CN112407339A - Spacecraft angular momentum control method and system based on Hall electric propulsion self-generated torque - Google Patents

Spacecraft angular momentum control method and system based on Hall electric propulsion self-generated torque Download PDF

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CN112407339A
CN112407339A CN202011367518.0A CN202011367518A CN112407339A CN 112407339 A CN112407339 A CN 112407339A CN 202011367518 A CN202011367518 A CN 202011367518A CN 112407339 A CN112407339 A CN 112407339A
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torque
thruster
spacecraft
generated
angular momentum
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张旭
魏鑫
郝燕艳
王海强
刘丹
仲小清
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China Academy of Space Technology CAST
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/40—Arrangements or adaptations of propulsion systems
    • B64G1/405—Ion or plasma engines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03H—PRODUCING A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03H1/00—Using plasma to produce a reactive propulsive thrust
    • F03H1/0081—Electromagnetic plasma thrusters

Abstract

A spacecraft angular momentum control method based on Hall thruster self-generated torque comprises the following steps: (1) obtaining the thrust pointing angle of each thruster according to the configuration and layout position of a Hall propulsion system thruster on the spacecraft; (2) determining the torque generated when each thruster works; (3) determining the positive and negative directions of the exciting current of the thruster according to the relation between the direction of the exciting current and the direction of the torque; (4) establishing a corresponding relation of the exciting current direction of each thruster to the torque component generated by the three shafts of the spacecraft according to the torque vector direction of each thruster; (5) acquiring the triaxial angular momentum control requirement of the spacecraft and determining the torque in the target direction; (6) according to the task strategy of the Hall electric propulsion system in the on-orbit work, the exciting current direction in the target torque direction is generated when the thruster works is called, and the torque generated by the thruster on the three axes of the satellite is superposed or offset controlled to generate the torque in the target direction.

