CN111674572A - Deep space impactor suitable for attitude and orbit control and cooperative control method - Google Patents
Deep space impactor suitable for attitude and orbit control and cooperative control method Download PDFInfo
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Abstract
The invention belongs to the field of autonomous navigation and guidance control, and particularly relates to a deep space impactor integrating attitude and orbit control and a cooperative control method, aiming at solving the problem that the deep space impactor and the corresponding cooperative control method are poor in robustness. The deep space impactor of the invention comprises: the device comprises a reinforcing unit, an integrated unit, a storage box, a first thrust device and a second thrust device; the integrated unit and the storage box are symmetrically distributed on the periphery of the reinforcing unit; the thrust chambers of the first thrust device and the second thrust device are symmetrically arranged at the upper side and the lower side of the axis of the reinforcing unit, and the first thrust device is arranged at the front end of the second thrust device; a first thrust chamber and a second thrust chamber in the first thrust device are coaxially arranged oppositely, and the propelling direction is outward; the axes of the fifth thrust chamber and the sixth thrust chamber in the second thrust device are symmetrically arranged at a set angle along the axis of the reinforcement unit. The invention improves the robustness of the cooperative control of the deep space impactor.
Description
Technical Field
The invention belongs to the field of autonomous navigation and guidance control, and particularly relates to a deep space impactor for attitude and orbit control and a cooperative control method.
Background
The traditional spacecraft control method generally adopts an attitude control and orbit control independent design, firstly, an attitude command is determined according to the orbit control requirement, a corresponding attitude control thrust chamber is started through calculation of an attitude control algorithm, the attitude of the spacecraft is adjusted to the command direction, and an orbit control engine is started for orbit control.
The deep space impactor is constrained by weight and adopts an attitude and orbit control thrust chamber integrated structure design, the attitude and orbit control thrust chambers share the same condition, a cooperative control method suitable for the deep space impactor under the attitude and orbit control integrated constraint needs to be considered during design of a deep space impactor control system, the attitude and orbit control sequence is reasonably arranged, and the requirement of integrating the attitude and orbit control of the deep space impactor is met by adopting control combinations of different thrust chambers. Therefore, the invention provides a deep space impactor with integrated attitude and orbit control and a cooperative control method.
Disclosure of Invention
In order to solve the above problems in the prior art, that is, to solve the problem that the existing deep space impactor and the corresponding cooperative control method are poor in robustness and cannot meet the requirements, a first aspect of the present invention provides a deep space impactor for attitude and orbit control integration, the deep space impactor comprising: the device comprises a reinforcing unit, an integrated unit, a storage box, a first thrust device and a second thrust device;
the integrated unit and the storage tank are symmetrically distributed on the periphery of the reinforcing unit;
the first thrust device comprises a first thrust chamber, a second thrust chamber, a third thrust chamber and a fourth thrust chamber; the first and second thrust chambers are in a first group and the third and fourth thrust chambers are in a second group; the first and second sets are symmetrically arranged on the upper and lower sides of the axis of the reinforcement unit;
the second thrust device comprises a fifth thrust chamber, a sixth thrust chamber, a seventh thrust chamber and an eighth thrust chamber; said fifth and sixth thrust chambers are a third set and said seventh and eighth thrust chambers are a fourth set; the third group and the fourth group are symmetrically arranged at the upper side and the lower side of the axis of the reinforcing unit;
the first group is arranged at the front end of the third group; the second group is arranged at the front end of the fourth group;
the first thrust chamber and the second thrust chamber are coaxially arranged in an opposite manner, and the first thrust chamber and the second thrust chamber are outwards pushed;
axes of the fifth thrust chamber and the sixth thrust chamber are symmetrically disposed at a set angle along an axis of the reinforcement unit.
In some preferred embodiments, the first thrust device is used for track control and roll channel control of the deep space impactor; the second thrust device is used for controlling three channels of pitching, yawing and rolling of the deep space impactor.
In some preferred embodiments, the set angle is an acute angle.
In a second aspect of the present invention, a cooperative control method for attitude and orbit control is provided, based on the above deep space impactor for attitude and orbit control, the method includes:
when the deep space impactor is in no-rail control requirement, the first thrust device is used for controlling a rolling channel; the second thrust device is used for controlling a pitching channel and a yawing channel;
when the deep space impactor has the rail control requirement, the first thrust device is used for rail control, and the second thrust device is used for controlling pitching, yawing and rolling channels.
