CN110963085B - Aircraft thruster layout and aircraft position protection method based on layout - Google Patents
Aircraft thruster layout and aircraft position protection method based on layout Download PDFInfo
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Abstract
The invention relates to a thruster layout of an aircraft and an aircraft position protection method based on the thruster layout, belonging to the field of high-orbit satellite design, wherein the aircraft is provided with 20 thrusters which are divided into two branches, each branch is provided with 10 thrusters, and each branch can independently complete 6-degree-of-freedom attitude and orbit decoupling control on a service aircraft, and can maintain the north, south and west positions and attitude control on a combined body. Each position protection mode provided by the invention comprises backup, and the position protection efficiency is calculated by adopting a formula related to the height of the mass center of the assembly and the thrust angle of the multi-task aircraft thruster for selecting the backup, so that the highest efficiency of the selected position protection mode is ensured.
Description
Technical Field
The invention belongs to the field of high-orbit satellite design, and particularly relates to an aircraft thruster layout and an aircraft position protection method based on the layout.
Background
The multi-task aircraft can independently work or carry out on-orbit combined operation after being in orbit, and multi-task satellites with different configurations are produced along with the development of aerospace industry. The multi-task satellite has the advantages of reducing the risk of satellite task failure, reducing task cost, enhancing the function of a task system, improving the flexibility of tasks and the like, and has important significance in the aspects of economy, national defense and promotion of space technology development. The functions of auxiliary orbit transfer, fuel supply, fault repair and the like belong to the multi-task aircraft of on-orbit operation class, a series of operations such as space troubleshooting, service life prolonging and the like can be carried out, the multi-task aircraft needs to be in close contact with a served object and forms a combined body with the served object to carry out on-orbit position protection, the layout of a thruster of the multi-task aircraft is required to meet the self requirement and ensure that the combined body is not influenced after being formed, the position protection mode and the strategy of the combined body are related to the combined body, the layout mode of the existing thruster interferes with the served object, the plume of the thruster influences the served object and cannot carry out position protection of the combined body, and the requirement of the multi-task aircraft cannot be met by adopting the calculation method of the existing satellite thruster.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the aircraft thruster layout and the aircraft position protection method based on the layout are provided for the combination formed by the on-orbit multitask aircraft and the served object, the problem of the aircraft thruster layout is effectively solved, the thruster meets the layout conditions of the multitask aircraft, and the combination is not interfered.
The technical scheme of the invention is as follows: a thruster layout for a multitasking aircraft, the aircraft comprising 10 thrusters, respectively: the fourth thrusters and the second thrusters are installed in pairs along the X-axis direction of the mass center coordinate system of the aircraft, the fourth thrusters are used for generating clockwise moment around the Y-axis of the mass center coordinate system of the aircraft, and the second thrusters are used for generating anticlockwise moment around the Y-axis of the mass center coordinate system of the aircraft;
the ninth thruster and the tenth thruster are installed in pairs along the Y-axis direction of the mass center coordinate system of the aircraft, the ninth thruster is used for generating a moment in the anticlockwise direction around the X-axis of the mass center coordinate system of the aircraft, and the tenth thruster is used for generating a moment in the clockwise direction around the X-axis of the mass center coordinate system of the aircraft;
the first thruster, the third thruster, the fifth thruster and the seventh thruster are arranged on the back ground;
the first thruster and the third thruster are arranged on the back ground of the aircraft in pairs along the X-axis direction of the mass center coordinate system of the aircraft, the first thruster is used for generating moment in the clockwise direction around the Y-axis of the mass center coordinate system of the aircraft, and the third thruster is used for generating moment in the anticlockwise direction around the Y-axis of the mass center coordinate system of the aircraft;
the fifth thruster and the seventh thruster are installed on the diagonal line of the aircraft to the ground in pairs and are used for clockwise moment around the Z axis of the mass center coordinate system of the aircraft;
and each thruster plume has no interference with the served object.
The thrust lines of the sixth thruster and the eighth thruster are parallel to each other and have opposite directions, and the thrust lines of the fifth thruster and the seventh thruster are parallel to each other and have opposite directions.
And the included angles of the thrust lines of the second thruster and the fourth thruster and the X axis of the mass center coordinate system of the aircraft are complementary.
