CN113741197A - Single-time approaching three-pulse control method and system for high-orbit target - Google Patents
Single-time approaching three-pulse control method and system for high-orbit target Download PDFInfo
- Publication number
- CN113741197A CN113741197A CN202111082154.6A CN202111082154A CN113741197A CN 113741197 A CN113741197 A CN 113741197A CN 202111082154 A CN202111082154 A CN 202111082154A CN 113741197 A CN113741197 A CN 113741197A
- Authority
- CN
- China
- Prior art keywords
- orbit
- coordinate system
- relative
- module
- calculating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000004458 analytical method Methods 0.000 claims abstract description 18
- 238000005457 optimization Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims abstract description 12
- 239000013598 vector Substances 0.000 claims description 22
- 238000013459 approach Methods 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 6
- 238000013461 design Methods 0.000 abstract description 9
- 238000005070 sampling Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 239000000446 fuel Substances 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention provides a single-time approaching three-pulse control method and a system for a high-orbit target, which comprise the following steps: according to the minimum distance, speed and time of the approaching task, describing relative motion of two stars by adopting a CW equation, and constructing a relative orbit of the terminal; calculating the initial relative orbit of the tracked star under the Hill coordinate system according to the number of the orbits of the two stars; in a Hill coordinate system, optimizing and calculating three-pulse parameters by adopting an analytical method according to the initial relative orbit and the terminal relative orbit; and according to the analysis calculation result, adopting a track dynamics model, and carrying out re-optimization according to a numerical method to finally obtain an optimal solution. The method realizes the balance among the orbit precision, the calculated amount and the design efficiency, can quickly and effectively carry out three-pulse preliminary estimation by adopting a simplified orbit model, and then uses the solution as an initial value guess of a high-precision multi-body model, thereby effectively reducing the iteration times, reducing the calculated amount and ensuring the robustness of numerical iteration.
Description
Technical Field
The invention relates to the field of spacecraft orbit design and optimization, in particular to a single-time approaching three-pulse control method and system for a high orbit target.
Background
In the mission of in-orbit operation of a spacecraft, single approach is an important component of relative motion control. In the approaching process, a plurality of pulses need to be applied to form the effect of flying and sweeping the target in a short distance, and the imaging of the fault condition of the target is realized. Due to the fact that the fly-by distance is short and the tasks are frequent, the control precision is required to be high in the single approaching process, the fuel consumption is required to be small, conditions are created for executing the tasks for multiple times, and therefore the research on the optimal multi-pulse approaching of the fuel has great significance.
At present, some researches are carried out on the relative motion design of the spacecraft, and through retrieval, the main relevant to orbit control are as follows:
in chinese patent document No. CN104249816B, an attitude and orbit cooperative control method for hovering a non-cooperative target around a flight is disclosed, which adopts a real-time closed-loop LQG orbit control law to control the actual orbit motion of a tracking satellite relative to a target satellite in a flying around stage and the deviation amount of a designed general flying around trajectory, and the relative position and relative speed of the tracking satellite relative to a hovering target point in a hovering stage, so that the control precision is high, and the fuel consumption is low. The attitude collaborative design method in the flying-around process concerned by the patent is greatly different from the approach control of the patent, and the related design method cannot be borrowed.
In chinese patent document No. CN104309822B, a spacecraft single-pulse droplet-shaped flying-around trajectory hovering control method based on parameter optimization is disclosed, which solves the problem that the existing fixed-point hovering method requires continuous control quantity, the existing single-pulse droplet-shaped flying-around method realizes hovering, and the fuel consumption of a tracked spacecraft hovering on a target spacecraft orbit plane due to long hovering time is not considered. The hovering control in the flying-around process concerned by the patent is greatly different from the approach control of the patent, and the related design method cannot be borrowed.
In chinese patent publication No. CN106628257B, a method for maintaining the orbit of the relative motion of a near-earth spacecraft in an earth perturbation gravitational field is disclosed, which models the relative motion of a near-earth orbit satellite under the influence of earth ellipticity perturbation, and proposes a periodic solution estimation scheme based on a time dispersion method, so as to simply and effectively perform relatively accurate estimation on the initial condition of the periodic relative motion, and quantitatively research the change of the dynamic characteristics of the relative motion of the near-earth spacecraft under the action of the perturbation of earth gravity. The holding control in the flying-around process concerned by the patent is greatly different from the approach control of the patent, and the related design method cannot be borrowed.
In chinese patent publication No. CN110954104A, a method for planning an approaching operation path of a spacecraft is disclosed, which includes: determining the type of obstacles in the path planning; performing algorithm description and constraint analysis on the spacecraft approach path planning problem to generate a sampling state space; carrying out ovalization processing on the sampling state space; carrying out safety analysis on the sampling state space after the ovalization treatment; applying a sampling-based path planning algorithm to the sampling state space after the safety analysis to obtain a discrete sampling state sequence; and carrying out continuous processing on the discrete sampling state sequence to obtain a path for approaching operation of the spacecraft.