In some preferred embodiments, the conditions for determining the trackless control requirement and the tracked control requirement are as follows:
wherein，
The flag bit is determined for the rail control demand,
when the track control is carried out,
when the track control is not carried out,
the control threshold is controlled by the track control,
is a tracking control quantity.
In some preferred embodiments, the tracking control threshold is a preset value or is obtained by the following formula:
wherein the content of the first and second substances,
is a coefficient which is preset in the process of setting,
indicating deep space impactor
The distance from the location of the moment to the target celestial body,
indicating the distance from the position of the deep space impactor for presetting the ending orbit control to the target celestial body,
indicating the distance from the initial position of the deep space impactor to the position of the preset end tracking,
，
indicating the distance from the initial position of the deep space impactor to the target celestial body,
is a natural number and represents time.
In some preferred embodiments, the first thrust device is used for roll channel control and the second thrust device is used for pitch channel and yaw channel control when the deep space impactor is in no need of rail control, and the method comprises the following steps:
wherein the content of the first and second substances,
、
、
、
、
、
、
and
the switching values of the first thrust chamber to the eighth thrust chamber are respectively, 0 is taken to represent off, 1 is taken to represent on,
、
and
the control quantities of the pitching channel, the yawing channel and the rolling channel are respectively-1, 0 or 1.
In some preferred embodiments, the first thrust device is used for orbit control and the second thrust device is used for pitch, yaw and roll channel control when the deep space impactor has orbit control requirements, and the method comprises the following steps:
the invention has the beneficial effects that:
the invention improves the robustness of the cooperative control of the deep space impactor. The invention designs an attitude and orbit control integrated cooperative control method aiming at a layout structure of a thrust chamber of a deep space impactor, namely, the attitude and orbit control integrated design of the deep space impactor is realized by judging the rail control requirement, respectively aiming at two conditions of rail control requirement and trackless control requirement, adopting control combinations of different thrust chambers under the condition that the thrust chambers are less in number due to structural weight constraint and reasonably arranging the control sequence of attitude and orbit control.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings.
FIG. 1 is a schematic view showing the overall structure of a deep space impactor in accordance with an embodiment of the invention;
FIG. 2 is a schematic view of the overall structure of a deep space impactor according to an embodiment of the invention;
FIG. 3 is a schematic diagram III of the overall construction of a deep space impactor in accordance with an embodiment of the invention;
fig. 4 is a flowchart illustrating a posture and orbit control integrated cooperative control method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be made clear below with reference to the accompanying drawings,
Having described the invention in full, it is to be understood that the embodiments described are only a few embodiments of the invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
A deep space striker suitable for attitude and orbit control in accordance with a first embodiment of the present invention, as shown in fig. 1, 2 and 3, includes: the device comprises a reinforcing unit, an integrated unit, a storage box, a first thrust device and a second thrust device;
the integrated unit and the storage tank are symmetrically distributed on the periphery of the reinforcing unit;
the first thrust device comprises a first thrust chamber 1, a second thrust chamber 2, a third thrust chamber 3 and a fourth thrust chamber 4; the first thrust chamber 1 and the second thrust chamber 2 are a first group, and the third thrust chamber 3 and the fourth thrust chamber 4 are a second group; the first and second sets are symmetrically arranged on the upper and lower sides of the axis of the reinforcement unit;
the second thrust means comprises a fifth thrust chamber 5, a sixth thrust chamber 6, a seventh thrust chamber 7 and an eighth thrust chamber 8; said fifth thrust chamber 5 and said sixth thrust chamber 6 are a third set, said seventh thrust chamber 7 and said eighth thrust chamber 8 are a fourth set; the third group and the fourth group are symmetrically arranged at the upper side and the lower side of the axis of the reinforcing unit;
the first group is arranged at the front end of the third group; the second group is arranged at the front end of the fourth group;
the first thrust chamber 1 and the second thrust chamber 2 are coaxially arranged in an opposite manner, and the first thrust chamber 1 and the second thrust chamber 2 are pushed outwards;
the axes of the fifth thrust chamber 5 and the sixth thrust chamber 6 are disposed symmetrically at a set angle along the axis of the reinforcement unit.
