CN112883498B - On-orbit demand traction space station logistics supply planning method - Google Patents

On-orbit demand traction space station logistics supply planning method Download PDF

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CN112883498B
CN112883498B CN202110317779.XA CN202110317779A CN112883498B CN 112883498 B CN112883498 B CN 112883498B CN 202110317779 A CN202110317779 A CN 202110317779A CN 112883498 B CN112883498 B CN 112883498B
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罗亚中
张嘉城
朱阅訸
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Abstract

The application relates to a space station logistics supply planning method for on-orbit demand traction. The method comprises the steps of obtaining an on-orbit event execution plan and obtaining a daily material consumption list according to the on-orbit event execution plan; calculating the occurrence time of a track maintenance maneuver in a planning period and the consumption of a propellant for track maintenance according to a space station track dynamics model; determining the earliest and latest replenishment time and cargo list of each cargo ship according to the on-track material demand, the on-track initial inventory of the preset space station, the on-track inventory capacity upper limit of the preset space station and the on-track inventory lowest warning value of the preset space station; and according to the earliest and latest replenishment time of each cargo ship, synthesizing the actual launching window constraint and determining the cargo ship launching scheme. The method takes the on-orbit demand as the basis of material supply planning, quickly obtains the space station logistics supply planning scheme with less calculation cost in a very short time, and has the advantages of high calculation efficiency, strong scheme pertinence, capability of simultaneously meeting multiple constraints, good practical engineering applicability and the like.

Description

On-orbit demand traction space station logistics supply planning method
Technical Field
The application relates to the technical field of space mission planning, in particular to a space station logistics supply planning method for on-orbit demand traction.
Background
The space station is a comprehensive manned spacecraft which can operate in a near-earth orbit for a long time, supports the patrol and residence of a plurality of spacemen and performs space observation and microgravity environment experiments. The space station operation task planning is a key technology for long-term operation and effective management of the space station. The cargo ship regularly visits to supply materials, and the basis for supporting the long-term operation stability of the space station and guaranteeing the on-orbit working life of the astronauts is provided. Logistics supply planning is a typical problem in space station operation task planning, and aims to design a cargo ship launching sequence and a material loading scheme.
The existing method only carries out independent analysis and research on the space station logistics supply planning problem, and does not consider the coupling relation between the on-orbit event execution scheme and the logistics supply. The on-orbit event is defined as the event related to the on-orbit work and the life and protection of passengers in the space station, and comprises platform maintenance and repair, rendezvous and docking, the life and health guarantee of astronauts, scientific experiments and observation and the like. Currently, there is no method for planning logistics replenishment based on-orbit event execution requirements.
Disclosure of Invention
Based on this, it is necessary to provide a fast space station logistics replenishment planning method using an event as a traction, in which a cargo ship launching sequence and a material loading scheme are planned using an on-rail event demand as a traction, and a logistics replenishment comprehensive planning scheme matching an on-rail event execution situation can be obtained by comprehensively considering a coupling relationship between a space station on-rail event execution scheme and logistics strategy formulation.
A space station logistics replenishment planning method for on-orbit demand hauling, the method comprising:
a space station logistics replenishment planning method for on-orbit demand hauling, the method comprising:
acquiring an on-orbit event execution plan and a space on-orbit initial inventory; and obtaining a daily material consumption list according to the on-orbit event execution plan.
And obtaining the occurrence time of the track maintenance maneuver and the propellant consumption for track maintenance in the planning period according to the space station track dynamics model.
Setting a planning initial day to be 1, wherein the planning initial day is an integer which is more than or equal to 1 and less than or equal to the total days of a planning cycle; and setting the serial number of the cargo ship in the plan to be 1, wherein the serial number of the cargo ship in the plan is an integer which is more than or equal to 1 and less than or equal to the total number of the cargo ship.
And determining the earliest replenishment time, the latest replenishment time, the propellant loading amount and the remaining loadable material quality of the cargo ship in the plan according to the daily material consumption list, the space on-track initial inventory, the preset space on-track inventory capacity upper limit, the preset space on-track inventory lowest warning value, the occurrence time of track maintenance maneuver and the propellant consumption amount for track maintenance.
The time for starting to load the supplies is set to be equal to the latest replenishment time.
Loading the required materials in the daily material consumption list to the planning cargo ship day by day from the time of starting to load the materials on the same day until the planning cargo ship is full or the time for loading the required materials exceeds the total days of the planning cycle, and obtaining a cargo ship loading material list in the planning; if the cargo ship in the plan is full, updating the space station on-orbit initial inventory according to the cargo ship loading material list and the propellant loading capacity in the plan, updating the plan initial day to be the latest replenishment time of the cargo ship in the plan, updating the serial number of the cargo ship in the plan, and starting to plan the next cargo ship; and if the time for loading the required materials exceeds the total days of the planning cycle, finishing the planning.
The actual ship launch date is determined for each ship based on the earliest time of replenishment, the latest time of replenishment, and the launch window constraints for each ship.
In one embodiment, an on-orbit event execution plan and a space on-orbit initial inventory are obtained; obtaining a daily material consumption list according to the on-orbit event execution plan; the method also comprises the following steps:
acquiring an on-orbit event execution plan and a space on-orbit initial inventory;
and extracting a discrete consumption material list required by the daily event execution from the on-orbit event execution plan.
And carrying out statistical summary from the on-orbit event execution plan to obtain a daily required continuous consumption material list.
And merging the discrete consumption material list and the continuous consumption material list required daily to obtain a daily material consumption list.
In one embodiment, obtaining the occurrence time of the track maintenance maneuver and the propellant consumption amount for track maintenance in the planning period according to the space station track dynamics model further comprises:
constructing a space station orbit dynamics model, wherein: the earth Gravity Model adopts Joint Gravity Model 3; the atmospheric density is calculated by an NRLMSISE-00 model; the simulation of the track attenuation process of the space station is based on the Cowell formula.
And from the initial planning day, carrying out discrete time simulation on the orbit of the space station, wherein the simulation step length is one day, and obtaining the occurrence time of the orbit maintaining maneuver in the planning period.