Description

Spacecraft angular momentum control method and system based on Hall electric propulsion self-generated torque
Technical Field
The invention relates to a spacecraft angular momentum control method, and belongs to the field of spacecraft propulsion.
Background
The Hall thruster is used as a core single machine of the Hall electric propulsion system, the working thrust characteristic of the Hall thruster determines the thrust output characteristic of the system, and meanwhile, the application strategy of the system on a spacecraft is also influenced. According to the working principle of a propulsion system, ions generated by ionization when a Hall thruster works form plasma jet with the speed up to about 20000m/s under the action of an orthogonal electromagnetic field in an acceleration region, and the current of ion beam current generally reaches 1-10A magnitude according to different discharge powers of the thruster. The ion beam current interacts with the thruster radial magnetic field (of about 0.02-0.04T) to generate
Figure BDA0002805065550000011
The Lorentz force in the direction makes the ion motion track deflect, and the thruster is also subjected to
Figure BDA0002805065550000012
A reaction force in the direction. Therefore, under the combined action of a large ion beam current, the thruster is subjected to a torque along the axial direction thereof, as shown in fig. 1.
Taking a 1kW power level Hall thruster as an example, the Hall thruster can generate a magnitude of about 1 × 10 in the axial direction when working-4A torque of the order of N.m, with 24 hours of continuous operation, can produce an angular momentum build-up of 8.64 Nms. Therefore, the Hall propulsion system works for a long time, the self-generated torque obviously accumulates the angular momentum of the spacecraft, and the attitude control is adversely affected, so that the angular momentum accumulation of the spacecraft is accelerated, the burden of the attitude and orbit control system is increased, and more momentum unloading propellants are additionally consumed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to manage the angular momentum of the spacecraft which adopts the Hall electric propulsion, fully utilize the working characteristics of the Hall electric propulsion system and optimize the working strategy of the system, the invention provides a spacecraft angular momentum control method and a spacecraft angular momentum control system based on the Hall electric propulsion system self-generated torque based on the thruster self-generated torque phenomenon of the Hall electric propulsion system, and the functions of unloading and managing the angular momentum of the spacecraft and the like are realized by controlling the propulsion system to generate the torque in the target direction.
The technical scheme adopted by the invention is as follows: a spacecraft angular momentum control method based on Hall thruster self-generated torque comprises the following steps:
(1) obtaining thrust pointing angles gamma, theta and the like of each thruster according to the configuration and layout positions of Hall propulsion system thrusters on the spacecraft,
Figure BDA0002805065550000021
In the satellite body coordinate system, gamma, theta,
Figure BDA0002805065550000022
The included angles between the thrust vector and the X, Y and Z axes of the spacecraft are respectively;
(2) determining the torque generated when each thruster works;
(3) determining the positive and negative directions of the exciting current of the thruster according to the relation between the direction of the exciting current and the direction of the torque; the direction of the torque of the thruster is parallel to the direction of the thrust, and the torque direction and the thrust direction are defined to be positive in the same direction and negative in the opposite direction.
(4) Establishing a corresponding relation of the exciting current direction of each thruster to the torque component generated by the three shafts of the spacecraft according to the torque vector direction of each thruster;
(5) acquiring the triaxial angular momentum control requirement of the spacecraft and determining the torque in the target direction; calculating by a spacecraft attitude and orbit control computer to obtain the control requirement of angular momentum;
(6) according to the task strategy of the Hall electric propulsion system in-orbit work, the exciting current direction which enables the thruster to generate the target torque direction when the thruster works is called, the torque generated by the thruster on the three axes of the satellite is subjected to superposition or offset control, the torque in the target direction is generated, and the control of the angular momentum of the spacecraft is realized.
A spacecraft angular momentum control system based on Hall thruster self-generated torque comprises:
the first module is used for obtaining thrust pointing angles gamma, theta and theta of each thruster according to the configuration and layout positions of the thrusters of the Hall propulsion system on the spacecraft,
Figure BDA0002805065550000023
Determining the torque generated by each thruster during working;
the second module is used for determining the positive and negative directions of the exciting current of the thruster according to the relation between the direction of the exciting current and the direction of the torque; establishing a corresponding relation of the exciting current direction of each thruster to the torque component generated by the three shafts of the spacecraft according to the torque vector direction of each thruster; acquiring the triaxial angular momentum control requirement of the spacecraft and determining the torque in the target direction;
and the third module is used for performing superposition or offset control on the torque generated by the thruster on the three axes of the satellite by calling the direction of the exciting current in the direction of the target torque generated when the thruster works according to the task strategy of the on-orbit work of the Hall electric propulsion system, so as to generate the torque in the target direction.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the method, the target angular momentum is generated on the three axes of the spacecraft by designing the working exciting current parameters of the Hall electric propulsion system, so that the angular momentum of the spacecraft is actively managed and unloaded.
(2) According to the method, the working characteristics of the Hall electric propulsion system are utilized to generate the torque in the target direction, so that the interference torque such as perturbation and sunlight pressure can be counteracted in-orbit application, and the interference of the interference torque on the attitude control system of the spacecraft is reduced;
(3) the method can enable the spacecraft to generate torque in the target direction on orbit, simultaneously cannot influence the operation orbit of the spacecraft, and can be applied to angular momentum management tasks with low requirements on angular momentum control speed.
(4) The method is simple and feasible, has strong operability, can generate the torque in the target direction only by calculating and calling the working excitation current direction parameter sets of different groups of Hall thrusters, reduces the consumption of extra propellant required by the attitude control of the spacecraft, and has certain economic significance and popularization value.
Drawings
Fig. 1 is a schematic diagram of the torque generated by the operation of the hall thruster.
Fig. 2 is an angular relationship diagram of the hall thruster torque direction and satellite XYZ axes.
Fig. 3 is a schematic diagram of a relation between a hall thruster excitation direction and a torque direction.
Fig. 4 is a schematic diagram of an electrical thruster layout for a boeing BSS-702SP satellite.
