CN112208794B - In-orbit mass measurement method and system for deep space probe and medium - Google Patents
In-orbit mass measurement method and system for deep space probe and medium Download PDFInfo
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Abstract
The invention provides a method, a system and a medium for measuring the quality of a deep space probe in an on-orbit manner, wherein the method comprises the following steps: step 1: when the detector keeps inertial pointing by using a wheel control mode, a thruster of a ground remote control deep space detector sends short pulse jet to change the angular momentum of the whole device; step 2: calculating thrust impulse during the air injection according to the angular momentum variation and the force arm of the thruster in the stable state before and after the air injection of the detector; and step 3: and calculating the mass of the whole device according to the speed increment measured by the accelerometer during the air injection and the air injection impulse during the air injection. The method has the advantages of high measurement precision and less fuel consumption, and the whole device mass estimation can be used for calculating the subsequent rail-controlled ignition time length, thereby improving the rail-controlled precision and reducing the rail-controlled fuel consumption.
Description
Technical Field
The invention relates to the technical field of space vehicles, in particular to a method, a system and a medium for measuring the quality of a deep space probe in an on-orbit mode.
Background
In order to realize the purposes of breaking away from the gravity of the earth, entering a cruise orbit or entering an inter-satellite-ground transfer orbit, reentering a planet, winding a flying star and the like, the deep space probe needs to change the orbit for multiple times so as to meet the requirements of saving fuel, correcting the accuracy of entering the orbit and the like. During flight, the fuel consumption of the whole device is high, the mass changes violently, and before each orbital transfer, the fuel allowance and the mass of the whole device need to be accurately estimated so as to design a reasonable orbital transfer strategy. Deviation of the recognition result will cause the deviation of the rail transition and even excessive fuel consumption to finish the subsequent task.
At present, the identification of the quality of the on-orbit aircraft is mainly carried out aiming at the identification of the residual fuel quantity, and the quality of the whole aircraft is obtained by adding the fuel quality and the dry weight of the aircraft.
Patent document CN103453693A (application number: 201310212720.X) discloses a pressure recharging system using booster pump for boosting pressure, which proposes to attach a heater and a thermistor to the lower part of a fuel storage tank, obtain the relationship between the remaining amount of fuel and a thermal response curve by a method combining mathematical modeling and a ground thermal vacuum test, and further estimate the remaining amount of fuel by using the on-track thermal response characteristics. This patent is limited by tank modeling accuracy and is only applicable to mass estimation of small quantities of propellant, which is difficult to adapt when there is a large fuel remaining.
Patent document CN103136425A (application number: 201310059681.4) discloses a method for rapidly analyzing the quality characteristics of a spacecraft, which uses pro/E to model each component of the spacecraft to obtain the quality characteristics of the whole spacecraft. The output result of the method depends on the accuracy of modeling, and can not be consistent with the on-orbit actual state of the spacecraft.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method, a system and a medium for measuring the quality of a deep space probe in an on-orbit mode.
The invention provides an on-orbit quality measuring method of a deep space probe, which comprises the following steps:
step 1: when the detector keeps inertial pointing by using a wheel control mode, a thruster of a ground remote control deep space detector sends short pulse jet to change the angular momentum of the whole device;
step 2: calculating thrust impulse during the air injection according to the angular momentum variation and the force arm of the thruster in the stable state before and after the air injection of the detector;
and step 3: and calculating the mass of the whole device according to the speed increment measured by the accelerometer during the air injection and the air injection impulse during the air injection.
Preferably, the step 1 comprises: the detector uses a flywheel to keep the attitude inertial pointing, any thruster of the detector is set to emit short pulse jet air lasting for a preset time in a ground remote control mode, and the original inertial attitude is controlled by the wheel after the jet air is finished.