And obtaining the speed increment of each track maintaining maneuver according to Gauss equation.
According to the speed increment of each orbit maintaining maneuver, the Tsiolkovsky rocket equation is adopted to calculate the propellant consumption for maintaining the orbit; the propellant consumption calculation formula for rail maintenance is as follows:
Figure BDA0002991899300000031
wherein m ispIs propellant consumption for rail maintenance; m is0Is the total mass of the space station before the implementation of the maneuver; i issIs the engine momentum; Δ vtIs the increment of speed at which each orbit maintains maneuver.
In one embodiment, the on-orbit remaining inventory amount of the current day includes: the on-orbit surplus material inventory on the same day and the on-orbit surplus propellant inventory on the same day; the predetermined space station on-orbit inventory capacity upper limit comprises: the upper limit of the stock capacity of the materials of the on-orbit of the predetermined space station and the upper limit of the stock capacity of the propellants of the on-orbit of the predetermined space station; the predetermined space station on-orbit inventory minimum warning value comprises the following steps: the predetermined space standing on-track supplies inventory minimum warning value and the predetermined space standing on-track propellant inventory minimum warning value. Determining the earliest replenishment time, the latest replenishment time, the propellant loading and the remaining loadable material quality of the cargo ship in the plan according to the daily material consumption list, the initial space-on-track inventory, the upper capacity limit of the reserved space-on-track inventory, the lowest warning value of the reserved space-on-track inventory, the occurrence time of track maintenance maneuvers and the propellant consumption for track maintenance, and further comprising:
according to the initial inventory of the on-track materials of the space station and the daily material consumption list, calculating the inventory of the on-track residual materials after one day of material consumption in a planning period from the planning initial day by day, and if the occurrence time of the track maintenance maneuver is the same day, updating the inventory of the on-track residual propellant according to the propellant consumption for track maintenance and the initial inventory of the on-track propellant of the space station.
And determining the earliest replenishment time and the latest replenishment time of the cargo ship in the plan according to the on-track residual material inventory, the upper limit of the on-track material inventory capacity of the preset space station, the lowest warning value of the on-track material inventory of the preset space station, the on-track residual propellant inventory, the upper limit of the on-track propellant inventory capacity of the preset space station and the lowest warning value of the on-track propellant inventory of the preset space station.
And calculating to obtain the propellant load of the cargo ship in the plan according to the principle of replenishing the on-orbit inventory of the propellant on the day of the earliest replenishing time.
And obtaining the total mass of the residual loadable materials of the cargo ship in the plan according to the upper limit of the propellant loading mass of the cargo ship, the upper limit of the mass of the materials carried by the cargo ship and the propellant loading capacity of the cargo ship in the plan.
In one embodiment, determining the earliest replenishment time and the latest replenishment time for a cargo ship in a plan based on the in-track inventory of remaining supplies, the upper limit of the capacity of the predetermined space-station in-track inventory of supplies, the minimum warning value of the capacity of the predetermined space-station in-track inventory of supplies, the in-track inventory of remaining propellant, the upper limit of the capacity of the predetermined space-station in-track propellant, and the minimum warning value of the capacity of the predetermined space-station in-track propellant, further comprises:
and when the on-track residual material inventory quantity of the current day is reduced to be below the on-track material inventory capacity upper limit of the preset space and the on-track residual material inventory quantity of the previous day is larger than the on-track material inventory capacity upper limit of the preset space, or the on-track residual propellant inventory quantity of the current day is reduced to be below the on-track propellant inventory capacity upper limit of the preset space and the on-track residual propellant inventory quantity of the previous day is larger than the on-track propellant inventory capacity upper limit of the preset space, the current day is the earliest replenishment time of the cargo ship in the planning.
According to the space station on-track material inventory of the day at the earliest replenishment time and the daily material consumption list in the planning period, calculating the on-track residual material inventory after one day of material consumption in the planning period from the first day after the earliest replenishment time day by day, and if the occurrence time of the track maintenance maneuver is the same day, updating the on-track residual propellant inventory after the maneuver according to the propellant consumption for the track maintenance.
And when the on-track residual material inventory amount of the current day is reduced to be below the minimum warning value of the on-track material inventory of the preset space station and the on-track residual material inventory amount of the previous day is larger than the minimum warning value of the on-track material inventory of the preset space station, or when the on-track residual propellant inventory amount of the current day is reduced to be below the minimum warning value of the on-track propellant inventory of the preset space station and the on-track residual propellant inventory amount of the previous day is larger than the minimum warning value of the on-track propellant inventory of the preset space station, the latest replenishment time of the cargo ship in the planning is the current day.
In one embodiment, the calculation formula for the propellant load of a cargo ship under planning is:
Figure BDA0002991899300000051
wherein N isc.v.The serial number of the cargo ship;
Figure BDA0002991899300000052
an on-track inventory upper limit for propellant;
Figure BDA0002991899300000053
an on-orbit inventory quality of propellant for the day of the earliest replenishment time;
Figure BDA0002991899300000054
is that it isThe earliest replenishment time;
Figure BDA0002991899300000055
the upper limit of the loading mass of the cargo ship propellant.
The calculation formula of the total mass of the residual loadable goods and materials of the cargo ship in the planning is as follows:
Figure BDA0002991899300000056
wherein the content of the first and second substances,
Figure BDA0002991899300000057
an upper limit of the cargo carrying mass for the cargo ship;
Figure BDA0002991899300000058
the upper limit of the mass of the goods and materials carried by the cargo ship.
In one embodiment, the required materials in the daily material consumption list are loaded to the planning cargo ship day by day from the time of starting loading the materials, until the planning cargo ship is full or the time for loading the required materials exceeds the total days of the planning cycle, so as to obtain a loading material list of the planning cargo ship; if the cargo ship is full in the plan, updating the space station on-orbit initial inventory according to the cargo ship loading material list and the propellant loading capacity in the plan, updating the plan initial day as the latest replenishment time of the cargo ship in the plan, updating the serial number of the cargo ship in the plan, and starting to plan the next cargo ship; if the time for loading the required materials exceeds the total days of the planning cycle, the planning is finished, and the method further comprises the following steps:
setting a material batch serial number i in a daily material consumption list to be 1; the material batch number is an integer greater than or equal to 1.