FIG. 5(a) is a graph of the control effect of different excitation current strategies on the target torque, wherein the positive excitation current is adopted to generate the target torque in the Z direction;
FIG. 5(b) is a graph of the control effect of different excitation current strategies on target torque, wherein the excitation current symmetrical along the X axis is used for generating the target torque in the X direction;
fig. 5(c) is a graph of the control effect of different excitation current strategies on the target torque, wherein the excitation current symmetrical along the Y axis is adopted to generate the target torque in the Y direction.
Detailed Description
The invention is further illustrated by the following examples.
A spacecraft angular momentum control method based on Hall electric propulsion self-generated torque comprises the following steps:
(1) firstly, the thrust pointing angle of each thruster is obtained according to the configuration and layout conditions of the thrusters of the Hall propulsion system on the spacecraft. Generally, under the satellite body coordinate system, the gamma, theta are defined,
Figure BDA0002805065550000031
The thrust vector is shown in fig. 2 as being the angle between the entire star X, Y and the Z axis, respectively.
(2) And determining the torque generated when each thruster works. Generally provided by the thruster manufacturer according to actual conditions.
(3) And establishing the relation between the direction of the exciting current and the direction of the torque. The direction of the torque of the thruster is parallel to the direction of the thrust, and the application generally defines that the direction of the torque and the direction of the thrust are the same as positive direction and the opposite direction is negative direction, as shown in fig. 3.
(4) And establishing a corresponding relation of the exciting current direction of each thruster to the torque component generated by the three shafts of the spacecraft by combining the torque vector direction of each thruster.
(5) The three-axis angular momentum unloading requirement of the spacecraft is obtained, the angular momentum management requirement is generally calculated by a spacecraft attitude and orbit control computer, namely the three-axis angular momentum of the satellite is unloaded by generating torque in a target direction.
(6) And combining the task strategy of the on-orbit work of the Hall electric propulsion system, and performing superposition or offset control on the torque generated by the thruster on the three axes of the satellite by calling the direction of the exciting current in the direction of the target torque generated when the thruster works, so as to generate the torque in the target direction and realize the control on the angular momentum of the spacecraft.
A spacecraft angular momentum control system based on Hall thruster self-generated torque comprises:
the first module is used for obtaining thrust pointing angles gamma, theta and theta of each thruster according to the configuration and layout positions of the thrusters of the Hall propulsion system on the spacecraft,
Figure BDA0002805065550000041
Determining the torque generated by each thruster during working;
the second module is used for determining the positive and negative directions of the exciting current of the thruster according to the relation between the direction of the exciting current and the direction of the torque; establishing a corresponding relation of the exciting current direction of each thruster to the torque component generated by the three shafts of the spacecraft according to the torque vector direction of each thruster; acquiring the triaxial angular momentum control requirement of the spacecraft and determining the torque in the target direction;
and the third module is used for performing superposition or offset control on the torque generated by the thruster on the three axes of the satellite by calling the direction of the exciting current in the direction of the target torque generated when the thruster works according to the task strategy of the on-orbit work of the Hall electric propulsion system, so as to generate the torque in the target direction.
Example 1
The angular momentum offloading method proposed by the present invention is further described by taking the application of the SPT-140 hall electric propulsion system to the boeing BSS-702SP satellite as an example for the location maintenance task.
(1) Firstly, the thrust pointing angle of each thruster is obtained according to the configuration and layout of the thrusters of the hall propulsion system on the BSS-702SP satellite, as shown in fig. 4. In fig. 4, CG is the center of mass of the satellite, NE, NW, SE, SW are four hall thrusters respectively arranged on the-Z plane, and are all symmetrically distributed along the X, Y axis. For the position maintenance task, the thrust generated by the thruster points to the center of mass of the satellite, so that under the satellite body coordinate system, the thrust is defined
Figure BDA0002805065550000053
Figure BDA0002805065550000054
The included angles between the thrust vectors of the four thrusters and the whole star X, Y and the Z axis are respectively. According to the layout position and the direction of the thrusters, the relationship of the thrust direction angles of the four thrusters is obtained as follows:
γNE+γNW＝180°；γSE+γSW＝180°
θNE+θSE＝180°；θNW+θSW＝180°
Figure BDA0002805065550000051
(2) and determining the torque generated when each thruster works. The SPT-140 model Hall thruster is in the power level of 5kW, and the torque of the Hall thruster is determined to be about 6.4 multiplied by 10 by T through reference-4N·m。
(3) And establishing the relation between the direction of the exciting current and the direction of the torque. According to the relation between the exciting current and the torque direction shown in fig. 3, the positive and negative directions of the exciting currents of the four thrusters are determined, so that the thrusters generate positive torque when the exciting currents in the positive direction are output for working, and conversely, the thrusters generate negative torque when the exciting currents in the negative direction are output for working.
(4) And establishing a corresponding relation of the directions of the exciting currents to the components of the torque generated by the three axes of the spacecraft by combining the thrust pointing directions of the four thrusters, wherein the conditions of the exciting current combinations to the three axes to generate the torque are shown in schematic diagrams 5(a) - (c).
Figure BDA0002805065550000052
Figure BDA0002805065550000061
(5) Acquiring the three-axis angular momentum unloading requirement of the spacecraft, only paying attention to the axial component with the maximum unloading requirement in the angular momentum unloading process, and assuming that the X-axis angular momentum of the spacecraft needs to be unloaded preferentially, wherein the unloading quantity is delta MX＞0。
(6) Taking a BSS-702SP satellite as an example, the strategy of performing position maintenance work by using a hall electric propulsion system generally includes that an NE thruster and an NW thruster work at an ascending intersection point, an SE thruster and an SW thruster work at a descending intersection point, and the working time is t. According to the schematic of fig. 5(b), the reverse excitation current is called when the NE and SE thrusters are operated, and the forward excitation current is called when the NW and SW are operated, so that the target torque in the + X direction is generated. After working, the four thrusters can generate 4 gammaNET target angular momentum of the X axis, vs. Δ MXAnd unloading is carried out. Similarly, according to the schematic diagrams of fig. 5(a) to (c), the angular momentum management of the satellite X, Y, Z axis can be realized by calling the corresponding excitation current parameter combinations.
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 (8)