Preferably, the step 2 comprises: before air injection, the whole satellite angular momentum is obtained through the flywheel rotating speed under the steady state condition:
wherein, C3×nMounting matrix for flywheel, hnThe nth flywheel angular momentum;
the angular momentum H of the jet post-reactor in steady state is obtained by the same methodqThe angular momentum increment generated by the jet is:
ΔH＝Hq-Hp
obtaining a force arm l of the thruster according to the installation position of the thruster, wherein the thrust impulse generated by air injection is as follows:
preferably, the step 3 comprises: during the air injection, the accelerometer measures the speed increment Δ v of the whole machine, and the mass of the whole machine is obtained:
the invention provides a quality on-orbit measuring system of a deep space probe, which comprises:
module M1: when the detector keeps inertial pointing by using a wheel control mode, a thruster of a ground remote control deep space detector sends short pulse jet to change the angular momentum of the whole device;
module M2: calculating thrust impulse during the air injection according to the angular momentum variation and the force arm of the thruster in the stable state before and after the air injection of the detector;
module M3: and calculating the mass of the whole device according to the speed increment measured by the accelerometer during the air injection and the air injection impulse during the air injection.
Preferably, the module M1 includes: the detector uses a flywheel to keep the attitude inertial pointing, any thruster of the detector is set to emit short pulse jet air lasting for a preset time in a ground remote control mode, and the original inertial attitude is controlled by the wheel after the jet air is finished.
Preferably, the module M2 includes: before air injection, the whole satellite angular momentum is obtained through the flywheel rotating speed under the steady state condition:
wherein, C3×nMounting matrix for flywheel, hnThe nth flywheel angular momentum;
similarly, the angular momentum H of the jet post-reactor in steady state is obtainedqThe angular momentum increment generated by the jet is:
ΔH＝Hq-Hp
obtaining a force arm l of the thruster according to the installation position of the thruster, wherein the thrust impulse generated by air injection is as follows:
preferably, the module M3 includes: during the air injection, the accelerometer measures the speed increment Δ v of the whole machine, and the mass of the whole machine is obtained:
according to the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as described above.
Compared with the prior art, the invention has the following beneficial effects: the impulse of the thruster is estimated through the change of the rotating speed of the flywheel before and after the jet of the detector is in a steady state; the accelerometer is used for measuring the speed increment of the whole device during air injection, and the ratio of impulse to the speed increment is the current quality of the whole device.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of the in-orbit quality measurement method of the deep space probe.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example (b):
according to the mass on-orbit measurement method of the deep space probe, short pulse jet of a certain thruster is remotely controlled on the ground, the mass of the whole thruster is calculated according to the angular momentum change of the flywheel before and after jet and in steady state and the remote measurement of speed increment, and the method can be used for the on-orbit mass estimation of a spacecraft, the residual fuel amount identification and the like.
As shown in fig. 1, the embodiment of the present invention is as follows:
step 1: the detector keeps inertial pointing by using a wheel control mode, any thruster of a ground remote control deep space detector sends out short pulse jet, and the angular momentum of the whole device is changed and used for measuring the mass of the whole device;
the detector uses a flywheel to keep the attitude inertial pointing, the inertial angular velocity is kept to be 0, any thruster of the detector is set to emit short pulse jet gas lasting for dozens of milliseconds in a ground remote control mode, and the original inertial attitude is controlled by the wheel after the jet gas is finished.
Step 2: the thrust impulse during the air injection is calculated by utilizing the flywheel angular momentum change and the force arm of the thruster during the stable state before and after the air injection of the detector, and is used for measuring the mass of the whole device.
Before air injection, the whole satellite angular momentum is obtained through the flywheel rotating speed under the steady state condition:
wherein C is3×nMounting matrix for flywheel, hnIs the nth flywheel angular momentum.
The angular momentum H of the jet post-reactor in steady state is obtained by the same methodqThe angular momentum increment generated by the jet is:
ΔH＝Hq-Hp
and (3) obtaining the force arm of the thruster according to the installation position of the thruster, wherein the impulse generated by air injection is as follows:
and step 3: and estimating the mass of the whole device by using the speed increment measured by the accelerometer during the air injection and the air injection impulse obtained in the last step.
The accelerometer is used for measuring acceleration caused by non-conservative force acting on the detector, the output result directly represents the speed increment of the detector, and the accelerometer measures the speed increment Deltav of the whole device during the air injection, so that the mass of the whole device is obtained:
the invention provides a quality on-orbit measuring system of a deep space probe, which comprises:
module M1: when the detector keeps inertial pointing by using a wheel control mode, a thruster of the ground remote control deep space detector sends short pulse jet to change the angular momentum of the whole detector;
module M2: calculating thrust impulse during the air injection according to the angular momentum variation and the force arm of the thruster in the stable state before and after the air injection of the detector;
module M3: and calculating the mass of the whole device according to the speed increment measured by the accelerometer during the air injection and the air injection impulse during the air injection.