If the cargo ship can load all the required materials in the loading starting time of the cargo ship in the planning, the residual loadable mass and volume of the cargo ship in the planning are updated according to the residual loadable mass and volume of the cargo ship in the planning and the total mass and volume of the materials required to be supplied in the current day in the loading starting time of the cargo ship.
Adding the required materials in the current day of the time for starting to load the materials into a loading list of a cargo ship in the planning; and updating the time for starting to load the materials, loading the materials required in the next day, and resetting the material batch serial number i to 1.
If all the required materials in the current day are required when the cargo ship does not load the materials in the plan, adding the required materials in the current day when the cargo ship starts to load the materials one by one into a loading list of the cargo ship in the plan from the ith required material in the current day when the cargo ship starts to load the materials; updating the residual loadable mass and volume of the cargo ship in the plan, and updating the mass and volume of the required materials in the same day when the cargo ship starts to load the materials; increasing the serial number i of the material batch by 1, and continuously loading the next batch of required materials when the cargo ship is not full in the planning; and updating the serial number of the cargo ship until the cargo ship is fully loaded in the planning, and planning the next cargo ship.
In one embodiment, determining the actual ship launching date according to the earliest replenishment time, the latest replenishment time and the launching window constraint of each ship further comprises:
the actual ship launch date for each ship is determined by the project ensemble based on the earliest time of replenishment, the latest time of replenishment, and the launch window constraints for each ship.
According to the space station logistics supply planning method based on-orbit demand traction, an on-orbit event execution plan is obtained, and a daily material consumption list is obtained according to the on-orbit event execution plan; calculating the occurrence time of a track maintenance maneuver in a planning period and the consumption of a propellant for track maintenance according to a space station track dynamics model; determining the earliest and latest replenishment time and cargo list of each cargo ship according to the rail material demand, the initial on-rail stock of the preset space station, the upper limit of the on-rail stock capacity of the preset space station and the lowest warning value of the on-rail stock of the preset space station in the planning period; and according to the earliest and latest replenishment time of each cargo ship, synthesizing the actual launching window constraint and determining the final cargo ship launching scheme. The method takes the on-orbit demand as the basis of material supply planning, can rapidly obtain the space station logistics supply planning scheme within a short time at very low calculation cost, and has the advantages of high calculation efficiency, strong scheme pertinence, capability of simultaneously meeting multiple constraints, good practical engineering applicability and the like.
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FIG. 1 is a schematic flow chart illustrating a method for planning the logistics replenishment of a space station for on-orbit demand hauling in one embodiment;
fig. 2 is a schematic flow chart of a space station logistics replenishment planning method for on-orbit demand traction in another embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a space station logistics replenishment planning method for on-orbit demand hauling, comprising the steps of:
step 100, acquiring an on-orbit event execution plan and a space on-orbit initial inventory; and obtaining a daily material consumption list according to the on-orbit event execution plan.
The on-orbit event is a certain non-routine task executed by the astronaut in orbit, such as space science experiment and observation.
Daily material consumption includes: the materials are consumed discretely every day and continuously every day. The discrete consumption materials are materials consumed along with the execution of events, such as experimental equipment, samples and the like; the continuous consumption material is a material consumed by the daily routine activities of the astronauts, such as platform maintenance supplies, astronaut living supplies, food and the like.
Discrete consumable supplies are consumed as events are executed, and continuous consumable supplies are consumed over time.
And step 102, obtaining the generation time of the track maintenance maneuver and the propellant consumption for track maintenance in the planning period according to the space station track dynamics model.
And calculating the time and the speed increment of each orbit maintaining maneuver according to a space station orbit dynamic model, and calculating the propellant consumption of each orbit maintaining maneuver according to a preset rocket equation.
Step 104, setting a planning initial day to be 1, wherein the planning initial day is an integer which is more than or equal to 1 and less than or equal to the total days of a planning period; the serial number of the cargo ship in the planning is set to be 1, and the serial number of the cargo ship in the planning is an integer which is more than or equal to 1 and less than or equal to the total number of the cargo ship.
The cargo ship serial number in the plan is a cargo ship sequence number arranged from morning to evening according to the use time.
And step 106, determining the earliest replenishment time, the latest replenishment time, the propellant loading amount and the quality of the residual loadable goods and materials of the cargo ship in the plan according to the daily goods and materials consumption list, the initial stock of the space station on the rail, the upper limit of the capacity of the reserved space station on the rail stock, the lowest warning value of the reserved space station on the rail stock, the occurrence time of the rail maintenance maneuver and the propellant consumption amount for the rail maintenance.
The space station on-orbit initial inventory is the initial on-orbit inventory quality of the space station material.
The on-track remaining inventory amount is the inventory amount remaining after the initial inventory of the track material is consumed cumulatively every day in the planning period.
The upper limit of the on-orbit stock capacity of the predetermined space station is the maximum designed on-orbit stock quantity of the space station.
The predetermined space station on-track inventory minimum warning value is the minimum value of the space station designed on-track inventory amount, and replenishment is needed below the value.
The earliest replenishment time is the same day when the on-track remaining inventory amount falls to the upper limit of the space on-track inventory capacity and the on-track remaining inventory amount of the previous day is greater than the upper limit of the space on-track inventory capacity.
The latest replenishment time is the latest replenishment time on the same day when the on-track remaining inventory amount falls to the space-standing on-track inventory minimum warning value and the on-track remaining inventory amount on the previous day is greater than the space-standing on-track inventory minimum warning value.
And step 108, setting the time for starting to load the materials to be equal to the latest replenishment time.
The demand supplies in the daily supplies consumption list are loaded onto the planned cargo ship from the latest replenishment time on the day.