In order to more clearly illustrate the posture and orbit control integrated deep space impactor, the modules in one embodiment of the invention are described in detail below with reference to the accompanying drawings.
The deep space impactor comprises a reinforcing unit, an integrated unit, a storage box, a first thrust device and a second thrust device; the first thrust device and the second thrust device each comprise 4 thrust chambers.
The deep space impactor reinforcing unit is in a slender body structure, the head of the deep space impactor reinforcing unit is bullet-shaped so as to improve penetration depth, the rear end of the deep space impactor reinforcing unit is provided with a detection load and consists of corresponding functional modules such as thermal control, communication, energy, management and buffering modules, the deep space impactor reinforcing unit is used for autonomous survival management after high-speed impact and communication with a relay detector, and the deep space impactor reinforcing unit is mainly low in power consumption, is not afraid of impact and can survive.
An integrated unit and a storage box are externally hung on two sides of the reinforcing unit, and the integrated unit (positioned on the left side of the reinforcing unit) is provided with an inertia measuring unit, an optical navigation sensor and a propulsion control device, can perform autonomous navigation and guidance and control, is used for navigation guidance and control and other work in a flight approaching stage, and is mainly small in size, light in weight and strong in capacity.
The first thrust device is used for controlling the track and the rolling channel of the deep space impactor; the second thrust device is used for controlling three channels of pitching, yawing and rolling of the deep space impactor. The concrete structure is as follows:
the first thrust device comprises a first thrust chamber 1, a second thrust chamber 2, a third thrust chamber 3 and a fourth thrust chamber 4; the first thrust chamber 1 and the second thrust chamber 2 are a first group, and the third thrust chamber 3 and the fourth thrust chamber 4 are a second group; the first group and the second group are symmetrically arranged at the upper side and the lower side of the axis of the reinforcing unit, and are preferably arranged at the position of the mass center of the deep space impactor in the embodiment, and can be continuously moved up, down, left and right in other embodiments according to actual conditions.
The second thrust means comprises a fifth thrust chamber 5, a sixth thrust chamber 6, a seventh thrust chamber 7 and an eighth thrust chamber 8; the fifth thrust chamber 5 and said sixth thrust chamber 6 are of a third group, the seventh thrust chamber 7 and the eighth thrust chamber 8 are of a fourth group; the third group and the fourth group are symmetrically arranged at the upper side and the lower side of the axis of the reinforcing unit;
the first group is arranged at the front end of the third group; the second group is arranged at the front end of the fourth group;
the first thrust chamber 1 and the second thrust chamber 2 are coaxially arranged in an opposite manner, and the first thrust chamber 1 and the second thrust chamber 2 are pushed outwards; the third thrust chamber 3 and the fourth thrust chamber 4 are consistent with the first thrust chamber 1 and the second thrust chamber 2 in structural layout, and are not explained in the embodiment.
The axes of the fifth and sixth thrust chambers 5, 6 are arranged symmetrically along the axis of the reinforcement unit, the axes of the fifth and sixth thrust chambers 5, 6 being arranged at a set angle with respect to the axis of the reinforcement unit. The set angle is acute. The seventh thrust chamber 7, the eighth thrust chamber 8 and the fifth thrust chamber 5, the sixth thrust chamber 6 are identical in layout structure, and are not explained in the embodiment. In addition, the fifth thrust chamber 5, the sixth thrust chamber 6, the seventh thrust chamber 7 and the eighth thrust chamber 8 are inclined at a certain angle to the plane in which the reinforcement unit is located.
And a support structure is also arranged between the reinforcing unit and the thrust chamber and is used for fixing the thrust chamber to the reinforcing unit of the deep space impactor.
It should be noted that, the deep space impactor suitable for attitude and orbit control integration provided in the above embodiment is only illustrated by the division of the above functional modules, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the modules or steps in the embodiment of the present invention are further decomposed or combined, for example, the modules in the above embodiment may be combined into one module, or may be further split into multiple sub-modules, so as to complete all or part of the above described functions. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the respective modules or steps, and are not to be construed as an improper limitation of the present invention.