And the thrust lines of the ninth thruster and the tenth thruster are complementary with the included angle of the Y axis of the mass center coordinate system of the aircraft.
And the included angles of the thrust lines of the first thruster and the third thruster and the X axis of the mass center coordinate system of the aircraft are complementary.
The thruster layout of the multi-task aircraft further comprises an eleventh thruster, a twelfth thruster, a thirteenth thruster, a fourteenth thruster, a fifteenth thruster, a sixteenth thruster, a seventeenth thruster, an eighteenth thruster, a nineteenth thruster and a twentieth thruster;
the twelfth thruster, the fourteenth thruster, the sixteenth thruster, the eighteenth thruster, the nineteenth thruster and the twentieth thruster are arranged on the ground;
the sixteenth thruster and the eighteenth thruster are arranged on the diagonal line of the aircraft to the ground in pairs and are used for generating moment in the clockwise direction around the Z axis of the mass center coordinate system of the aircraft;
the fourteenth thruster and the twelfth thruster are installed in pairs along the X-axis direction of the mass center coordinate system of the aircraft, the fourteenth thruster is used for generating clockwise moment around the Y-axis of the mass center coordinate system of the aircraft, and the twelfth thruster is used for generating anticlockwise moment around the Y-axis of the mass center coordinate system of the aircraft;
the nineteenth thruster and the twentieth thruster are installed in pairs along the Y-axis direction of the mass center coordinate system of the aircraft, the nineteenth thruster is used for generating a moment in the anticlockwise direction around the X-axis of the mass center coordinate system of the aircraft, and the twentieth thruster is used for generating a moment in the clockwise direction around the X-axis of the mass center coordinate system of the aircraft;
the eleventh thruster, the thirteenth thruster, the fifteenth thruster and the seventeenth thruster are arranged on the back ground;
the eleventh thruster and the thirteenth thruster are arranged on the back ground of the aircraft in pairs along the X-axis direction of the aircraft centroid coordinate system, the eleventh thruster is used for generating moment in the clockwise direction around the Y-axis of the aircraft centroid coordinate system, and the thirteenth thruster is used for generating moment in the counterclockwise direction around the Y-axis of the aircraft centroid coordinate system;
the fifteenth thruster and the seventeenth thruster are arranged on the diagonal line of the aircraft to the ground in pairs and are used for generating moment in the anticlockwise direction around the Z axis of the mass center coordinate system of the aircraft;
and each thruster plume has no interference with the served object.
The other technical solution of the invention is as follows: the multitask aircraft position protection method based on the thruster layout comprises the following steps:
(1) the combination north-south position protection strategy is as follows:
(1.1) preliminarily determining a north-south strategy: the first north-south strategy is: a ninth thruster is adopted at the ascending intersection point for protecting the south, a tenth thruster is adopted at the descending intersection point or a nineteenth thruster is adopted at the ascending intersection point for protecting the south, and a twentieth thruster is adopted at the descending intersection point for protecting the north; the second north-south strategy is: protecting the eighteenth thruster to the south by adopting a sixth thruster, and protecting the sixteenth thruster to the north by adopting an eighth thruster;
(1.2) identifying the centroid position of the assembly on the track, wherein the centroid position comprises the height h of the centroid of the assemblycAnd adjusting the distance L between the two aircrafts of the combination body, adjusting the position of the mass center of the combination body, and adjusting the distance L between the two aircrafts of the combination body to a desired valueexpWhile the height of the center of mass of the combined body reaches a desired value hc_expSo that the force arm of each thruster and the mass center of the combined body is as small as possible;
(1.3) calculating the north-south position preserving efficiency of the first north-south strategy and the second north-south strategy;
and (1.4) selecting the first north-south strategy or the second north-south strategy with high efficiency as a final north-south position-keeping strategy.
(2) The east-west security policy of the combination is as follows:
and the fourth thruster is adopted for protecting the east position, the twelfth thruster is adopted for protecting the west position, or the fourteenth thruster is adopted for protecting the east position and the second thruster is adopted for protecting the west position.