Step 110, loading the required materials in the daily material consumption list to a planning cargo ship day by day from the time of starting loading the materials on the same day until the planning cargo ship is full or the time for loading the required materials exceeds the total days of a planning cycle, and obtaining a loading material list of the planning cargo ship; if the cargo ship is full in the plan, updating the space station on-orbit initial inventory according to the cargo ship loading material list and the propellant loading capacity in the plan, updating the plan initial day as the latest replenishment time of the cargo ship in the plan, updating the serial number of the cargo ship in the plan, and starting to plan the next cargo ship; and if the time for loading the required materials exceeds the total days of the planning cycle, finishing the planning.
The time the demand material has been loaded is the last day of the days that the demand material has been loaded.
Step 112, determining the actual ship launching date according to the earliest replenishment time, the latest replenishment time and the launching window constraint of each ship.
In the on-orbit demand traction space station logistics replenishment planning method, an on-orbit event execution plan is obtained, and a daily material consumption list is obtained according to the on-orbit event execution plan; calculating the occurrence time of a track maintenance maneuver in a planning period and the consumption of a propellant for track maintenance according to a space station track dynamics model; determining the earliest and latest replenishment time and cargo list of each cargo ship according to the rail material demand, the initial on-rail stock of the preset space station, the upper limit of the on-rail stock capacity of the preset space station and the lowest warning value of the on-rail stock of the preset space station in the planning period; and according to the earliest and latest replenishment time of each cargo ship, synthesizing the actual launching window constraint and determining the final cargo ship launching scheme. The method takes the on-orbit demand as the basis of material supply planning, can rapidly obtain the space station logistics supply planning scheme within a short time at very low calculation cost, and has the advantages of high calculation efficiency, strong scheme pertinence, capability of simultaneously meeting multiple constraints, good practical engineering applicability and the like.
In one embodiment, step 100 further comprises: acquiring an on-orbit event execution plan and a space on-orbit initial inventory; extracting a discrete consumption material list required by daily event execution from an on-orbit event execution plan; counting and summarizing from the on-orbit event execution plan to obtain a daily required continuous consumption material list; and merging the discrete consumption material list and the continuous consumption material list required daily to obtain a daily material consumption list.
In one embodiment, step 102 further comprises: constructing a space station orbit dynamics model, wherein: adopting a Joint Gravity Model3 as an earth Gravity Model; the atmospheric density is calculated by an NRLMSISE-00 model; the simulation of the track attenuation process of the space station is based on the Cowell formula. Carrying out discrete time simulation on the orbit of the space station from the initial planning day, wherein the simulation step length is one day, and obtaining the occurrence time of the orbit maintaining maneuver in the planning period; obtaining the speed increment of each track maintaining maneuver according to a Gauss equation; according to the speed increment of each orbit maintaining maneuver, the Tsiolkovsky rocket equation is adopted to calculate the propellant consumption for maintaining the orbit; the propellant consumption calculation formula for rail maintenance is:
Figure BDA0002991899300000091
wherein m ispIs propellant consumption for rail maintenance; m is0Is the total mass of the space station before the implementation of the maneuver; i issIs the engine momentum; Δ vtIs the increment of speed at which each orbit maintains maneuver.
In one embodiment, the space-on-orbit initial inventory comprises: space-standing on-rail material initial inventory and space-standing on-rail propellant initial inventory; the on-orbit remaining inventory on the same day comprises: the on-orbit surplus material inventory on the same day and the on-orbit surplus propellant inventory on the same day; the predetermined space station on-orbit inventory capacity upper limit comprises: the upper limit of the stock capacity of the materials of the on-orbit of the predetermined space station and the upper limit of the stock capacity of the propellants of the on-orbit of the predetermined space station; the predetermined space station on-orbit inventory minimum warning value comprises the following steps: the predetermined space standing on-track supplies inventory minimum warning value and the predetermined space standing on-track propellant inventory minimum warning value. Step 106 further comprises: according to the initial stock of the on-orbit materials of the space station and a daily material consumption list, calculating the stock of the on-orbit residual materials after one day of material consumption in a planning period from the planning initial day by day, and if the occurrence time of the orbit maintaining maneuver is the same day, updating the stock of the on-orbit residual propellant according to the propellant consumption for the orbit maintaining and the initial stock of the on-orbit propellant of the space station; determining the earliest replenishment time and the latest replenishment time of the cargo ship in the plan according to the stock of the on-track residual materials, the upper limit of the stock capacity of the on-track materials of the preset space station, the lowest warning value of the stock of the on-track materials of the preset space station, the stock of the on-track residual propellant, the upper limit of the stock capacity of the on-track propellant of the preset space station and the lowest warning value of the stock capacity of the on-track propellant of the preset space station; calculating to obtain the propellant load capacity of the cargo ship in the planning according to the principle of replenishing the on-orbit inventory of the propellant on the earliest replenishment time day; and obtaining the total mass of the residual loadable materials of the cargo ship in the plan according to the upper limit of the propellant loading mass of the cargo ship, the upper limit of the mass of the materials carried by the cargo ship and the propellant loading capacity of the cargo ship in the plan.
In one embodiment, step 106 further comprises: when the on-track residual material inventory quantity of the current day is reduced to be below the on-track material inventory capacity upper limit of the preset space station and the on-track residual material inventory quantity of the previous day is larger than the on-track material inventory capacity upper limit of the preset space station, or the on-track residual propellant inventory quantity of the current day is reduced to be below the on-track propellant inventory capacity upper limit of the preset space station and the on-track residual propellant inventory quantity of the previous day is larger than the on-track propellant inventory capacity upper limit of the preset space station, the current day is the earliest replenishment time of the cargo ship in the planning; according to the space station on-orbit material inventory of the day at the earliest replenishment time and a daily material consumption list in a planning period, calculating the on-orbit residual material inventory after one day of material consumption in the planning period from the first day after the earliest replenishment time day by day, and if the occurrence time of the orbit maintenance maneuver is the same day, updating the on-orbit residual propellant inventory after the maneuver according to the propellant consumption for the orbit maintenance; and when the on-track residual material inventory amount of the current day is reduced to be below the minimum warning value of the on-track material inventory of the preset space station and the on-track residual material inventory amount of the previous day is larger than the minimum warning value of the on-track material inventory of the preset space station, or when the on-track residual propellant inventory amount of the current day is reduced to be below the minimum warning value of the on-track propellant inventory of the preset space station and the on-track residual propellant inventory amount of the previous day is larger than the minimum warning value of the on-track propellant inventory of the preset space station, the latest replenishment time of the cargo ship in the planning is the current day.