A cooperative control method for attitude and orbit control in accordance with a second embodiment of the present invention is, as shown in fig. 4, a deep space impactor for attitude and orbit control in accordance with the above description, and the method includes:
when the deep space impactor is in no-rail control requirement, the first thrust device is used for controlling a rolling channel; the second thrust device is used for controlling a pitching channel and a yawing channel;
when the deep space impactor has the rail control requirement, the first thrust device is used for rail control, and the second thrust device is used for controlling pitching, yawing and rolling channels.
In order to more clearly describe the posture and orbit control integrated cooperative control method of the present invention, the following describes in detail the steps of an embodiment of the present invention with reference to the accompanying drawings.
In the deep space impactor improved based on the first embodiment, the attitude and orbit control thrust chambers share the same situation, and a cooperative control method under the attitude and orbit control integrated constraint suitable for the deep space impactor needs to be considered during design of a control system of the deep space impactor. As shown in fig. 4, the details are as follows:
a100, judging the track control requirement;
in this embodiment, whether the deep space impactor needs to be tracked or not is determined according to the tracking control amount and the set tracking control threshold, as shown in formula (1):
wherein the content of the first and second substances,
the flag bit is determined for the rail control demand,
when the track control is carried out,
track control is not performed;
for the orbit control threshold, the unit: radian;
the unit is the track control quantity: and (4) radian.
In the invention, the orbit control threshold can be a set value and is compared and judged with the orbit control quantity, and the control threshold can be adjusted in real time according to the orbit control proportion in the distance from the initial position to the target celestial body of the deep space impactor, so as to ensure the accurate control of the deep space impactor and save fuel. The concrete formula is shown as (2):
wherein the content of the first and second substances,
is a coefficient which is preset in the process of setting,
indicating deep space impactor
The distance from the location of the moment to the target celestial body,
indicating the distance from the position of the deep space impactor for presetting the ending orbit control to the target celestial body,
indicating the distance from the initial position of the deep space impactor to the position of the preset end tracking,
，
indicating the initial position of a deep-space strikerThe distance to the target celestial body is,
is a natural number and represents time.
Step A200, when the deep space impactor is in a trackless control requirement, the first thrust device is used for controlling a rolling channel; the second thrust device is used for controlling a pitching channel and a yawing channel;
in this embodiment, when
The requirement of trackless control is met, the first thrust device at the position of the mass center is used for controlling the rolling channel at the moment, the layout of the thrust chamber is known,
when in use, the positive rolling control torque can be generated,
in the process, a negative roll control torque can be generated, and a roll channel control command is determined according to the ratio, specifically as shown in formulas (3) and (4):
the second thrust device is used for controlling the pitch and yaw channels, and according to the layout of the thrust chamber, the following components are adopted:
when the wind power generator is used, negative pitching control moment and positive yawing control moment can be generated;
in time, a negative pitching control moment and a negative yawing control moment can be generated;
when the wind power generator is used, positive pitching control moment and negative yawing control moment can be generated;
and then, generating a positive pitching control moment and a positive yawing control moment, and determining a rolling channel control command according to the positive pitching control moment and the positive yawing control moment, wherein the control commands are specifically shown in formulas (5), (6), (7) and (8):
wherein the content of the first and second substances,
、
and
respectively taking the control quantity of a pitching channel, a yawing channel and a rolling channel, and taking-1, 0 or 1, -1 to indicate that the control quantity demand is negative, so as to generate positive control torque, 0 indicates no control demand, and 1 indicates that the control quantity demand is positive, so as to generate negative control torque;
、
、
、
、
、
、
and
the switching values of the first to eighth thrust chambers are respectively 0 for off and 1 for on.
And step A300, when the deep space impactor has a rail control requirement, the first thrust device is used for controlling a rail, and the second thrust device is used for controlling a pitching channel, a yawing channel and a rolling channel.
