and the size of the satellite, and the defects that the working position of the electric thruster cannot be adjusted during the orbit, the south-north component coefficient of the thrust is limited within a certain range. Therefore, in order to overcome the above-mentioned drawbacks, the present work proposes a novel electric thruster model (vector adjustment mechanism driven electric thruster model), that is, a thruster is installed at the end of a vector adjustment mechanism, and the vector adjustment mechanism is driven to adjust the position and posture of the thruster. Through carrying out layout design optimization to this novel electric thruster, can further improve north-south component coefficient, improve the position and protect efficiency, and then reduce fuel consumption.
At present, no scholars at home and abroad develop a novel GEO satellite electric thruster layout design optimization method research.
Disclosure of Invention
The invention discloses an electric thruster for geostationary orbit satellites and a layout optimization method thereof, which aim to solve the technical problems that: the electric thruster for the geostationary orbit satellite for satellite position keeping improves the south-north component coefficient of thrust generated by the thruster by optimizing the layout of the electric thruster for the satellite, thereby improving the position keeping efficiency and reducing the fuel consumption required by satellite position keeping.
The purpose of the invention is realized by the following technical scheme.
The invention discloses an electric thruster for geostationary orbit satellites, which comprises an electric thruster and a vector adjusting mechanism, wherein the vector adjusting mechanism is a vector adjusting mechanism with four or more degrees of freedom. The number of the vector adjusting mechanisms is two or more, and a vector adjusting mechanism group is formed. The quantity of the electric thrusters is the same as that of the vector adjusting mechanisms, and the electric thrusters are arranged at the tail ends of the vector adjusting mechanisms. The vector adjusting mechanism is arranged on the back floor of the satellite, and the installation position needs to ensure that the vector adjusting mechanism group drives the corresponding electric thruster to generate the speed increment needed for position keeping. The position and the posture of the thruster are adjusted by driving the vector adjusting mechanism to move, and the thruster points to the center of mass of the satellite during normal work.
Preferably, the number of vector adjustment mechanisms is two.
Preferably, the vector adjustment mechanism is a vector adjustment mechanism having four degrees of freedom.
In the prior art, due to the constraints of the installation position of the electric thruster and the size of a satellite, the working position of the electric thruster cannot be adjusted during the orbit, and the like, the south-north component coefficient of the thrust is limited within a certain range. The electric thruster for the geostationary orbit satellite disclosed by the invention can improve the north-south component coefficient of the thrust generated by the thruster, further improve the position holding efficiency and reduce the fuel consumption required by satellite position holding.
The invention discloses a layout optimization method of an electric thruster of a geostationary orbit satellite. And establishing an electric thruster layout for a position keeping strategy, and calculating the projection coefficients of the thrust vectors of all thrusters along three axes on the basis of the established electric thruster layout. And (3) customizing a position keeping strategy of the geostationary orbit satellite to ensure that the longitude and latitude of the satellite are controlled. And establishing a thruster layout optimization model, and obtaining an optimal thruster layout scheme of each small control period through optimization solution. And (4) carrying out layout optimization on the thruster in each small control period, and obtaining the optimal scheme of the layout of the thruster in the whole position keeping period after the layout optimization of the thruster in each small control period is completed. According to the obtained optimal scheme of the whole position holding period thruster layout, the thrusters are arranged and installed, the north-south component coefficient of thrust generated by the thrusters is improved, the position holding efficiency is further improved, and the fuel consumption required by satellite position holding is reduced.
The invention discloses a layout optimization method of an electric thruster of a geostationary orbit satellite, which comprises the following steps of:
step 1, establishing a perturbation motion model of a satellite geostationary orbit as an input for satellite position maintenance.
The track coordinate system RTN is defined as: the R axis is located on the orbital plane and faces outwards along the position vector of the satellite, the N axis is perpendicular to the orbital plane and points to the instantaneous angular momentum direction of the satellite, and the T axis, the R axis and the N axis form a right-hand coordinate system.
For geostationary orbit satellites, the impulse thrust control equation is
Figure BDA0002084240630000031
Wherein, is Δ VR、ΔVTAnd Δ VNRespectively radial, tangential and normal velocity increments of the track; vsIs the stationary track speed; a issIs the standard stationary orbit radius; Δ D is the change in longitude drift rate; Δ λ is the change in longitude; Δ exAnd Δ eyIs the track eccentricity variation; Δ ixAnd Δ iyIs the track inclination angle variation; l is Ping Chi Jing.
As can be seen from equation (1), after three directional speed increments of the thruster are obtained, the amount of change in the number of tracks due to thrust can be calculated. The spatial perturbation takes into account earth aspheric gravitational forces, sun and moon gravitational forces, and solar pressure, where earth aspheric gravitational forces cause longitude drift rate perturbation, sun and moon gravitational forces cause orbit inclination perturbation, and solar pressure causes eccentricity perturbation.
And 2, establishing an electric thruster layout for the position keeping strategy in the step 3, and calculating the projection coefficients of the thrust vectors of all thrusters along three axes on the basis of the established electric thruster layout.