Expected value h of height of center of mass of the combined bodyc_expComprises the following steps:
wherein the content of the first and second substances,
h0＝zthruster
h2＝zthruster+ythrustertanα
wherein L is hcIs the current assembly centroid height, m1、m2The mass of the multitasking aircraft and the served satellite respectively; z is a radical ofthrusterIs the Z-direction installation coordinate value, y, of the sixth thruster, the sixteenth thruster, the eighth thruster or the eighteenth thrusterthrusterThe absolute values of Y-direction installation coordinates of the ninth thruster, the tenth thruster, the nineteenth thruster and the twentieth thruster are shown, alpha is an included angle between a thrust line of the ninth thruster and the tenth thruster and a + Y axis, and an acute angle is taken; the mounting angles of the nineteenth thruster and the twentieth thruster and the-Y axis are acute angles; t isrollFor rolling control moment, F is the nominal thrust of the thruster, LminIs the minimum safe separation of two aircraft, h0Is a first characteristic height, h1Is the second characteristic height, h2Is the third feature height.
Desired value L of distance between two aircrafts of the assemblyexpComprises the following steps:
wherein L is the distance L, h between two aircrafts of the assemblycIs the height of the center of mass of the combination.
The formula for calculating the north-south bit retention efficiency of the first north-south strategy and the second north-south strategy in the step (1.3) is as follows:
wherein, TrollFor rolling control moment, F is the nominal thrust of the thruster, hc_minThe minimum value which can be reached by the height of the centroid of the current assembly.
Compared with the prior art, the invention has the beneficial effects that:
(1) the thruster layout and combination position protection method for the multi-task aircraft effectively solves the problem of the layout of the thrusters of the aircraft, so that the thrusters can meet the layout conditions of the multi-task aircraft and do not interfere with the combination.
(2) The thruster layout method of the multi-task aircraft provided by the invention has the advantages that the combination use modes of the thrusters are more, the three-axis attitude control, the north-south position protection, the east-west position protection, the bottom sinking and other tasks of the assembly are realized by adopting less thruster configurations, and the use modes of the thrusters all comprise backup.
(3) The method organically combines the mass center and the thruster layout after the multitask aircraft and the served object form the assembly, and selects the position protection mode of the assembly by taking the assembly mass center position and the position protection efficiency as criteria, so that the position protection efficiency is maximized.
(4) The thruster layout method of the multitask aircraft provided by the invention adopts a formula calculation mode to reversely guide the position of the mass center of the on-orbit assembly through the position protection efficiency of the thruster, so that the position protection mode of the assembly saves fuel to the maximum, namely, the position protection efficiency is maximized.
Drawings
FIG. 1 is a layout of a multi-tasking aircraft thruster in accordance with an embodiment of the present invention;
FIG. 2 is a diagram illustrating a strategy for adjusting the center of mass of a formed assembly of a multi-tasking aircraft, in accordance with an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings:
for distinguishing from the orbital transfer engine, the thruster is defined as a small thrust thruster used in a group on an aircraft, and is mainly used for star attitude control during orbital transfer of the aircraft, orbit position and attitude control during orbital transfer, and the like. The basic attributes of the thruster during layout comprise a thrust field distribution model of the thruster, a plume heat influence model of the thruster, a plume force influence model of the thruster and the like. The thrust of the thrusters used by the aircraft is defined as F ═ 10N, and in order to keep the thrust and the moment balanced, the thrusters are generally designed to be used in pairs or groups in the design stage, and each pair of thrusters can complete the thrust in one displacement direction or the moment in one rotation direction.
As shown in fig. 1, a specific embodiment of a layout of thrusters of a multitasking aircraft is given, in this specific embodiment, the number of thrusters used by the multitasking aircraft is 20, which are respectively recorded as: the third thruster is arranged on the upper portion of the lower.