In one embodiment, the calculation formula for the propellant load of the cargo ship under planning in step 106 is:
Figure BDA0002991899300000101
wherein N isc.v.The serial number of the cargo ship;
Figure BDA0002991899300000102
an on-track inventory upper limit for propellant;
Figure BDA0002991899300000103
the on-orbit inventory quality of the propellant on the day of the earliest replenishment time;
Figure BDA0002991899300000104
the earliest replenishment time;
Figure BDA0002991899300000105
the upper limit of the loading mass of the cargo ship propellant.
The calculation formula of the total mass of the residual loadable goods and materials of the cargo ship in the planning is as follows:
Figure BDA0002991899300000111
wherein the content of the first and second substances,
Figure BDA0002991899300000112
an upper limit of the cargo carrying mass for the cargo ship;
Figure BDA0002991899300000113
the upper limit of the mass of the goods and materials carried by the cargo ship.
In one embodiment, step 110 further comprises: setting a material batch serial number i in a daily material consumption list to be 1; the material batch serial number is an integer greater than or equal to 1; if the planned cargo ship can load all the required materials in the time of starting to load the materials on the same day, updating the residual loadable mass and volume of the planned cargo ship according to the residual loadable mass and volume of the planned cargo ship and the total mass and total volume of the materials required to be supplied on the same day in the time of starting to load the materials; adding the required materials in the current day of the time for starting to load the materials into a loading list of a cargo ship in the planning; updating the time for starting to load the materials, loading the materials required in the next day, and resetting the material batch serial number i to 1; if all the required materials in the current day are required when the cargo ship does not load the materials in the plan, adding the required materials in the current day when the cargo ship starts to load the materials one by one into a loading list of the cargo ship in the plan from the ith required material in the current day when the cargo ship starts to load the materials; updating the residual loadable mass and volume of the cargo ship in the plan, and updating the mass and volume of the required materials in the same day when the cargo ship starts to load the materials; increasing the serial number i of the material batch by 1, and continuously loading the next batch of required materials when the cargo ship is not full in the planning; and updating the serial number of the cargo ship until the cargo ship is fully loaded in the planning, and planning the next cargo ship.
In one embodiment, step 112 further comprises: the actual ship launch date for each ship is determined by the project ensemble based on the earliest time of replenishment, the latest time of replenishment, and the launch window constraints for each ship.
In another embodiment, as shown in fig. 2, a method for planning logistics replenishment of space station with on-orbit demand traction is provided, which comprises the following specific steps:
s1: and extracting a daily demand discrete consumption type material list according to a daily execution plan of the on-orbit event, and calculating the total mass and the total volume of the daily demand discrete consumption type materials. Discrete consumable supplies are consumed as events are executed, and continuous consumable supplies are consumed over time.
S2: acquiring a daily continuously consumed material list, summarizing continuously consumed material information, and calculating daily consumed total mass and total volume; and merging the daily demand discrete consumption type material list and the continuous consumption type material list into a daily demand material list.
S3: propellant consumption for rail maintenance is calculated from a space station rail dynamics model.
S301: and constructing a space station orbit dynamics model.
Adopting a Joint Gravity Model3 as an earth Gravity Model; the atmospheric density was calculated by the NRLMSISE-00 model. And performing discrete time simulation on the orbit of the space station from the planned initial date, wherein the simulation step length is one day, so that the date for implementing the orbit lifting maneuver is obtained. The simulation of the track attenuation process of the space station is based on the Cowell formula:
Figure BDA0002991899300000121
wherein r and v are a position vector and a velocity vector, respectively; μ is a gravitational parameter; a isnon-sphericalAcceleration due to earth's non-spherical gravity; a isdragIs the atmospheric drag acceleration; a isthrustIs the thrust acceleration; a isotherIs the acceleration caused by other disturbing forces.
S302: and calculating the consumption of the rail maintenance propellant in the planning period.
The velocity increment for each orbit maintenance maneuver is calculated according to the Gauss equation:
Figure BDA0002991899300000122
wherein, aaimIs the target track semi-major axis; r isp0And ra0Initial orbit near and far point heights, respectively.
And calculating the propellant consumption of each orbit maintaining maneuver according to the Tsiolkovsky rocket equation:
Figure BDA0002991899300000123
wherein m ispIs the propellant consumption mass; m is0Is the total mass of the space station before the implementation of the maneuver; i issIs the engine momentum.
S4: determining the earliest and latest replenishment time and cargo list of each cargo ship according to the replenishment demand. The ship launch sequence and manifest heuristic planning flow is shown in fig. 2.
S401: initializing cargo ship number Nc.v.The number of days t is 1, and the number of material batches i is 1.
S402: determining the Nthc.v.The earliest and latest replenishment times of a cargo ship, and the propellant loading quality.
S40201: and calculating the on-orbit residual inventory after the material consumption of one day from the current tth day by day.
When the stock quantity is
Figure BDA0002991899300000124
Down to the upper limit of the on-orbit stock capacity of the space station
Figure BDA0002991899300000125
When the day is as follows, the day is the Nth dayc.v.Earliest replenishment time of cargo ship:
Figure BDA0002991899300000131
s40202: according to the following
Figure BDA0002991899300000132
Calculating the Nth of the N-th of the space propellant on-orbit stock supplement principlec.v.Propellant load of a cargo ship:
Figure BDA0002991899300000133
wherein the content of the first and second substances,
Figure BDA0002991899300000134
an on-track inventory upper limit for propellant;
Figure BDA0002991899300000135
is as follows
Figure BDA0002991899300000136
On-track inventory quality of propellant;
Figure BDA0002991899300000137
the upper limit of the loading mass of the cargo ship propellant.