The electric thruster for the geostationary orbit satellite comprises an electric thruster and a vector adjusting mechanism. The vector adjusting mechanism is a vector adjusting mechanism with four or more degrees of freedom. The number of the vector adjusting mechanisms is two or more, and a vector adjusting mechanism group is formed. The quantity of the electric thrusters is the same as that of the vector adjusting mechanisms, and the electric thrusters are arranged at the tail ends of the vector adjusting mechanisms. The vector adjusting mechanism is arranged on the back floor of the satellite, and the installation position needs to ensure that the vector adjusting mechanism group drives the corresponding electric thruster to generate the speed increment needed for position keeping. The position and the posture of the thruster are adjusted by driving the vector adjusting mechanism to move, and the thruster points to the center of mass of the satellite during normal work. And then the layout of the electric thruster is established.
The projection coefficient of each thruster thrust vector along three axes of T, N and R is
Figure BDA0002084240630000041
Wherein k isT，kN，kRRespectively is the projection coefficient of the thruster along three axes of T, N and R in the track coordinate system; dT，dN，dRThe absolute values of the mounting position of the thruster along three axes of T, N and R in the track coordinate system are respectively.
Preferably, the vector adjusting mechanism group consists of two four-degree-of-freedom vector adjusting mechanisms. Two four-degree-of-freedom vector adjusting mechanisms are respectively installed at the northwest corner and the southeast corner of the back floor of the satellite, an electric thruster is installed at the tail end of the vector adjusting mechanism, the position and the posture of the thruster can be adjusted by driving the vector adjusting mechanism to move, and the thruster points to the center of mass of the satellite during normal work. The projection coefficient of each thruster thrust vector along three axes of T, N and R is
Figure BDA0002084240630000042
Wherein k isT，kN，kRRespectively is the projection coefficient of the thruster along three axes of T, N and R in the track coordinate system; dT，dN，dRThe absolute values of the mounting position of the thruster along three axes of T, N and R in the track coordinate system are respectively.
And 3, customizing a position keeping strategy of the geostationary orbit satellite to ensure that the longitude and latitude of the satellite are controlled.
The single complete bit retention period is p days and consists of a single orbit determination period of q days and a plurality of small control periods, wherein p is more than q. In each small control period, the south-north vector adjusting mechanism is adjusted once, the south-north thruster is started twice, the start-up right ascension of the north thruster is respectively in the interval of 0-90 degrees and 90-180 degrees, and the start-up right ascension of the south thruster is respectively in the interval of 180-270 degrees and 270-360 degrees.
For each small control period, the expected track inclination angle, drift rate and eccentricity change amount are taken as equality constraints
Figure BDA0002084240630000051
Wherein, Δ ixdAnd Δ iydA desired change in track inclination; k is a radical ofN_NWAnd kN_SENormal coefficients of the north side thruster and the south side thruster respectively; lNW1、lNW2、lSE1And lSE2The right ascension during the first ignition of the north side thruster, the second ignition of the north side thruster, the first ignition of the south side thruster and the second ignition of the south side thruster are respectively; Δ vNW1、ΔvNW2、ΔvSE1And Δ vSE2The speed increment generated by the first ignition of the north side thruster, the second ignition of the north side thruster, the first ignition of the south side thruster and the second ignition of the south side thruster is respectively.
The desired change in drift rate is
Figure BDA0002084240630000052
Wherein, Δ DdIs the desired change in longitude drift rate; k is a radical ofT_NWAnd kT_SETangential coefficients for north and south thrusters, respectively.
The desired amount of eccentricity change is
Figure BDA0002084240630000053
Wherein, Δ exdAnd Δ eydA desired amount of eccentricity change; k is a radical ofR_NWAnd kR_SERadial coefficients for north and south thrusters, respectively.
According to the formula, the propellant consumption and the speed increment are calculated as
Figure BDA0002084240630000061
Wherein, Δ mfuelIs the fuel consumption; Δ v is the velocity increment; m is0Is the initial mass of the satellite; i isspIs propellant specific impulse; eta is the propeller efficiency; fpThe rated thrust of the thruster is obtained; and deltat is the working time of the thruster.
Based on a customized geostationary orbit satellite position keeping strategy, equations (4) - (6) are used as equality constraints, and solving is carried out in an optimization mode to ensure that the longitude and latitude of the satellite are controlled.
Preferably, a single full bit-keeping period is 14 days, consisting of a single 2-day orbit determination period and 6 small 2-day control periods. In each small control period, the south-north vector adjusting mechanism is adjusted once, the south-north thruster is started twice, the start-up right ascension of the north thruster is respectively in the interval of 0-90 degrees and 90-180 degrees, and the start-up right ascension of the south thruster is respectively in the interval of 180-270 degrees and 270-360 degrees.
For each small control period, the expected track inclination angle, drift rate and eccentricity change amount are taken as equality constraints
Figure BDA0002084240630000062
Wherein, Δ ixdAnd Δ iydA desired change in track inclination; k is a radical ofN_NWAnd kN_SENormal coefficients of the north side thruster and the south side thruster respectively; lNW1、lNW2、lSE1And lSE2The right ascension during the first ignition of the north side thruster, the second ignition of the north side thruster, the first ignition of the south side thruster and the second ignition of the south side thruster are respectively; Δ vNW1、ΔvNW2、ΔvSE1And Δ vSE2The speed increment generated by the first ignition of the north side thruster, the second ignition of the north side thruster, the first ignition of the south side thruster and the second ignition of the south side thruster is respectively.
The desired change in drift rate is
Figure BDA0002084240630000063
Wherein, Δ DdIs the desired change in longitude drift rate; k is a radical ofT_NWAnd kT_SETangential coefficients for north and south thrusters, respectively.