The second thruster 3A, the fourth thruster 5A, the sixth thruster 7A, the eighth thruster 9A, the ninth thruster 10A, the tenth thruster 11A, the twelfth thruster 3B, the fourteenth thruster 5B, the sixteenth thruster 7B, the eighteenth thruster 9B, the nineteenth thruster 10B and the twentieth thruster 11B are arranged on the ground;
the sixth thruster 7A and the eighth thruster 9A are installed on the diagonal line of the aircraft to the ground in pairs and are used for generating moment in the anticlockwise direction around the Z axis of the mass center coordinate system of the aircraft;
the fourth thruster 5A and the second thruster 3A are installed in pairs along the X-axis direction of the aircraft centroid coordinate system, the fourth thruster 5A is used for generating clockwise moment around the Y-axis of the aircraft centroid coordinate system, and the second thruster 3A is used for generating anticlockwise moment around the Y-axis of the aircraft centroid coordinate system;
the ninth thruster 10A and the tenth thruster 11A are installed in pairs along the Y-axis direction of the aircraft centroid coordinate system, the ninth thruster 10A is used for generating a moment in the counterclockwise direction around the X-axis of the aircraft centroid coordinate system, and the tenth thruster 11A is used for generating a moment in the clockwise direction around the X-axis of the aircraft centroid coordinate system;
the sixteenth thruster 7B and the eighteenth thruster 9B are installed on the diagonal line of the aircraft to the ground in pairs, the sixteenth thruster 7B is used for generating a moment in the anticlockwise direction around the Z axis of the mass center coordinate system of the aircraft, and the eighteenth thruster 9B is used for generating a moment in the clockwise direction around the Z axis of the mass center coordinate system of the aircraft;
the fourteenth thruster 5B and the twelfth thruster 3B are installed in pairs along the X-axis direction of the aircraft centroid coordinate system, the fourteenth thruster 5B is used for generating clockwise moment around the Y-axis of the aircraft centroid coordinate system, and the twelfth thruster 3B is used for generating anticlockwise moment around the Y-axis of the aircraft centroid coordinate system;
the nineteenth thruster 10B and the twentieth thruster 11B are installed in pairs along the Y-axis direction of the aircraft centroid coordinate system, the nineteenth thruster 10B is used for generating a moment in the counterclockwise direction around the X-axis of the aircraft centroid coordinate system, and the twentieth thruster 11B is used for generating a moment in the clockwise direction around the X-axis of the aircraft centroid coordinate system;
the first thruster 2A, the third thruster 4A, the fifth thruster 6A, the seventh thruster 8A, the eleventh thruster 2B, the thirteenth thruster 4B, the fifteenth thruster 6B and the seventeenth thruster 8B are arranged on the back ground;
the first thruster 2A and the third thruster 4A are arranged on the back ground of the aircraft in pairs along the X-axis direction of the aircraft centroid coordinate system, the first thruster 2A is used for generating moment in the clockwise direction around the Y-axis of the aircraft centroid coordinate system, and the third thruster 4A is used for generating moment in the counterclockwise direction around the Y-axis of the aircraft centroid coordinate system;
the fifth thruster 6A and the seventh thruster 8A are installed on the diagonal line of the aircraft to the ground in pairs and are used for clockwise moment around the Z axis of the mass center coordinate system of the aircraft;
the eleventh thruster 2B and the thirteenth thruster 4B are arranged on the back ground of the aircraft in pairs along the X-axis direction of the aircraft centroid coordinate system, the eleventh thruster 2B is used for generating moment in the clockwise direction around the Y-axis of the aircraft centroid coordinate system, and the thirteenth thruster 4B is used for generating moment in the counterclockwise direction around the Y-axis of the aircraft centroid coordinate system;
the fifteenth thruster 6B and the seventeenth thruster 8B are installed on the diagonal line of the aircraft to the ground in pairs and are used for generating moment in the anticlockwise direction around the Z axis of the mass center coordinate system of the aircraft;
the thrust lines of the sixth thruster 7A and the eighth thruster 9A are parallel to each other and have opposite directions, and the thrust lines of the fifth thruster 6A and the seventh thruster 8A are parallel to each other and have opposite directions.
The thrust lines of the second thruster 3A and the fourth thruster 5A are complementary to the included angle of the X axis of the mass center coordinate system of the aircraft.
The thrust lines of the ninth thruster 10A and the tenth thruster 11A are complementary to the included angle of the Y axis of the mass center coordinate system of the aircraft.
The thrust lines of the first thruster 2A and the third thruster 4A are complementary to the included angle of the X axis of the mass center coordinate system of the aircraft.
The thrust lines of the sixteenth thruster 7B and the eighteenth thruster 9B are parallel to each other and have opposite directions, and the thrust lines of the fifteenth thruster 6B and the seventeenth thruster 8B are parallel to each other and have opposite directions.
And the thrust lines of the twelfth thruster 3B and the fourteenth thruster 5B are complementary to the included angle of the X axis of the mass center coordinate system of the aircraft.
And the thrust lines of the nineteenth thruster 10B and the twentieth thruster 11B are complementary to the included angle of the Y axis of the mass center coordinate system of the aircraft.