Preferably, the module M1 includes: the detector uses a flywheel to keep the attitude inertial pointing, any thruster of the detector is set to emit short pulse jet air lasting for a preset time in a ground remote control mode, and the original inertial attitude is controlled by the wheel after the jet air is finished.
Preferably, the module M2 includes: before air injection, the whole satellite angular momentum is obtained through the flywheel rotating speed under the steady state condition:
wherein, C3×nMounting matrix for flywheel, hnThe nth flywheel angular momentum;
obtaining the angular momentum H of the jet post-regulator in the steady stateqThe angular momentum increment generated by the jet is:
ΔH＝Hq-Hp
obtaining a force arm l of the thruster according to the installation position of the thruster, wherein the thrust impulse generated by air injection is as follows:
preferably, the module M3 includes: during the air injection, the accelerometer measures the speed increment delta v of the whole device, and the mass of the whole device is obtained:
according to the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as described above.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. An on-orbit mass measurement method for a deep space probe is characterized by comprising the following steps:
step 1: when the detector keeps inertial pointing by using a wheel control mode, a thruster of the ground remote control deep space detector sends short pulse jet to change the angular momentum of the whole detector;
step 2: calculating thrust impulse during the air injection according to the angular momentum variation and the force arm of the thruster in the stable state before and after the air injection of the detector;
and step 3: calculating the mass of the whole device according to the speed increment measured by the accelerometer during the air injection and the air injection impulse during the air injection;
the step 2 comprises the following steps: before air injection, the angular momentum of the rectifier is obtained through the rotating speed of the flywheel under the steady state condition:
wherein, C3×nMounting matrix for flywheel, hnThe nth flywheel angular momentum;
the angular momentum H of the jet post-reactor in steady state is obtained by the same methodqThe angular momentum increment generated by the jet is:
ΔH＝Hq-Hp
obtaining a force arm l of the thruster according to the installation position of the thruster, wherein the thrust impulse generated by air injection is as follows:
2. the deep space probe mass on-orbit measurement method according to claim 1, wherein the step 1 comprises: the detector uses a flywheel to keep the attitude inertial pointing, any thruster of the detector is set to emit short pulse jet air lasting for a preset time in a ground remote control mode, and the original inertial attitude is controlled by the wheel after the jet air is finished.
3. The deep space probe mass on-orbit measurement method according to claim 1, wherein the step 3 comprises: during the air injection, the accelerometer measures the speed increment Δ v of the whole machine, and the mass of the whole machine is obtained:
4. an in-orbit mass measurement system for a deep space probe, comprising:
module M1: when the detector keeps inertial pointing by using a wheel control mode, a thruster of a ground remote control deep space detector sends short pulse jet to change the angular momentum of the whole device;
module M2: calculating thrust impulse during the air injection according to the angular momentum variation and the force arm of the thruster in the stable state before and after the air injection of the detector;
module M3: calculating the mass of the whole device according to the speed increment measured by the accelerometer during the air injection and the air injection impulse during the air injection;
the module M2 includes: before air injection, the angular momentum of the rectifier is obtained through the rotating speed of the flywheel under the steady state condition:
wherein, C3×nMounting matrix for flywheel, hnThe nth flywheel angular momentum;
obtaining the angular momentum H of the jet post-regulator in the steady stateqThe angular momentum increment generated by the jet is:
ΔH＝Hq-Hp
obtaining a force arm l of the thruster according to the installation position of the thruster, wherein the thrust impulse generated by air injection is as follows:
5. the deep space probe mass in-orbit measurement system of claim 4, wherein the module M1 comprises: the detector uses a flywheel to keep the attitude inertial pointing, any thruster of the detector is set to emit short pulse jet air lasting for a preset time in a ground remote control mode, and the original inertial attitude is controlled by the wheel after the jet air is finished.
6. The deep space probe mass in-orbit measurement system of claim 5, wherein the module M3 comprises: during the air injection, the accelerometer measures the speed increment Δ v of the whole machine, and the mass of the whole machine is obtained:
7. a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 3.
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