The desired amount of eccentricity change is
Figure BDA0002084240630000071
Wherein, Δ exdAnd Δ eydA desired amount of eccentricity change; k is a radical ofR_NWAnd kR_SERadial coefficients for north and south thrusters, respectively.
According to the formula, the propellant consumption and the speed increment are calculated as
Figure BDA0002084240630000072
Wherein, Δ mfuelIs the fuel consumption; Δ v is the velocity increment; m is0Is the initial mass of the satellite; i isspIs propellant specific impulse; eta is the propeller efficiency; fpThe rated thrust of the thruster is obtained; and deltat is the working time of the thruster.
Based on a customized geostationary orbit satellite position keeping strategy, equations (8) - (10) are formed and used as equality constraints, and solution is carried out in an optimization mode to ensure that the longitude and latitude of the satellite are controlled.
And 4, establishing a thruster layout optimization model, and obtaining an optimal thruster layout scheme of each small control period through optimization solution.
The layout optimization problem of the electric thruster is essentially the change of the track inclination angle (delta i) satisfying each small control periodxdAnd Δ iyd) Change in longitude drift rate (Δ D)d) Eccentricity change amount (Δ e)xdAnd Δ eyd) On the premise of meeting the requirements of latitude and longitude control precision and thrust direction, the optimal joint angles, ignition right ascension and ignition duration of the vector adjusting mechanism of the north-south thruster in each small control period are explored, so thatThe fuel consumption of each small control period is minimized. The optimization problem model is as follows
Figure BDA0002084240630000081
Wherein, theta1-θnRespectively the angles of the joint 1-the joint n of the vector adjusting mechanism; t is tNW1、tNW2、tSE1And tSE2The time length of the first ignition of the north side thruster, the second ignition of the north side thruster, the first ignition of the south side thruster and the second ignition of the south side thruster is respectively; m isfuelFuel consumption for each small control period; lambda [ alpha ]eAnd
Figure BDA0002084240630000082
longitude and latitude at the end of each small control period; thetaF_NWAnd thetaF_SEIncluded angles between thrust generated by the north side thruster and the south side thruster and a normal axis are respectively formed; fN_NWAnd FN_SEComponents of thrust along the normal axis generated by the north and south thrusters, respectively.
And (3) obtaining the optimal thruster layout scheme of each small control period by optimizing the electric thruster layout optimization model shown in the solving formula (12).
Preferably, when the vector adjusting mechanism group consists of two four-degree-of-freedom vector adjusting mechanisms, the layout optimization problem of the electric thruster is essentially to satisfy the track inclination angle change (delta i) of each small control periodxdAnd Δ iyd) Change in longitude drift rate (Δ D)d) Eccentricity change amount (Δ e)xdAnd Δ eyd) And on the premise of meeting the requirements of latitude and longitude control precision and thrust direction, the optimal angles of the joint 1 and the joint 2, the ignition right ascension and the ignition duration of the vector adjusting mechanism of the north and south thruster in each small control period are explored, so that the fuel consumption in each small control period is minimum. The optimization problem model is as follows
Figure BDA0002084240630000083
Wherein, thetaNW1And thetaNW2The angles of the joint 1 and the joint 2 of the north thruster are respectively; thetaSE1And thetaSE2The angles of the joint 1 and the joint 2 of the south side thruster are respectively; t is tNW1、tNW2、tSE1And tSE2The time length of the first ignition of the north side thruster, the second ignition of the north side thruster, the first ignition of the south side thruster and the second ignition of the south side thruster is respectively; m isfuelFuel consumption for each small control period; lambda [ alpha ]eAnd
Figure BDA0002084240630000084
longitude and latitude at the end of each small control period; thetaF_NWAnd thetaF_SEIncluded angles between thrust generated by the north side thruster and the south side thruster and a normal axis are respectively formed; fN_NWAnd FN_SEComponents of thrust along the normal axis generated by the north and south thrusters, respectively.
And (3) obtaining the optimal thruster layout scheme of each small control period through an optimization solving model of the electric thruster layout shown in the formula (13).
And 5, optimizing the layout of the thruster in each small control period according to the step 4, and obtaining the optimal scheme of the layout of the thruster in the whole position keeping period after the optimization of the layout of the thruster in each small control period is completed.
Performing layout optimization on the thruster for each small control period according to the step 4, judging whether the maximum position keeping days are reached, and if so, outputting the optimal thruster layout scheme, the ignition right ascension and the ignition duration of the whole position keeping period; otherwise, returning to the step 3.
And 6, arranging and installing the thrusters according to the optimal scheme of the whole position keeping period thruster layout obtained in the step 5, improving the north-south component coefficient of thrust generated by the thrusters, further improving the position keeping efficiency and reducing the fuel consumption required by satellite position keeping.
Has the advantages that:
1. the invention discloses an electric thruster for geostationary orbit satellites and a layout optimization method thereof, and provides the electric thruster for geostationary orbit satellites for satellite position keeping. The position and the posture of the thruster are adjusted by driving the vector adjusting mechanism to move, namely, the south-north component coefficient of thrust generated by the thruster is improved by optimizing the layout of the earth geostationary orbit satellite electric thruster, so that the position keeping efficiency is improved, and the fuel consumption required by satellite position keeping is reduced.