And the thrust lines of the eleventh thruster 2B and the thirteenth thruster 4B are complementary to the included angle of the X axis of the mass center coordinate system of the aircraft.
After the preliminary layout of the thruster is finished, the interference check of the plume of the thruster and the parts outside the satellite, such as the antenna, the solar wing and the like, should be carried out, and the heat flow of the thruster on the satellite cannot influence the parts outside the satellite. Meanwhile, the interference check of the thruster plume of the multi-task aircraft on the combined body is carried out according to the overall configuration of the combined body in the in-orbit service process, and the thruster plume of the aircraft is required to have no interference with the served object.
In the above embodiment, the angle between each thruster and the star is shown in table 1:
TABLE 1 Angle of thruster to Star
The codes and combinations of thrusters used for the track control and attitude control of the multi-task aircraft are shown in table 2:
table 2 posture and orbit control combined mode of thrusters
The thruster layout provides 20 thrusters which are divided into two branches, each branch is provided with 10 thrusters, and each branch can independently complete 6-degree-of-freedom attitude and orbit decoupling control on the service aircraft and maintain and control the north, south and east positions and attitude of the assembly.
The position protection method of the multitask aircraft based on the thruster layout is characterized in that after the multitask aircraft reaches a preset working orbit, the multitask aircraft and a served object form a combined body position protection body which takes the on-orbit service aircraft as a main body, and the method comprises the following steps:
(1) the combination north-south position protection strategy is as follows:
(1.1) preliminarily determining a north-south strategy: the first north-south strategy is: a ninth thruster 10A is adopted at the ascending intersection point for south protection, a tenth thruster 11A is adopted at the descending intersection point or a nineteenth thruster 10B is adopted at the ascending intersection point for south protection, and a twentieth thruster 11B is adopted at the descending intersection point for north protection, so that the radial thrust component of the thrusters is considered, the interference on the eccentricity ratio is large during the north-south protection, the south or north protection cannot be only carried out, the south protection is carried out at the ascending intersection point, the north protection is carried out at the descending intersection point, and the coupling influence on the eccentricity ratio is counteracted; the second north-south strategy is: and the sixth thruster 7A and the eighteenth thruster 9B are used for protecting the south, the eighth thruster 9A and the sixteenth thruster 7B are used for protecting the north, and the 7A, 7B, 9A and 9B thrusters point to the positive south and positive north, so that the protection only needs to be conducted to the south or the north during the protection.
The two thruster selection modes of the first strategy are mutually backup, the two thruster selection modes of the second strategy are mutually backup, and the first strategy and the second strategy are mutually backup;
and (1.2) identifying the mass center position of the combined body on the track through an Inertial Measurement Unit (IMU), estimating the interference torque of the strategy I and the strategy II according to the mass center position, and changing the torque of a reaction wheel in the star body to compensate the interference torque. And taking the bit-keeping efficiency under the condition of considering the disturbance torque compensation as a selection basis of the first strategy and the second strategy. The centroid position comprises the height h of the centroid of the combined bodycAnd adjusting the distance L between the two aircrafts of the combination body, adjusting the position of the mass center of the combination body, and adjusting the distance L between the two aircrafts of the combination body to a desired valueexpWhile the height of the center of mass of the combined body reaches a desired value hc_expSo that the force arm of each thruster and the mass center of the combined body is as small as possible.
Expected value h of height of center of mass of the combined bodyc_expComprises the following steps:
wherein h isc_minThe minimum value which can be reached by the height of the centroid of the current assembly (namely the two-star near distance is the minimum safe distance L)minTime), h)0、h1、h2Is a characteristic height, is related to a thruster layout parameter, wherein,
h0＝zthruster
h2＝zthruster+ythrustertanα
wherein L is hcIs the current assembly centroid height, m1、m2The mass of the multitasking aircraft and the served satellite respectively; z is a radical ofthrusterA Z-direction mounting coordinate value, y, of the sixth thruster 7A, the sixteenth thruster 7B, the eighth thruster 9A or the eighteenth thruster 9BthrusterThe absolute value of the mounting coordinates of the ninth thruster 10A, the tenth thruster 11A, the nineteenth thruster 10B and the twentieth thruster 11B in the Y direction is shown, alpha is the included angle between the thrust line of the ninth thruster 10A and the tenth thruster 11A and the + Y axis, and an acute angle is formed; the mounting angles of the nineteenth thruster 10B and the twentieth thruster 11B and the-Y axis are acute angles; t isrollFor rolling control moment, F is the nominal thrust of the thruster, LminIs the minimum safe separation of two aircraft, h0Is a first characteristic height, h1Is the second characteristic height, h2Is the third feature height.