Update the Nthc.v.Remaining loadable mass of a cargo ship:
Figure BDA0002991899300000138
wherein the content of the first and second substances,
Figure BDA0002991899300000139
an upper limit of the cargo carrying mass for the cargo ship;
Figure BDA00029918993000001310
the upper limit of the mass of the goods and materials carried by the cargo ship.
S40203: continuously calculating the on-orbit residual inventory after the material consumption of one day by day; stock of on-track materials
Figure BDA00029918993000001311
Reduce to the minimum warning value
Figure BDA00029918993000001312
Following, or on-track, propellant inventory
Figure BDA00029918993000001313
Reduce to the minimum warning value
Figure BDA00029918993000001314
Following), that day is the Nth dayc.v.Latest replenishment time of cargo ship:
Figure BDA00029918993000001315
s403: let t*T from t*Loading the demand materials in the daily material consumption list which are not loaded to the Nth material day by dayc.v.A cargo ship until full or t*Beyond the planning period. If the cargo ship is full, the materials and propellant supplied by the cargo ship in the planning are counted into the on-track inventory, i.e.
Figure BDA00029918993000001316
Figure BDA00029918993000001317
Wherein the content of the first and second substances,
Figure BDA00029918993000001318
are respectively Nthc.v.Loading the total mass of materials and propellant on cargo ship, and updating cargo ship serial number Nc.v.Moving to S402, planning a next cargo ship; if t*And exceeding the total days T of the planning cycle, and ending.
T th*The daily demand material loading process comprises the following two conditions:
(1) if it is the Nthc.v.A cargo ship can be loaded*The demand materials in the material consumption list which are not loaded all day by day are as follows:
Figure BDA0002991899300000141
wherein the content of the first and second substances,
Figure BDA0002991899300000142
are respectively the Nthc.v.The remaining loadable mass, volume of the cargo ship;
Figure BDA0002991899300000143
are respectively t*The total mass and total volume of supplies are needed daily.
Update the Nthc.v.Remaining loadable mass, volume of a cargo ship:
Figure BDA0002991899300000144
Figure BDA0002991899300000145
will t be*Daily demand material addition to Nthc.v.In a loading list of a cargo ship:
Figure BDA0002991899300000146
wherein the content of the first and second substances,
Figure BDA0002991899300000147
is at the t*The total number of daily required goods and materials;
Figure BDA0002991899300000148
is the Nthc.v.A cargo list of a cargo ship;
Figure BDA0002991899300000149
is at the t*And j, requiring materials in the materials list. Entering the next day: t is t*＝t*+1,i＝1。
(2) If it is the Nthc.v.Not yet loaded in cargo ship*The required materials in the total unloaded material consumption list of the day are as follows:
Figure BDA00029918993000001410
from the ith in the day's not loaded material consumption listObtaining materials and sending the t-th item piece by piece*Daily demand material addition to Nthc.v.Loading list of cargo ship, planning next cargo ship and updating cargo ship serial number Nc.v.Go to S402.
Will t be*The ith batch of demand materials is added to the Nthc.v.In a loading list of a cargo ship:
Figure BDA00029918993000001411
update the Nthc.v.Updating the t-th volume of the remaining loadable mass and volume of a cargo ship*The quality and volume of the daily required materials are as follows:
Figure BDA00029918993000001412
Figure BDA00029918993000001413
Figure BDA00029918993000001414
Figure BDA00029918993000001415
wherein the content of the first and second substances,
Figure BDA0002991899300000151
are respectively t*The mass and volume of the required materials of the ith batch of the day.
S5: and combining the engineering actual conditions such as the earliest and latest replenishment time and the launching window of each cargo ship obtained in the last step, and determining the actual launching date of each cargo ship by the engineering totality.
It should be understood that although the various steps in the flow charts of fig. 1-2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one exemplary embodiment, the step of performing a verification experiment of the method for planning the logistics replenishment of a space station with on-orbit demand traction comprises:
b1: the test example was planned to start at 1/2023 and end at 31/12/2025, during which the total of 5000 required supplies for event execution was 5000. The daily demand discrete consumption material amount is shown in table 1.
TABLE 1 example of daily demand discrete consumption class inventory derived from on-orbit event execution plan
Figure BDA0002991899300000152
B2: through the summary, the total mass and the volume of the continuously consumed goods and materials required by the space station every day are respectively 35.3kg and 0.25m3。
B3: the kinetic model parameters and initial orbit parameters for the orbit simulation of the space station are shown in table 2.
TABLE 2 kinetic model parameters, initial orbit parameters of a space station
Figure BDA0002991899300000153
Figure BDA0002991899300000161
Through the orbit simulation, the space station needs to perform nine orbit maintenance maneuvers in total at 23 days 4-2023, 11 days 8-2023, 7 days 12-2023, 15 days 4-2024, 13 days 8-2024, 16 days 12-2024, 9 days 4-2025, 29 days 7-2025 and 20 days 11-2025, respectively. The momentum per manoeuvre and the corresponding propellant consumption are 11.3m/s and 750kg respectively. It is assumed that the propellant consumption rate for other than rail decay maintenance is 7.5 kg/day, as is the case for rail attitude adjustment.
B4: the earliest and latest replenishment times and manifest for each cargo ship are calculated. Space standing on rail initial inventory of supplies and propellants, and minimum and maximum inventory constraints are shown in table 3; the cargo capacity parameters of the cargo ship are shown in table 4. The replenishment time interval and material loading planning results for the cargo ship are shown in table 5.
B5: the emission time window over three years is given by table 6. In connection with engineering practice, the launch time of a cargo ship is selected from the intersection of the refuelable time interval and the launch window of each cargo ship.