2. The invention discloses an earth geostationary orbit satellite electric thruster and a layout optimization method thereof.A perturbation motion model of a satellite geostationary orbit is established and used as the input of satellite position maintenance; establishing an electric thruster layout for a position keeping strategy, and calculating the projection coefficients of thrust vectors of all thrusters along three axes on the basis of the established electric thruster layout; customizing a position holding strategy of the geostationary orbit satellite to ensure that the longitude and latitude of the satellite are controlled; establishing a thruster layout optimization model, and obtaining an optimal thruster layout scheme of each small control period through optimization solution; performing layout optimization on the thruster in each small control period, and obtaining an optimal scheme of the layout of the thruster in the whole position keeping period after completing the layout optimization on the thruster in each small control period; according to the obtained optimal scheme of the whole position holding period thruster layout, the thrusters are arranged and installed, the north-south component coefficient of thrust generated by the thrusters is improved, the position holding efficiency is further improved, and the fuel consumption required by satellite position holding is reduced.
Drawings
FIG. 1 is a flow chart of a method for optimizing the layout of an electric thruster of a geostationary orbit satellite according to the present invention;
FIG. 2 is a schematic diagram of a track coordinate system RTN;
FIG. 3 is a layout diagram of an electric thruster for geostationary orbit satellite according to the present invention;
FIG. 4 is a schematic view of a south-north thrust unit in the right ascension when starting;
FIG. 5 is a longitude plot;
FIG. 6 is a latitude plot;
FIG. 7 shows the angle between the thrust generated by the north and south thrusters and the normal axis;
FIG. 8 shows the thrust projection coefficient of the north thruster;
fig. 9 is a thrust projection coefficient of the south thruster.
Detailed Description
To better illustrate the objects and advantages of the present invention, the comprehensive performance of the present invention is further illustrated by the following simulation calculation comparison test in combination with the table and the attached drawings, and is verified and analyzed.
In order to verify the rationality of the model, simulation verification is performed by taking a geostationary orbit satellite as an example. Initial mass m of geostationary orbit satellite in an example01000kg, the length a multiplied by the width b multiplied by the height c of the satellite is 2m multiplied by 2m, and the rated thrust F of the thrusterpIs 100mN, specific impact Isp4000s, the simulation starting time is 1 month and 1 day in 2020, the simulation time length is 1 year, and the fixed point longitude of the geostationary orbit satellite is lambda0At 120E, the vector adjustment mechanism length L is 1.8m, and the initial track elements are shown in table 1.
TABLE 1 initial orbit element values
Figure BDA0002084240630000101
As shown in fig. 3, the electric thruster for geostationary orbit satellite disclosed in this embodiment includes an electric thruster and a vector adjusting mechanism. The vector adjusting mechanism is a vector adjusting mechanism with four or more degrees of freedom. The number of the vector adjusting mechanisms is two or more, and a vector adjusting mechanism group is formed. The number of the electric thrusters is the same as that of the vector adjusting mechanisms. The electric thruster is arranged at the tail end of the vector adjusting mechanism. The vector adjusting mechanism is arranged on the back floor of the satellite, and the installation position needs to ensure that the vector adjusting mechanism group drives the corresponding electric thruster to generate the speed increment needed for position keeping. The position and the posture of the thruster are adjusted by driving the vector adjusting mechanism to move, and the thruster points to the center of mass of the satellite during normal work. And then the layout of the electric thruster is established.
As shown in fig. 1, the method for optimizing the layout of the electric thruster of the geostationary orbit satellite disclosed by this embodiment includes the following steps:
step 1, establishing a perturbation motion model of a satellite geostationary orbit as an input for satellite position maintenance.
The track coordinate system RTN may be defined as: the R axis is located on the orbital plane outward along the satellite position vector, the N axis is perpendicular to the orbital plane and points in the direction of the instantaneous angular momentum of the satellite, and the T axis, the R axis and the N axis form a right-hand coordinate system, as shown in fig. 2.
For geostationary orbit satellites, the impulse thrust control equation is
Figure BDA0002084240630000111
Wherein, is Δ VR、ΔVTAnd Δ VNRespectively radial, tangential and normal velocity increments of the track; vsIs the stationary track speed; a issIs the standard stationary orbit radius; Δ D is the change in longitude drift rate; Δ λ is the change in longitude; Δ exAnd Δ eyIs the track eccentricity variation; Δ ixAnd Δ iyIs the track inclination angle variation; l is Ping Chi Jing.
As can be seen from equation (14), after three directional speed increments of the thruster are obtained, the amount of change in the number of tracks due to the thrust can be calculated. The spatial perturbation takes into account earth aspheric gravitational forces, sun and moon gravitational forces, and solar pressure, where earth aspheric gravitational forces cause longitude drift rate perturbation, sun and moon gravitational forces cause orbit inclination perturbation, and solar pressure causes eccentricity perturbation.
And 2, establishing an electric thruster layout for the position keeping strategy in the step 3, and calculating the projection coefficients of the thrust vectors of all thrusters along three axes on the basis of the established electric thruster layout.
The vector adjusting mechanism group consists of two four-degree-of-freedom vector adjusting mechanisms, and the structural configuration is shown in figure 3. Two four-degree-of-freedom vector adjusting mechanisms are respectively installed at the northwest corner and the southeast corner of the back floor of the satellite, an electric thruster is installed at the tail end of the vector adjusting mechanism, the position and the posture of the thruster can be adjusted by driving the vector adjusting mechanism to move, and the thruster points to the center of mass of the satellite during normal work. The projection coefficient of each thruster thrust vector along three axes of T, N and R is
Figure BDA0002084240630000121
Wherein k isT，kN，kRRespectively is the projection coefficient of the thruster along three axes of T, N and R in the track coordinate system; dT，dN，dRThe absolute values of the mounting position of the thruster along three axes of T, N and R in the track coordinate system are respectively.