Desired value L of distance between two aircrafts of the assemblyexpComprises the following steps:
wherein L is the distance L, h between two aircrafts of the assemblycIs the height of the center of mass of the combination. According to the above adjustment strategy for the center of mass of the combination, the expected height of the center of mass of the combination changes according to the rule shown in fig. 2 as the minimum height of the center of mass of the combination gradually increases in the service period.
(1.3) calculating the north-south position preserving efficiency of the first north-south strategy and the second north-south strategy;
the formula for calculating the north-south bit-preserving efficiency of the first north-south strategy and the second north-south strategy is as follows:
wherein, TrollFor rolling control moment, F is the nominal thrust of the thruster, hc_minThe minimum value which can be reached by the height of the centroid of the current assembly. Different north and south attitude keeping strategies may be selected when the distances between the in-orbit service aircraft and the served satellites are different, i.e., the heights of the centroids of the assemblies are different or the north and south attitude keeping efficiencies are different. When h is generatedc_min≤h1The efficiency of the south-north position adoption strategy is high; when h is generatedc_min>h1The efficiency of the strategy for adopting the south and north positions is higher.
And (1.4) selecting the first north-south strategy or the second north-south strategy with high efficiency as a final north-south position-keeping strategy.
(2) The east-west security policy of the combination is as follows:
and the eastern position protection is carried out by adopting the fourth thruster 5A, the western position protection is carried out by adopting the twelfth thruster 3B, or the eastern position protection is carried out by adopting the fourteenth thruster 5B and the western position protection is carried out by adopting the second thruster 3A.
The east-west time keeping efficiency is as follows:
wherein beta is the second thruster 3A and the fourth thrusterAcute angles are formed between the thruster 5A, the twelfth thruster 3B and the fourteenth thruster 5B and the +/-X axis; t ispitchFor pitch control moment, F for nominal thruster thrust, hcIs the height of the center of mass of the combined body, hEWThe height of the intersection point of the thrust direction of the thruster and the Z axis is maintained for the east and west positions.
hEW＝zEW+xEWtanβ
Wherein z isEWIs a Z-direction mounting coordinate value, x, of the thrusters 3A, 5A, 3B, 5BEWThe mounting coordinate values in the X direction of the thrusters 3A, 5A, 3B, 5B are shown.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. A thruster layout for an aircraft, characterized by comprising 10 thrusters, respectively denoted as:
the thrust device comprises a first thruster (2A), a second thruster (3A), a third thruster (4A), a fourth thruster (5A), a fifth thruster (6A), a sixth thruster (7A), a seventh thruster (8A), an eighth thruster (9A), a ninth thruster (10A) and a tenth thruster (11A);
the second thruster (3A), the fourth thruster (5A), the sixth thruster (7A), the eighth thruster (9A), the ninth thruster (10A) and the tenth thruster (11A) are arranged on the ground;
the sixth thruster (7A) and the eighth thruster (9A) are installed on the diagonal line of the aircraft to the ground in pairs and used for generating moment in the anticlockwise direction around the Z axis of the mass center coordinate system of the aircraft;
the fourth thruster (5A) and the second thruster (3A) are installed in pairs along the X-axis direction of the aircraft centroid coordinate system, the fourth thruster (5A) is used for generating moment in the clockwise direction around the Y-axis of the aircraft centroid coordinate system, and the second thruster (3A) is used for generating moment in the counterclockwise direction around the Y-axis of the aircraft centroid coordinate system;
the ninth thruster (10A) and the tenth thruster (11A) are installed in pairs along the Y-axis direction of the aircraft centroid coordinate system, the ninth thruster (10A) is used for generating a moment in the anticlockwise direction around the X-axis of the aircraft centroid coordinate system, and the tenth thruster (11A) is used for generating a moment in the clockwise direction around the X-axis of the aircraft centroid coordinate system;
the first thruster (2A), the third thruster (4A), the fifth thruster (6A) and the seventh thruster (8A) are arranged on the back ground;
the first thruster (2A) and the third thruster (4A) are installed on the back ground of the aircraft in pairs along the X-axis direction of the aircraft centroid coordinate system, the first thruster (2A) is used for generating moment in the clockwise direction around the Y-axis of the aircraft centroid coordinate system, and the third thruster (4A) is used for generating moment in the anticlockwise direction around the Y-axis of the aircraft centroid coordinate system;
the fifth thruster (6A) and the seventh thruster (8A) are installed on the diagonal line of the aircraft to the ground in pairs and are used for clockwise moment around the Z axis of the mass center coordinate system of the aircraft;
and each thruster plume has no interference with the served object.