In this embodiment, when there is a tracking requirement, the four thrust chambers at the centroid, i.e. the first thrust device, are used for tracking, as shown in equations (9) (10):
the four tail thrust chambers, namely the second thrust device, are used for controlling the pitch, yaw and roll channels, and are specifically shown in formulas (11) (12) (13) (14):
in addition, the specific process for acquiring the tracking control quantity in the invention is as follows:
step S10, determining a reference system based on the gravity system where the target celestial body is located;
step S20, constructing a two-body model and an accurate dynamic model of the target celestial body and the deep space impactor based on a reference system;
the two-body model is shown in equation (15):
wherein the content of the first and second substances,
for the corresponding state quantity of the deep-space striker,
in order to be the velocity vector of the deep space impactor,
the main gravitational source of the target celestial body is the gravitational acceleration of the celestial body to the deep space impactor.
The exact kinetic model is shown in equation (16):
wherein the content of the first and second substances,
is the acceleration of the perturbation of the third body,
the solar light pressure perturbation acceleration is obtained.
The third body perturbation acceleration is shown in equation (17):
wherein the content of the first and second substances,
to indicate possible existence of
The perturbed acceleration of the third body,
as may be present
The gravitational constant of the third body is,
for the position vector of the deep space impactor in the target celestial body reference frame,
is the position vector of the third body in the reference system of the target celestial body;
the solar light pressure perturbation acceleration is shown as formula (18):
wherein the content of the first and second substances,
in order to obtain the solar radiation pressure coefficient,
the effective cross section area of the deep space impactor for bearing the light pressure,
is the position vector of the sun in the target celestial body reference system,
AU is 1 astronomical unit for solar constant,
for the position vector of the deep space impactor in the target celestial body reference frame,
is the mass of the deep space impactor.
And setting engineering constraint conditions based on the task requirements, and constructing a track constraint detection model based on the engineering constraint conditions.
The engineering constraints include one or more of conditions 1 to 5:
the condition 1 is as follows: impact task starting time
To the moment of impact
The included angle between the direction from the target celestial body to the sun and the direction from the target celestial body to the deep space impactor is smaller than a set angle;
the condition 2 is as follows: impact task starting time
To the moment of impact
Between, the objectNo other celestial bodies exist between the celestial body and the deep space impactor;
the condition 3 is: impact task starting time
To the moment of impact
In between, the target celestial body can be observed directly from the earth;
the condition 4 is: impact task starting time
To the moment of impact
The communication link between the deep space probe and the earth is not influenced by the sun;
the condition 5 is: moment of impact
Relative speed of deep space impactor relative to target celestial body
。
Step S30, optimizing the index by the initial time orbital transfer speed increment to detect the initial time
And moment of impact
Optimizing a two-body model to obtain a task window by taking an orbit constraint detection model as a constraint condition for optimizing variables, and solving a Lambert equation based on the task window and the two-body model to obtain an initial orbit set of the deep space impactor;
step S40, integrating the numerical value of the accurate dynamic model by a shooting method based on the initial orbit set of the deep space impactor, and obtaining the nominal orbit of the deep space impactor through impact error constraint screening; the method comprises the following specific steps:
based on an initial track set of the deep space impactor, establishing an impact error plane B in a direction perpendicular to a velocity vector direction at the impact moment of the deep space impactor through the center of a target celestial body;
establishing an impact deviation coordinate system by taking the predicted impact point O as an origin, wherein the coordinate system takes the impact moment
Velocity vector of time-depth space impactor
The direction is S axis, and the north pole direction of the target celestial body is selected as a unit vector of the reference direction
Other directions can be set as reference directions according to task requirements, and the reference directions are based on the S axis and the unit vector of the reference directions
Setting a T axis and an R axis of an impact deviation coordinate system on the impact error plane B, wherein the T axis is a unit vector which is perpendicular to the S axis and the reference direction on the error plane B simultaneously
The coordinate axis of (2);
unit vector of T axis
As shown in equation (19):
wherein the content of the first and second substances,
a unit vector representing the S axis.
According to unit vector
And
calculating the unit vector of the R axis
As shown in equation (20):
error vector on error plane B
The unit vector of (2) is shown in equation (21):
wherein the content of the first and second substances,
and
the position vector and the velocity vector of the deep space impactor relative to the center of the target celestial body at the moment of impact, respectively, so that the shortest distance between the deep space impactor and the center of the target celestial body is shown in formula (22):
taking the corresponding position of the target celestial body at the impact moment as the target shooting amount, solving the numerical integral of an accurate dynamic model by a target shooting method, continuously correcting the orbital transfer speed at the initial moment to adjust the impact error, and performing the target shooting method when the initial moment is not changed into the orbital transfer speed
When the set error requirement is met, the track is a nominal track.