And 3, customizing a position keeping strategy of the geostationary orbit satellite to ensure that the longitude and latitude of the satellite are controlled.
The single full bit-keeping period is 14 days, consisting of a single 2-day orbit determination period and 6 small 2-day control periods. In each small control period, the south-north vector adjusting mechanism is adjusted once, the south-north thruster is started twice, the start-up right ascension of the north side thruster is respectively in the interval of 0-90 degrees and 90-180 degrees, the start-up right ascension of the south side thruster is respectively in the interval of 180-270 degrees and 270-360 degrees, and the start-up right ascension of the south-north thruster is shown in fig. 4.
For each small control period, the expected track inclination angle, drift rate and eccentricity change amount are taken as equality constraints
Figure BDA0002084240630000122
Wherein, Δ ixdAnd Δ iydA desired change in track inclination; k is a radical ofN_NWAnd kN_SENormal coefficients of the north side thruster and the south side thruster respectively; lNW1、lNW2、lSE1And lSE2The right ascension during the first ignition of the north side thruster, the second ignition of the north side thruster, the first ignition of the south side thruster and the second ignition of the south side thruster are respectively; Δ vNW1、ΔvNW2、ΔvSE1And Δ vSE2The speed increment generated by the first ignition of the north side thruster, the second ignition of the north side thruster, the first ignition of the south side thruster and the second ignition of the south side thruster is respectively.
The desired change in drift rate is
Figure BDA0002084240630000131
Wherein, Δ DdIs the desired change in longitude drift rate; k is a radical ofT_NWAnd kT_SETangential coefficients for north and south thrusters, respectively.
The desired amount of eccentricity change is
Figure BDA0002084240630000132
Wherein, Δ exdAnd Δ eydA desired amount of eccentricity change; k is a radical ofR_NWAnd kR_SERadial coefficients for north and south thrusters, respectively.
According to the formula, the propellant consumption and the speed increment are calculated as
Figure BDA0002084240630000133
Wherein, Δ mfuelIs the fuel consumption; Δ v is the velocity increment; m is0Is the initial mass of the satellite; i isspIs propellant specific impulse; eta is the propeller efficiency; fpThe rated thrust of the thruster is obtained; and deltat is the working time of the thruster.
Based on a customized geostationary orbit satellite position keeping strategy, equations (16) - (18) are used as equality constraints, and solution is carried out in an optimization mode to ensure that the longitude and latitude of the satellite are controlled.
And 4, establishing a thruster layout optimization model, and obtaining an optimal thruster layout scheme of each small control period through optimization solution.
When the vector adjusting mechanism group consists of two four-degree-of-freedom vector adjusting mechanisms, the layout optimization problem of the electric thruster is essentially to satisfy the change (delta i) of the track inclination angle of each small control periodxdAnd Δ iyd) Change in longitude drift rate (Δ D)d) Eccentricity change amount (Δ e)xdAnd Δ eyd) And on the premise of meeting the requirements of latitude and longitude control precision and thrust direction, the optimal angles of the joint 1 and the joint 2, the ignition right ascension and the ignition duration of the vector adjusting mechanism of the north and south thruster in each small control period are explored, so that the fuel consumption in each small control period is minimum. The optimization problem model is as follows
Figure BDA0002084240630000141
Wherein, thetaNW1And thetaNW2The angles of the joint 1 and the joint 2 of the north thruster are respectively; thetaSE1And thetaSE2The angles of the joint 1 and the joint 2 of the south side thruster are respectively; t is tNW1、tNW2、tSE1And tSE2The time length of the first ignition of the north side thruster, the second ignition of the north side thruster, the first ignition of the south side thruster and the second ignition of the south side thruster is respectively; m isfuelFuel consumption for each small control period; lambda [ alpha ]eAnd
Figure BDA0002084240630000142
longitude and latitude at the end of each small control period; thetaF_NWAnd thetaF_SEIncluded angles between thrust generated by the north side thruster and the south side thruster and a normal axis are respectively formed; fN_NWAnd FN_SEComponents of thrust along the normal axis generated by the north and south thrusters, respectively.
And (3) obtaining the optimal thruster layout scheme of each small control period through an optimization solving model shown in the formula (20).
And 5, optimizing the layout of the thruster in each small control period according to the step 4, and obtaining the optimal scheme of the layout of the thruster in the whole position keeping period after the optimization of the layout of the thruster in each small control period is completed.
Performing layout optimization on the thruster for each small control period according to the step 4, judging whether the maximum position keeping days are reached, and if so, outputting the optimal thruster layout scheme, the ignition right ascension and the ignition duration of the whole position keeping period; otherwise, returning to the step 3.
And 6, arranging and installing the thrusters according to the optimal scheme of the whole position keeping period thruster layout obtained in the step 5, improving the north-south component coefficient of thrust generated by the thrusters, further improving the position keeping efficiency and reducing the fuel consumption required by satellite position keeping.