2. Thruster arrangement of an aircraft according to claim 1, characterized in that the thrust lines of the sixth thruster (7A) and the eighth thruster (9A) are parallel and opposite in direction to each other, and the thrust lines of the fifth thruster (6A) and the seventh thruster (8A) are parallel and opposite in direction to each other.
3. The aircraft thruster layout of claim 1, wherein the thrust lines of the second thruster (3A) and the fourth thruster (5A) are complementary to the X-axis of the aircraft centroid coordinate system.
4. The thruster layout for an aircraft according to claim 1, wherein the thrust lines of the ninth thruster (10A) and the tenth thruster (11A) are complementary to the Y-axis of the coordinate system of the center of mass of the aircraft.
5. The aircraft thruster layout of claim 1, wherein the thrust lines of the first thruster (2A) and the third thruster (4A) are complementary to the X-axis of the aircraft centroid coordinate system.
6. The aircraft thruster layout of claim 1, further comprising an eleventh thruster (2B), a twelfth thruster (3B), a thirteenth thruster (4B), a fourteenth thruster (5B), a fifteenth thruster (6B), a sixteenth thruster (7B), a seventeenth thruster (8B), an eighteenth thruster (9B), a nineteenth thruster (10B), a twentieth thruster (11B);
the twelfth thruster (3B), the fourteenth thruster (5B), the sixteenth thruster (7B), the eighteenth thruster (9B), the nineteenth thruster (10B) and the twentieth thruster (11B) are arranged on the ground;
the sixteenth thruster (7B) and the eighteenth thruster (9B) are installed on the diagonal line of the aircraft to the ground in pairs and are used for generating moment in the clockwise direction around the Z axis of the mass center coordinate system of the aircraft;
the fourteenth thruster (5B) and the twelfth thruster (3B) are installed in pairs along the X-axis direction of the aircraft centroid coordinate system, the fourteenth thruster (5B) is used for generating moment in the clockwise direction around the Y-axis of the aircraft centroid coordinate system, and the twelfth thruster (3B) is used for generating moment in the counterclockwise direction around the Y-axis of the aircraft centroid coordinate system;
the nineteenth thruster (10B) and the twentieth thruster (11B) are installed in pairs along the Y-axis direction of the aircraft centroid coordinate system, the nineteenth thruster (10B) is used for generating a moment in the anticlockwise direction around the X-axis of the aircraft centroid coordinate system, and the twentieth thruster (11B) is used for generating a moment in the clockwise direction around the X-axis of the aircraft centroid coordinate system;
the eleventh thruster (2B), the thirteenth thruster (4B), the fifteenth thruster (6B) and the seventeenth thruster (8B) are arranged on the back ground;
the eleventh thruster (2B) and the thirteenth thruster (4B) are mounted on the back ground of the aircraft in pairs along the X-axis direction of the aircraft centroid coordinate system, the eleventh thruster (2B) is used for generating moment in the clockwise direction around the Y-axis of the aircraft centroid coordinate system, and the thirteenth thruster (4B) is used for generating moment in the counterclockwise direction around the Y-axis of the aircraft centroid coordinate system;
the fifteenth thruster (6B) and the seventeenth thruster (8B) are installed on the diagonal line of the aircraft to the ground in pairs and are used for generating moment in the anticlockwise direction around the Z axis of the mass center coordinate system of the aircraft;
and each thruster plume has no interference with the served object.