TABLE 3 initial on-track inventory quality, on-track inventory quality minimum alert values and on-track inventory quality upper limit for supplies and propellants
Figure BDA0002991899300000162
TABLE 4 cargo ship carrying capacity parameters
Loadable gross mass (including supplies and propellant) 7000kg
Loadable total mass of material 6000kg
Total loadable volume of material 45m3
Loadable total mass of propellant 1500kg
TABLE 5 replenishment time interval and total cargo count for cargo ship
Figure BDA0002991899300000163
Figure BDA0002991899300000171
Emission time window of tables 62023 to 2025
Numbering 1 2 3 4 5 6 7 8
Date of start 9th 58th 82nd 146th 199th 244th 275th 336th
End date 46th 74th 119th 182nd 238th 268th 314th 364th
Duration (sky) 38 17 38 37 40 24 40 29
Numbering 9 10 11 12 13 14 15 16
Date of start 376th 429th 459th 522nd 564th 603rd 636th 695th
End date 416th 451st 494th 556th 599th 625th 674th 726th
Duration (sky) 41 23 36 35 36 23 39 32
Numbering 17 18 19 20 21 22 23 24
Date of start 734th 794th 822nd 868th 917th 986th 1028th 1059th
End date 775th 815th 849th 904th 965th 1014th 1047th 1096th
Duration (sky) 42 22 28 37 49 29 20 38
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (8)

1. A space station logistics replenishment planning method for on-orbit demand hauling, the method comprising:
acquiring an on-orbit event execution plan and a space on-orbit initial inventory; obtaining a daily material consumption list according to the on-orbit event execution plan;
according to the space station track dynamics model, the generation time of track maintenance maneuver and the propellant consumption for track maintenance in a planning period are obtained;
setting a planning initial day to be 1, wherein the planning initial day is an integer which is more than or equal to 1 and less than or equal to the total days of a planning cycle; setting the serial number of a cargo ship in the planning to be 1, wherein the serial number of the cargo ship in the planning is an integer which is more than or equal to 1 and less than or equal to the total number of the cargo ship;
determining the earliest replenishment time, the latest replenishment time, the propellant loading amount and the remaining loadable material quality of a cargo ship in the plan according to the daily material consumption list, the initial space on-track inventory, the upper capacity limit of the reserved space on-track inventory, the lowest warning value of the reserved space on-track inventory, the occurrence time of track maintenance maneuver and the propellant consumption amount for track maintenance;
setting the time for starting loading the materials to be equal to the latest replenishment time;
loading the required materials in the daily material consumption list to the planning cargo ship day by day from the time of starting to load the materials on the same day until the planning cargo ship is full or the time for loading the required materials exceeds the total days of the planning cycle, and obtaining a cargo ship loading material list in the planning; if the cargo ship in the plan is full, updating the space station on-orbit initial inventory according to the cargo ship loading material list and the propellant loading capacity in the plan, updating the plan initial day to be the latest replenishment time of the cargo ship in the plan, updating the serial number of the cargo ship in the plan, and starting to plan the next cargo ship; if the time for loading the required materials exceeds the total days of the planning cycle, finishing the planning;
the actual ship launch date is determined for each ship based on the earliest time of replenishment, the latest time of replenishment, and the launch window constraints for each ship.
2. The method of claim 1, wherein an on-orbit event execution plan and a space on-orbit initial inventory are obtained; and obtaining a daily material consumption list according to the on-orbit event execution plan, wherein the daily material consumption list comprises:
acquiring an on-orbit event execution plan and a space on-orbit initial inventory;
extracting a discrete consumption material list required by daily event execution from the on-orbit event execution plan;
counting and summarizing the on-orbit event execution plan to obtain a daily required continuous consumption material list;
and merging the discrete consumption material list and the continuous consumption material list required daily to obtain a daily material consumption list.
3. The method of claim 1, wherein deriving the time of occurrence of a track maintenance maneuver and the propellant consumption for track maintenance within a planning period from a space station track dynamics model comprises:
constructing a space station orbit dynamics model, wherein: the earth Gravity Model adopts Joint Gravity Model 3; the atmospheric density is calculated by an NRLMSISE-00 model; simulating the track attenuation process of the space station according to a Cowell formula;
carrying out discrete time simulation on the orbit of the space station from the initial planning day, wherein the simulation step length is one day, and obtaining the occurrence time of the orbit maintaining maneuver in the planning period;
obtaining the speed increment of each track maintaining maneuver according to a Gauss equation;
according to the speed increment of each orbit maintaining maneuver, the Tsiolkovsky rocket equation is adopted to calculate the propellant consumption for maintaining the orbit; the propellant consumption calculation formula for rail maintenance is as follows:
Figure FDA0002991899290000021
wherein m ispIs propellant consumption for rail maintenance; m is0Is the total mass of the space station before the implementation of the maneuver; i issIs the engine momentum; Δ vtIs the increment of speed at which each orbit maintains maneuver.
4. The method of claim 1, wherein the space-on-orbit initial inventory comprises: space-standing on-rail material initial inventory and space-standing on-rail propellant initial inventory; the on-orbit residual inventory on the same day comprises the following steps: the on-orbit surplus material inventory on the same day and the on-orbit surplus propellant inventory on the same day; the predetermined space station on-orbit inventory capacity upper limit comprises: the upper limit of the stock capacity of the materials of the on-orbit of the predetermined space station and the upper limit of the stock capacity of the propellants of the on-orbit of the predetermined space station; the predetermined space station on-orbit inventory minimum warning value comprises the following steps: the minimum warning value of the stock of the materials in the track of the preset space station and the minimum warning value of the stock of the propellants in the track of the preset space station;
determining the earliest replenishment time, the latest replenishment time, the propellant loading and the remaining loadable material quality of the cargo ship in the plan according to the daily material consumption list, the space on-track initial inventory, the upper limit of the capacity of the reserved space on-track inventory, the lowest warning value of the reserved space on-track inventory, the occurrence time of the track maintenance maneuver and the propellant consumption for track maintenance, and comprises the following steps:
according to the initial inventory of the on-orbit materials of the space station and the daily material consumption list, calculating the inventory of the on-orbit residual materials after one day of material consumption in a planning period from the planning initial day by day, and if the occurrence time of the orbit maintaining maneuver is the same day, updating the inventory of the on-orbit residual propellant according to the consumption of the propellant for the orbit maintaining and the initial inventory of the on-orbit propellant of the space station;
determining the earliest replenishment time and the latest replenishment time of the cargo ship in the plan according to the on-track residual material inventory, the upper limit of the on-track material inventory capacity of the preset space station, the lowest warning value of the on-track material inventory of the preset space station, the on-track residual propellant inventory, the upper limit of the on-track propellant inventory capacity of the preset space station and the lowest warning value of the on-track propellant inventory of the preset space station;
calculating to obtain the propellant load capacity of the cargo ship in the planning according to the principle of replenishing the on-orbit inventory of the propellant on the earliest replenishment time day;
and obtaining the total mass of the residual loadable materials of the cargo ship in the plan according to the upper limit of the propellant loading mass of the cargo ship, the upper limit of the mass of the materials carried by the cargo ship and the propellant loading capacity of the cargo ship in the plan.