Through simulation, the optimized longitude and latitude curves can be obtained as shown in fig. 5 and 6. It can be seen from fig. 5 and 6 that the deviations of the optimized longitude and latitude curves are all limited within the range of [ -0.05 °, +0.05 ° ] to meet the control accuracy requirement.
The simulation result of the included angle between the thrust generated by the north side thruster and the south side thruster and the normal axis in each small control period is shown in fig. 7. As can be seen from fig. 7, the included angles between the thrust generated by the north side thruster and the thrust generated by the south side thruster and the normal axis are both greater than 30 °, so that the influence of the plume generated by the thrusters on the solar sailboard can be avoided.
The projection coefficients of the thrust generated by the north side thruster and the south side thruster along the three axes of T, N and R are respectively shown in fig. 8 and fig. 9. As can be seen from fig. 8 and 9, the projection coefficients of the north side thruster and the south side thruster along the N axis tend to be maximized, and the bit-keeping efficiency is improved.
In order to further verify the advantages of the geostationary orbit satellite electric thruster and the layout optimization method thereof, the layout of the electric thruster is compared with the layout of the traditional electric thruster (namely the electric thruster without a vector adjusting mechanism). Through one year of simulation, the fuel consumption results of the novel electric thruster layout and the traditional electric thruster layout can be obtained as shown in the table 2.
TABLE 2 comparison of fuel consumption results for novel and conventional electric thruster layouts
Figure BDA0002084240630000151
As can be seen from table 2, the fuel consumption of the novel electric thruster layout is reduced by 1.166kg compared with the conventional thruster layout, so that the feasibility and effectiveness of the geostationary orbit satellite electric thruster and the layout optimization method thereof provided by the invention can be demonstrated.
The above detailed description further illustrates the objects, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. The utility model provides an earth orbit satellite electricity thrust ware which characterized in that: the device comprises an electric thruster and a vector adjusting mechanism, wherein the vector adjusting mechanism is a vector adjusting mechanism with more than four degrees of freedom; the number of the vector adjusting mechanisms is more than two, and a vector adjusting mechanism group is formed; the number of the electric thrusters is the same as that of the vector adjusting mechanisms, and the electric thrusters are arranged at the tail ends of the vector adjusting mechanisms; the vector adjusting mechanism is arranged on a back floor of the satellite, and the installation position needs to ensure that the vector adjusting mechanism drives the corresponding electric thruster to generate a speed increment required for position keeping; the position and the posture of the electric thruster are adjusted by driving the vector adjusting mechanism to move, and the electric thruster points to the center of mass of the satellite during normal work;
the number of the vector adjusting mechanisms is two; the vector adjusting mechanism is a vector adjusting mechanism with four degrees of freedom;
the method for optimizing the layout of the electric thruster of the geostationary orbit satellite comprises the following steps:
step 1, establishing a perturbation motion model of a satellite stationary orbit as an input for satellite position maintenance;
step 2, establishing an electric thruster layout for the position keeping strategy in the step 3, and calculating the projection coefficients of the thrust vectors of all the electric thrusters along three axes on the basis of the established electric thruster layout;
step 3, customizing a position keeping strategy of the geostationary orbit satellite to ensure that the longitude and latitude of the satellite are controlled;
step 4, establishing an electric thruster layout optimization model, and obtaining an optimal electric thruster layout scheme of each small control period through optimization solution;
step 5, optimizing the layout of the electric thruster in each small control period according to the step 4, and obtaining the optimal scheme of the layout of the electric thruster in the whole position keeping period after completing the optimization of the layout of the electric thruster in each small control period;
wherein, the step 3 is realized by the following steps,
the single complete bit-keeping period is p days, and consists of a single track determining period with a period of q days and a plurality of small control periods, wherein p is more than q; in each small control period, the south-north side vector adjusting mechanism is adjusted once, the south-north side electric thruster is started twice, the start-up right ascension of the north side electric thruster is respectively in the interval of 0-90 degrees and 90-180 degrees, and the start-up right ascension of the south side electric thruster is respectively in the interval of 180-270 degrees and 270-360 degrees;
for each small control period, the expected track inclination angle, drift rate and eccentricity change amount are taken as equality constraints
Figure FDA0002802616000000011
Wherein, Δ ixdAnd Δ iydA desired change in track inclination; k is a radical ofN_NWAnd kN_SENormal coefficients of the north side electric thruster and the south side electric thruster are respectively; vsIs the stationary track speed; lNW1、lNW2、lSE1And lSE2The right ascension during the first ignition of the north side electric thruster, the second ignition of the north side electric thruster, the first ignition of the south side electric thruster and the second ignition of the south side electric thruster are respectively carried out; Δ vNW1、ΔvNW2、ΔvSE1And Δ vSE2Respectively for the first ignition of the electric thruster at the north side and the electric thruster at the north sideThe second ignition of the booster, the first ignition of the south side electric booster and the second ignition of the south side electric booster generate speed increment;
the desired change in drift rate is
Figure FDA0002802616000000021
Wherein, Δ DdIs the desired change in longitude drift rate; k is a radical ofT_NWAnd kT_SERespectively the tangential coefficients of the electric thruster on the north side and the south side; a issIs the standard stationary orbit radius;
the desired amount of eccentricity change is
Figure FDA0002802616000000022
Wherein, Δ exdAnd Δ eydA desired amount of eccentricity change; k is a radical ofR_NWAnd kR_SERadial coefficients of the north side electric thruster and the south side electric thruster are respectively;
according to the formula, the propellant consumption and the speed increment are calculated as
Figure FDA0002802616000000023
Wherein, Δ mfuelIs the fuel consumption; Δ v is the velocity increment; m is0Is the initial mass of the satellite; i isspIs propellant specific impulse; eta is the propeller efficiency; fpThe rated thrust of the electric thruster is obtained; delta t is the working time of the electric thruster; g is the acceleration of gravity;
based on a customized geostationary orbit satellite position keeping strategy, equations (1) - (3) are used as equality constraints, and solving is carried out in an optimization mode to ensure that the longitude and latitude of the satellite are controlled.