1. A spacecraft angular momentum control method based on Hall thruster self-generated torque is characterized by comprising the following steps:
(1) obtaining thrust pointing angles gamma, theta and the like of each thruster according to the configuration and layout positions of Hall propulsion system thrusters on the spacecraft,
Figure FDA0002805065540000011
(2) Determining the torque generated when each thruster works;
(3) determining the positive and negative directions of the exciting current of the thruster according to the relation between the direction of the exciting current and the direction of the torque;
(4) establishing a corresponding relation of the exciting current direction of each thruster to the torque component generated by the three shafts of the spacecraft according to the torque vector direction of each thruster;
(5) acquiring the triaxial angular momentum control requirement of the spacecraft and determining the torque in the target direction;
(6) according to the task strategy of the Hall electric propulsion system in-orbit work, the exciting current direction which enables the thruster to generate the target torque direction when the thruster works is called, the torque generated by the thruster on the three axes of the satellite is subjected to superposition or offset control, the torque in the target direction is generated, and the control of the angular momentum of the spacecraft is realized.
2. The Hall thruster self-generated torque based spacecraft angular momentum control method according to claim 1, wherein gamma, theta,
Figure FDA0002805065540000012
The thrust vector is respectively the angle between X, Y and the Z axis of the spacecraft.
3. The spacecraft angular momentum control method based on the Hall thruster self-generated torque according to claim 1 or 2, wherein the direction of the thruster torque is parallel to the direction of the thrust, and the torque direction and the thrust direction are defined to be positive in the same direction and negative in the opposite direction.
4. The method for controlling angular momentum of a spacecraft based on Hall thruster self-generated torque according to claim 3, wherein in step (5), the control requirement of angular momentum is calculated by a spacecraft attitude and orbit control computer.
5. A spacecraft angular momentum control system based on Hall thruster self-generated torque is characterized by comprising:
the first module is used for obtaining thrust pointing angles gamma, theta and theta of each thruster according to the configuration and layout positions of the thrusters of the Hall propulsion system on the spacecraft,
Figure FDA0002805065540000021
Determining the torque generated by each thruster during working;
the second module is used for determining the positive and negative directions of the exciting current of the thruster according to the relation between the direction of the exciting current and the direction of the torque; establishing a corresponding relation of the exciting current direction of each thruster to the torque component generated by the three shafts of the spacecraft according to the torque vector direction of each thruster; acquiring the triaxial angular momentum control requirement of the spacecraft and determining the torque in the target direction;
and the third module is used for performing superposition or offset control on the torque generated by the thruster on the three axes of the satellite by calling the direction of the exciting current in the direction of the target torque generated when the thruster works according to the task strategy of the on-orbit work of the Hall electric propulsion system, so as to generate the torque in the target direction.
6. The Hall thruster self-generated torque based spacecraft angular momentum control system of claim 5, wherein gamma, theta,
Figure FDA0002805065540000022
thrust vector and space flight respectivelyX, Y of the device is angled with respect to the Z axis.
7. The Hall thruster self-generated torque based spacecraft angular momentum control system of claim 5 or 6, wherein the direction of the thruster torque is parallel to the direction of the thrust, and the torque direction and the thrust direction are defined to be positive in the same direction and negative in the opposite direction.
8. The method for controlling angular momentum of a spacecraft based on Hall thruster self-generated torque according to claim 7, wherein the control requirement of angular momentum is calculated by a spacecraft attitude and orbit control computer.
CN202011367518.0A 2020-11-27 2020-11-27 Spacecraft angular momentum control method and system based on Hall electric propulsion self-generated torque Pending CN112407339A (en)

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CN116812171A (en) * 2023-08-23 2023-09-29 北京国宇星辰科技有限公司 Attitude and orbit coupling vector control system and method for orbital vehicle

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