5. The method of claim 4, wherein determining the earliest and latest replenishment times for the cargo craft in the plan based on the in-track inventory of remaining supplies, the upper limit of capacity of the predetermined space-standing in-track inventory of supplies, the minimum warning value of capacity of the predetermined space-standing in-track inventory of supplies, the inventory of remaining propellant in the track, the upper limit of capacity of the predetermined space-standing in-track propellant, and the minimum warning value of capacity of the predetermined space-standing in-track propellant comprises:
when the on-track residual material inventory quantity of the current day is reduced to be below the on-track material inventory capacity upper limit of the preset space station and the on-track residual material inventory quantity of the previous day is larger than the on-track material inventory capacity upper limit of the preset space station, or the on-track residual propellant inventory quantity of the current day is reduced to be below the on-track propellant inventory capacity upper limit of the preset space station and the on-track residual propellant inventory quantity of the previous day is larger than the on-track propellant inventory capacity upper limit of the preset space station, the current day is the earliest replenishment time of the cargo ship in the planning;
according to the space on-orbit material inventory of the day at the earliest replenishment time and the daily material consumption list in the planning period, calculating the on-orbit residual material inventory after one day of material consumption in the planning period from the first day after the earliest replenishment time day by day, and if the occurrence time of the orbit maintenance maneuver is the same day, updating the on-orbit residual propellant inventory after the maneuver according to the propellant consumption for the orbit maintenance;
and when the on-track residual material inventory amount of the current day is reduced to be below the minimum warning value of the on-track material inventory of the preset space station and the on-track residual material inventory amount of the previous day is larger than the minimum warning value of the on-track material inventory of the preset space station, or when the on-track residual propellant inventory amount of the current day is reduced to be below the minimum warning value of the on-track propellant inventory of the preset space station and the on-track residual propellant inventory amount of the previous day is larger than the minimum warning value of the on-track propellant inventory of the preset space station, the latest replenishment time of the cargo ship in the planning is the current day.
6. The method of claim 5, wherein the propellant load of a cargo ship under planning is calculated as:
Figure FDA0002991899290000041
wherein N isc.v.The serial number of the cargo ship;
Figure FDA0002991899290000042
an on-track inventory upper limit for propellant;
Figure FDA0002991899290000043
an on-orbit inventory quality of propellant for the day of the earliest replenishment time;
Figure FDA0002991899290000044
the earliest replenishment time;
Figure FDA0002991899290000045
the upper limit of the loading mass of the cargo ship propellant is set;
the calculation formula of the total mass of the residual loadable goods and materials of the cargo ship in the planning is as follows:
Figure FDA0002991899290000046
wherein the content of the first and second substances,
Figure FDA0002991899290000047
an upper limit of the cargo carrying mass for the cargo ship;
Figure FDA0002991899290000048
the upper limit of the mass of the goods and materials carried by the cargo ship.
7. The method of claim 1, wherein the demand materials in the daily material consumption list are loaded to the planning cargo ship day by day from the time of starting loading the materials, until the planning cargo ship is full or the time that the demand materials are loaded exceeds the total days of the planning cycle, so as to obtain a planning cargo ship loading material list; if the cargo ship in the plan is full, updating the space station on-orbit initial inventory according to the cargo ship loading material list and the propellant loading capacity in the plan, updating the plan initial day to be the latest replenishment time of the cargo ship in the plan, updating the serial number of the cargo ship in the plan, and starting to plan the next cargo ship; if the time for loading the required materials exceeds the total days of the planning cycle, the planning is finished, and the method comprises the following steps:
setting a material batch serial number i in a daily material consumption list to be 1; the serial number of the material batch is an integer greater than or equal to 1;
if the planned cargo ship can load all the required materials in the time of starting to load the materials on the same day, updating the residual loadable mass and volume of the planned cargo ship according to the residual loadable mass and volume of the planned cargo ship and the total mass and total volume of the materials required to be supplied on the same day in the time of starting to load the materials;
adding the required materials in the current day of the time for starting to load the materials into a loading list of a cargo ship in the planning; updating the time for starting to load the materials, loading the materials required in the next day, and resetting the material batch serial number i to 1;
if all the required materials in the current day are required when the cargo ship does not load the materials in the plan, adding the required materials in the current day when the cargo ship starts to load the materials one by one into a loading list of the cargo ship in the plan from the ith required material in the current day when the cargo ship starts to load the materials; updating the residual loadable mass and volume of the cargo ship in the plan, and updating the mass and volume of the required materials in the same day when the cargo ship starts to load the materials; increasing the serial number i of the material batch by 1, and continuously loading the next batch of required materials when the cargo ship is not full in the planning; and updating the serial number of the cargo ship until the cargo ship is fully loaded in the planning, and planning the next cargo ship.
8. The method of claim 1, wherein determining the actual ship system comprises:
the actual ship launch date for each ship is determined by the project ensemble based on the earliest time of replenishment, the latest time of replenishment, and the launch window constraints for each ship.
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