2. The method for optimizing the layout of an electric thruster of a geostationary orbit satellite according to claim 1, wherein: and 6, according to the optimal scheme of the layout of the electric thruster in the whole position keeping period obtained in the step 5, arranging and installing the electric thruster, improving the north-south component coefficient of the thrust generated by the electric thruster, further improving the position keeping efficiency and reducing the fuel consumption required by satellite position keeping.
3. The method for optimizing the layout of an electric thruster of a geostationary orbit satellite according to claim 1, wherein: the step 1 is realized by the method that,
the track coordinate system RTN is defined as: the R axis is positioned on the orbital plane and faces outwards along the position vector of the satellite, the N axis is perpendicular to the orbital plane and points to the instantaneous angular momentum direction of the satellite, and the T axis, the R axis and the N axis form a right-hand coordinate system;
for geostationary orbit satellites, the impulse thrust control equation is
Figure FDA0002802616000000031
Wherein, is Δ VR、ΔVTAnd Δ VNRespectively radial, tangential and normal velocity increments of the track; vsIs the stationary track speed; a issIs the standard stationary orbit radius; Δ D is the change in longitude drift rate; Δ λ is the change in longitude; Δ exAnd Δ eyIs the track eccentricity variation; Δ ixAnd Δ iyIs the track inclination angle variation; l is the Ping Chijing;
according to the formula (1), after the speed increment of the electric thruster in three directions is obtained, the track number variation caused by the thrust can be calculated; the spatial perturbation takes into account earth aspheric gravitational forces, sun and moon gravitational forces, and solar pressure, where earth aspheric gravitational forces cause longitude drift rate perturbation, sun and moon gravitational forces cause orbit inclination perturbation, and solar pressure causes eccentricity perturbation.
4. The method for optimizing the layout of an electric thruster of a geostationary orbit satellite according to claim 3, wherein: the step 2 is realized by the method that,
the electric thruster for the geostationary orbit satellite comprises an electric thruster and a vector adjusting mechanism; the vector adjusting mechanism has more than four degrees of freedom; the number of the vector adjusting mechanisms is more than two, and a vector adjusting mechanism group is formed; the number of the electric thrusters is the same as that of the vector adjusting mechanisms, and the electric thrusters are arranged at the tail ends of the vector adjusting mechanisms; the vector adjusting mechanism is arranged on a back floor of the satellite, and the installation position needs to ensure that the vector adjusting mechanism drives the corresponding electric thruster to generate a speed increment required for position keeping; the position and the posture of the electric thruster are adjusted by driving the vector adjusting mechanism to move, and the electric thruster points to the center of mass of the satellite during normal work; namely, the layout of the electric thruster is established;
the projection coefficient of each electric thruster thrust vector along three axes of T, N and R is
Figure FDA0002802616000000041
Wherein k isT，kN，kRThe projection coefficients of the electric thruster along three axes of T, N and R in the track coordinate system are respectively; dT，dN，dRThe absolute values of the three-axis coordinates of T, N and R of the installation position of the electric thruster in the track coordinate system are respectively.
5. The method for optimizing the layout of an electric thruster of a geostationary orbit satellite according to claim 4, wherein: step 4, the method is realized by the following steps,
the layout optimization problem of the electric thruster is essentially to explore each joint angle of the optimal north-south side vector adjusting mechanism, the optimal south-north side electric thruster ignition right ascension and ignition duration of each small control period on the premise of meeting the requirements of track inclination angle variation, longitude drift rate variation, eccentricity variation, longitude and latitude control precision and thrust direction of each small control period, so that the fuel consumption of each small control period is minimum; the optimization problem model is as follows
Figure FDA0002802616000000042
Wherein, theta1-θnRespectively the angles of the joint 1-the joint n of the vector adjusting mechanism; t is tNW1、tNW2、tSE1And tSE2The time lengths of the first ignition of the north side electric thruster, the second ignition of the north side electric thruster, the first ignition of the south side electric thruster and the second ignition of the south side electric thruster are respectively; m isfuelFuel consumption for each small control period; lambda [ alpha ]eAnd
Figure FDA0002802616000000043
longitude and latitude at the end of each small control period; thetaF_NWAnd thetaF_SEIncluded angles between thrust generated by the electric thrusters on the north side and the south side and a normal axis are respectively formed; fN_NWAnd FN_SEComponents of thrust forces generated by the north side electric thruster and the south side electric thruster along a normal axis respectively;
and (3) obtaining the optimal layout scheme of the electric thruster in each small control period by optimizing the electric thruster layout optimization model shown in the solving formula (7).