7. The aircraft position assurance method based on the thruster layout of claim 6, comprising the steps of:
(1) the combination north-south position protection strategy is as follows:
(1.1) preliminarily determining a north-south strategy: the first north-south strategy is: a ninth thruster (10A) is adopted to carry out southward protection at the ascending intersection point, a tenth thruster (11A) is adopted at the descending intersection point or a nineteenth thruster (10B) is adopted at the ascending intersection point, and a twentieth thruster (11B) is adopted at the descending intersection point to carry out northward protection; the second north-south strategy is: protecting the south by adopting a sixth thruster (7A) and an eighteenth thruster (9B), and protecting the north by adopting an eighth thruster (9A) and a sixteenth thruster (7B);
(1.2) identifying the centroid position of the assembly on the track, wherein the centroid position comprises the height h of the centroid of the assemblycAnd adjusting the distance L between the two aircrafts of the combination body, adjusting the position of the mass center of the combination body, and adjusting the distance L between the two aircrafts of the combination body to a desired valueexpWhile the height of the center of mass of the combined body reaches a desired value hc_expSo that the force arm of each thruster and the mass center of the combined body is as small as possible;
(1.3) calculating the north-south position preserving efficiency of the first north-south strategy and the second north-south strategy;
(1.4) selecting the first north-south strategy or the second north-south strategy with high efficiency as a final north-south position-keeping strategy;
(2) the east-west security policy of the combination is as follows:
and the eastern position is protected by adopting a fourth thruster (5A), the western position is protected by adopting a twelfth thruster (3B), or the eastern position is protected by adopting a fourteenth thruster (5B) and the western position is protected by adopting a second thruster (3A).
8. The aircraft position assurance method of claim 7, wherein the expected value h for the height of the center of mass of the assembly isc_expComprises the following steps:
wherein the content of the first and second substances,
h0＝zthruster
h2＝zthruster+ythrustertanα
wherein L is the distance L, h between two aircrafts of the assemblycIs the height of the center of mass, m, of the combined body1、m2The mass of the multitasking aircraft and the served satellite respectively; z is a radical ofthrusterThe Z-direction installation coordinate value, y, of the sixth thruster (7A), the sixteenth thruster (7B), the eighth thruster (9A) or the eighteenth thruster (9B)thrusterThe absolute values of Y-direction installation coordinates of a ninth thruster (10A), a tenth thruster (11A), a nineteenth thruster (10B) and a twentieth thruster (11B) are shown, alpha is the included angle between the thrust lines of the ninth thruster (10A) and the tenth thruster (11A) and the + Y axis, and an acute angle is formed; the mounting angles of the nineteenth thruster (10B) and the twentieth thruster (11B) and the-Y axis form acute angles; t isrollFor rolling control moment, F is the nominal thrust of the thruster, LminIs the minimum safe separation of two aircraft, h0Is a first characteristic height, h1Is the second characteristic height, h2Is the third feature height.
9. The aircraft position assurance method based on the thruster layout of claim 8, wherein the expected value L of the distance between two aircraft in the assembly isexpComprises the following steps:
wherein L is the distance L, h between two aircrafts of the assemblycIs the height of the center of mass of the combination.
10. The aircraft position assurance method based on the thruster layout of claim 9, wherein the step (1.3) of calculating the north-south position assurance efficiency of the first north-south strategy and the second north-south strategy is as follows:
wherein, TrollFor rolling control moment, F is the nominal thrust of the thruster, hc_minThe minimum value which can be reached by the height of the centroid of the current assembly.
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| CN102649481A (en) * | 2012-04-23 | 2012-08-29 | 上海卫星工程研究所 | 8-thruster layout designing method based on double-moment rectangular pyramid |
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| CN105883008A (en) * | 2014-12-15 | 2016-08-24 | 中国空间技术研究院 | Satellite thruster layout method |
| CN106628260A (en) * | 2016-11-17 | 2017-05-10 | 上海卫星工程研究所 | Spacecraft thruster coplanar dual backup layout design method |
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| US5400252A (en) * | 1992-12-22 | 1995-03-21 | Space Systems/Loral, Inc. | Spacecraft East/West orbit control during a North or South stationkeeping maneuver |
| CN102649481A (en) * | 2012-04-23 | 2012-08-29 | 上海卫星工程研究所 | 8-thruster layout designing method based on double-moment rectangular pyramid |
| CN104249817A (en) * | 2014-09-11 | 2014-12-31 | 上海卫星工程研究所 | Dual-X-shaped spacecraft thruster and layout method thereof |
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