Disclosure of Invention
In view of the defects in the prior art, the present invention provides a method and a system for controlling a high-orbit target by a single-pass three-pulse approach.
The invention provides a single-time approaching three-pulse control method for a high-orbit target, which comprises the following steps of:
step S1: according to the minimum distance, speed and time of the approaching task, describing relative motion of two stars by adopting a CW equation, and constructing a relative orbit of the terminal;
step S2: calculating the initial relative orbit of the tracked star under the Hill coordinate system according to the number of the orbits of the two stars;
step S3: in a Hill coordinate system, optimizing and calculating three-pulse parameters by adopting an analytical method according to the initial relative orbit and the terminal relative orbit;
step S4: and according to the analysis calculation result, adopting a track dynamics model, and carrying out re-optimization according to a numerical method to finally obtain an optimal solution.
Preferably, the step S1 includes:
step S1.1: assuming that the orbit eccentricity of the target star is zero, defining the origin of a Hill coordinate system as the center of mass of the target star, pointing the X axis to the radial direction, forming a right-hand coordinate system by the Z axis along the normal direction of the orbit surface and forming a right-hand coordinate system by the Y axis and other two axes;
step S1.2: establishing a CW equation under a Hill coordinate system, and defining a single approach orbit by adopting a water drop configuration;
step S1.3: and calculating a water drop configuration track set meeting the constraint according to the minimum distance, speed and time of the approaching task, and preferably determining one track as a terminal relative track.
Preferably, the step S2 includes:
step S2.1: according to the instantaneous number of the orbits of the two stars under the J2000.0 geocentric coordinate system, calculating to obtain the rectangular coordinates of the positions and the speeds of the two stars under the coordinate system, and the relative positions and the speed vectors of the two stars;
step S2.2: calculating a conversion matrix from a J2000.0 geocentric coordinate system to a Hill coordinate system according to the position and the velocity vector of the target star;
step S2.3: and calculating the projection of the relative positions and the speed vectors of the two stars in the Hill coordinate system by using a conversion matrix from the J2000.0 geocentric coordinate system to the Hill coordinate system, solving the initial motion parameters of the tracking stars in the Hill coordinate system, and finally obtaining the initial relative orbit.
Preferably, the step S3 includes:
step S3.1: calculating three characteristic parameters of an ellipse semiminor axis, an instantaneous ellipse center position Y-direction coordinate and an ellipse drift rate of the two initial and final relative orbits by adopting a CW equation analytical model according to the initial relative orbit and the terminal relative orbit parameters;
step S3.2: setting the positions of the three pulses to be located at characteristic points with zero radial speed, wherein the phase difference of the positions of the three pulses is 180 degrees, and the pulse directions are all along the Y axis;
step S3.3: and (3) establishing three equation sets described by the sizes of the three pulses according to the Y-direction coordinates and the ellipse drift rate of the ellipse semi-minor axis, the instantaneous ellipse central position and the ellipse drift rate of the initial and final relative orbit, and solving and calculating to obtain the sizes of the pulses, so that the positions, the sizes and the directions of the three pulses can be obtained.
Preferably, the step S4 includes:
step S4.1: according to the analysis calculation result, an intermediate track transferred from the initial relative track to the terminal relative track can be obtained;
step S4.2: setting 4 variables of the position and the speed vector of the tail end of the middle track as terminal conditions;
step S4.3: setting two time variables of the flight time delta tk after the k-th pulse action and 5 variables in total of the three pulse size as optimization variables;
step S4.4: and recursion is carried out by using a high-precision orbit model, a three-pulse analytic solution is used as an initial value guess, a least square method is adopted for target practice iteration, and finally an optimal solution is obtained.
The invention provides a single-time approaching three-pulse control system of a high-orbit target, which comprises the following steps of:
module M1: according to the minimum distance, speed and time of the approaching task, describing relative motion of two stars by adopting a CW equation, and constructing a relative orbit of the terminal;
module M2: calculating the initial relative orbit of the tracked star under the Hill coordinate system according to the number of the orbits of the two stars;
module M3: in a Hill coordinate system, calculating three-pulse parameters by adopting an analytic system optimization according to the initial relative orbit and the terminal relative orbit;
module M4: and according to the analysis calculation result, adopting a track dynamics model, and carrying out re-optimization according to a numerical system to finally obtain an optimal solution.
Preferably, the module M1 includes:
module M1.1: assuming that the orbit eccentricity of the target star is zero, defining the origin of a Hill coordinate system as the center of mass of the target star, pointing the X axis to the radial direction, forming a right-hand coordinate system by the Z axis along the normal direction of the orbit surface and forming a right-hand coordinate system by the Y axis and other two axes;
module M1.2: establishing a CW equation under a Hill coordinate system, and defining a single approach orbit by adopting a water drop configuration;
module M1.3: and calculating a water drop configuration track set meeting the constraint according to the minimum distance, speed and time of the approaching task, and preferably determining one track as a terminal relative track.