6. The method for optimizing the layout of an electric thruster of a geostationary orbit satellite according to claim 5, wherein: step 5 the method is realized by the following steps,
performing layout optimization on the electric thruster according to the step 4 for each small control period, judging whether the maximum position keeping days are reached, and if so, outputting the optimal layout scheme, ignition right ascension and ignition duration of the electric thruster in the whole position keeping period; otherwise, returning to the step 3.
7. The method of optimizing the layout of an electric thruster of a geostationary orbit satellite according to claim 6, wherein: the specific implementation method of the step 2 is that,
the vector adjusting mechanism group consists of two four-degree-of-freedom vector adjusting mechanisms; the two four-degree-of-freedom vector adjusting mechanisms are respectively arranged at the northwest corner and the southeast corner of the back floor of the satellite, the electric thruster is arranged at the tail end of the vector adjusting mechanism, the position and the posture of the electric thruster can be adjusted by driving the vector adjusting mechanism to move, and the electric thruster points to the center of mass of the satellite during normal work; the projection coefficient of each electric thruster thrust vector along three axes of T, N and R is
Figure FDA0002802616000000051
Wherein k isT，kN，kRThe projection coefficients of the electric thruster along three axes of T, N and R in the track coordinate system are respectively; dT，dN，dRRespectively are absolute values of the mounting position of the electric thruster along three axes of T, N and R in a track coordinate system;
the specific implementation method of the step 3 is that,
the single complete bit-keeping period is 14 days and consists of a single 2-day orbit determination period and 6 2-day small control periods; in each small control period, the south-north side vector adjusting mechanism is adjusted once, the south-north side electric thruster is started twice, the start-up right ascension of the north side electric thruster is respectively in the interval of 0-90 degrees and 90-180 degrees, and the start-up right ascension of the south side electric thruster is respectively in the interval of 180-270 degrees and 270-360 degrees;
for each small control period, the expected track inclination angle, drift rate and eccentricity change amount are taken as equality constraints
Figure FDA0002802616000000052
Wherein, Δ ixdAnd Δ iydA desired change in track inclination; k is a radical ofN_NWAnd kN_SENormal coefficients of the north side electric thruster and the south side electric thruster are respectively; vsIs the stationary track speed; lNW1、lNW2、lSE1And lSE2Respectively for the first ignition of the north side electric thruster and the north side electric thrusterThe right ascension at the time of the second ignition, the first ignition of the south side electric thruster and the second ignition of the south side electric thruster; Δ vNW1、ΔvNW2、ΔvSE1And Δ vSE2Speed increments generated by the first ignition of the north side electric thruster, the second ignition of the north side electric thruster, the first ignition of the south side electric thruster and the second ignition of the south side electric thruster are respectively generated;
the desired change in drift rate is
Figure FDA0002802616000000061
Wherein, Δ DdIs the desired change in longitude drift rate; k is a radical ofT_NWAnd kT_SERespectively the tangential coefficients of the electric thruster on the north side and the south side; a issIs the standard stationary orbit radius;
the desired amount of eccentricity change is
Figure FDA0002802616000000062
Wherein, Δ exdAnd Δ eydA desired amount of eccentricity change; k is a radical ofR_NWAnd kR_SERadial coefficients of the north side electric thruster and the south side electric thruster are respectively;
according to the formula, the propellant consumption and the speed increment are calculated as
Figure FDA0002802616000000063
Wherein, Δ mfuelIs the fuel consumption; Δ v is the velocity increment; m is0Is the initial mass of the satellite; i isspIs propellant specific impulse; eta is the propeller efficiency; fpThe rated thrust of the electric thruster is obtained; delta t is the working time of the electric thruster; g is the acceleration of gravity;
based on a customized geostationary orbit satellite position keeping strategy, equations (9) - (11) are used as equality constraints, and solving is carried out in an optimization mode to ensure that the longitude and latitude of the satellite are controlled;
the specific implementation method of the step 4 is that,
when the vector adjusting mechanism group consists of two four-degree-of-freedom vector adjusting mechanisms, the layout optimization problem of the electric thruster is essentially to explore the optimal angles of the joint 1 and the joint 2 of the vector adjusting mechanism on the north and south sides and the optimal ignition right ascension and ignition duration of the electric thruster on the north and south sides in each small control period on the premise of meeting the requirements of track inclination angle change, longitude drift rate change, eccentricity change, longitude and latitude control precision and thrust direction in each small control period, so that the fuel consumption in each small control period is minimum; the optimization problem model is as follows
Figure FDA0002802616000000071
Wherein, thetaNW1And thetaNW2Angles of a joint 1 and a joint 2 of the north vector adjusting mechanism are respectively; thetaSE1And thetaSE2The angles of the joint 1 and the joint 2 of the south vector adjusting mechanism are respectively; t is tNW1、tNW2、tSE1And tSE2The time lengths of the first ignition of the north side electric thruster, the second ignition of the north side electric thruster, the first ignition of the south side electric thruster and the second ignition of the south side electric thruster are respectively; m isfuelFuel consumption for each small control period; lambda [ alpha ]eAnd
Figure FDA0002802616000000072
longitude and latitude at the end of each small control period; thetaF_NWAnd thetaF_SEIncluded angles between thrust generated by the electric thrusters on the north side and the south side and a normal axis are respectively formed; fN_NWAnd FN_SEComponents of thrust forces generated by the north side electric thruster and the south side electric thruster along a normal axis respectively;
and (3) obtaining the optimal layout scheme of the electric thruster in each small control period by optimizing the electric thruster layout optimization model shown in the solving formula (13).
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