And acquiring the track control quantity of the deep space impactor according to the determined nominal track.
Those of skill in the art would appreciate that the various illustrative modules, method steps, and modules described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that programs corresponding to the software modules, method steps may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing or implying a particular order or sequence.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (8)
1. A deep space impactor for attitude and orbit control, the deep space impactor comprising: the device comprises a reinforcing unit, an integrated unit, a storage box, a first thrust device and a second thrust device; the integrated unit and the storage tank are symmetrically distributed on the periphery of the reinforcing unit; the first thrust device comprises a first thrust chamber, a second thrust chamber, a third thrust chamber and a fourth thrust chamber; the first and second thrust chambers are in a first group and the third and fourth thrust chambers are in a second group; the first and second sets are symmetrically arranged on the upper and lower sides of the axis of the reinforcement unit; the second thrust device comprises a fifth thrust chamber, a sixth thrust chamber, a seventh thrust chamber and an eighth thrust chamber; said fifth and sixth thrust chambers are a third set and said seventh and eighth thrust chambers are a fourth set; the third group and the fourth group are symmetrically arranged at the upper side and the lower side of the axis of the reinforcing unit; the first group is arranged at the front end of the third group; the second group is arranged at the front end of the fourth group; the first thrust chamber and the second thrust chamber are coaxially arranged in an opposite manner, and the first thrust chamber and the second thrust chamber are outwards pushed;
axes of the fifth thrust chamber and the sixth thrust chamber are symmetrically disposed at a set angle along an axis of the reinforcement unit.
2. The attitude and orbit control integrated deep space impactor of claim 1, wherein the first thrust device is used for track control and roll channel control of the deep space impactor; the second thrust device is used for controlling three channels of pitching, yawing and rolling of the deep space impactor.
3. The attitude and orbit control integrated deep space striker according to claim 1, characterized in that the set angle is an acute angle.
4. A cooperative attitude and orbit control integrated control method for an attitude and orbit control integrated deep space impactor according to any one of claims 1-3, characterized in that the method comprises the following steps: when the deep space impactor is in no-rail control requirement, the first thrust device is used for controlling a rolling channel, and the second thrust device is used for controlling a pitching channel and a yawing channel; when the deep space impactor has the rail control requirement, the first thrust device is used for rail control, and the second thrust device is used for controlling pitching, yawing and rolling channels.
5. The attitude and orbit control integrated cooperative control method according to claim 4, wherein the judgment conditions of the trackless control requirement and the rail control requirement are as follows:
wherein the content of the first and second substances,
the flag bit is determined for the rail control demand,
when the track control is carried out,
when the track control is not carried out,
the control threshold is controlled by the track control,
is a tracking control quantity.
6. The attitude and orbit control integrated cooperative control method according to claim 5, wherein the orbit control threshold is a preset value or is obtained by the following formula:
wherein the content of the first and second substances,
is a coefficient which is preset in the process of setting,
indicating deep space impactor
The distance from the location of the moment to the target celestial body,
indicating the distance from the position of the deep space impactor for presetting the ending orbit control to the target celestial body,
indicating the distance from the initial position of the deep space impactor to the position of the preset end tracking,
，
indicating the distance from the initial position of the deep space impactor to the target celestial body,
is a natural number and represents time.
7. The attitude and orbit control integrated cooperative control method according to claim 5, wherein the first thrust device is used for roll channel control and the second thrust device is used for pitch channel and yaw channel control when the deep space impactor has no rail control requirement, and the method comprises the following steps:
wherein the content of the first and second substances,
、
、
、
、
、
、
and
the switching values of the first thrust chamber to the eighth thrust chamber are respectively, 0 is taken to represent off, 1 is taken to represent on,
、
and
the control quantities of the pitching channel, the yawing channel and the rolling channel are respectively-1, 0 or 1.
8. The attitude and orbit control integrated cooperative control method according to claim 7, wherein the first thrust device is used for orbit control and the second thrust device is used for controlling pitch, yaw and roll channels when the deep space impactor has orbit control requirements, and the method comprises the following steps:
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