Preferably, the module M2 includes:
module M2.1: according to the instantaneous number of the orbits of the two stars under the J2000.0 geocentric coordinate system, calculating to obtain the rectangular coordinates of the positions and the speeds of the two stars under the coordinate system, and the relative positions and the speed vectors of the two stars;
module M2.2: calculating a conversion matrix from a J2000.0 geocentric coordinate system to a Hill coordinate system according to the position and the velocity vector of the target star;
module M2.3: and calculating the projection of the relative positions and the speed vectors of the two stars in the Hill coordinate system by using a conversion matrix from the J2000.0 geocentric coordinate system to the Hill coordinate system, solving the initial motion parameters of the tracking stars in the Hill coordinate system, and finally obtaining the initial relative orbit.
Preferably, the module M3 includes:
module M3.1: calculating three characteristic parameters of an ellipse semiminor axis, an instantaneous ellipse center position Y-direction coordinate and an ellipse drift rate of the two initial and final relative orbits by adopting a CW equation analytical model according to the initial relative orbit and the terminal relative orbit parameters;
module M3.2: setting the positions of the three pulses to be located at characteristic points with zero radial speed, wherein the phase difference of the positions of the three pulses is 180 degrees, and the pulse directions are all along the Y axis;
module M3.3: and (3) establishing three equation sets described by the sizes of the three pulses according to the Y-direction coordinates and the ellipse drift rate of the ellipse semi-minor axis, the instantaneous ellipse central position and the ellipse drift rate of the initial and final relative orbit, and solving and calculating to obtain the sizes of the pulses, so that the positions, the sizes and the directions of the three pulses can be obtained.
Preferably, the module M4 includes:
module M4.1: according to the analysis calculation result, an intermediate track transferred from the initial relative track to the terminal relative track can be obtained;
module M4.2: setting 4 variables of the position and the speed vector of the tail end of the middle track as terminal conditions;
module M4.3: setting two time variables of the flight time delta tk after the k-th pulse action and 5 variables in total of the three pulse size as optimization variables;
module M4.4: and recursion is carried out by using a high-precision orbit model, a three-pulse analytic solution is used as an initial value guess, a least square method is adopted for target practice iteration, and finally an optimal solution is obtained.
Compared with the prior art, the invention has the following beneficial effects:
1. the method realizes the balance among the track precision, the calculated amount and the design efficiency;
2. the invention adopts the simplified orbit model, can quickly and effectively carry out three-pulse preliminary estimation, and then uses the solution as an initial value guess of the high-precision multi-body model;
3. the invention can effectively reduce the iteration times, reduce the calculated amount and ensure the robustness of numerical iteration.
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 method of the present invention;
FIG. 2 shows the first and last opposing tracks and the middle track according to an embodiment of the present invention.
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.
A single-time approaching three-pulse control method for a high-orbit target can effectively consider the requirements of an actual task on an approaching distance, speed and time, can quickly evaluate the feasibility of an approaching process by adopting three pulses obtained by an analytic method, and can provide an initial value for a high-precision model and an effective method for quickly obtaining a high-precision numerical solution. The method realizes the balance among the orbit precision, the calculated amount and the design efficiency, can quickly and effectively carry out three-pulse preliminary estimation by adopting a simplified orbit model, and then uses the solution as the initial value guess of the high-precision multi-body model, thereby effectively reducing the iteration times, reducing the calculated amount and ensuring the robustness of numerical iteration.
The method comprises the following steps:
step S1: according to the minimum distance, speed and time of the approaching task, a CW equation is adopted to describe relative motion of two stars, and a relative orbit of the terminal is constructed.
Step S1 specifically includes:
step S1.1: assuming that the orbit eccentricity of the target star is zero, defining the origin of a Hill coordinate system as the center of mass of the target star, pointing the X axis to the radial direction, forming a right-hand coordinate system by the Z axis along the normal direction of the orbit surface and forming a right-hand coordinate system by the Y axis and other two axes;
step S1.2: establishment of CW equation under Hill coordinate system
In the formula (I), the compound is shown in the specification,
is the average orbital angular velocity of the target star, mu is the Earth's gravitational constant, acFor the semi-major axis of the target star, x, y and z are the components of the relative position vector in the three axes of the HILL coordinate system. Defining a single-time approach orbit by adopting a water drop configuration based on a CW equation;
step S1.3: and calculating a water drop configuration track set meeting the constraint according to the minimum distance, speed and time of the approaching task, and preferably determining one track as a terminal relative track.
Step S2: and calculating the initial relative orbit of the tracked star in the Hill coordinate system according to the number of the orbits of the two stars.
Step S2 specifically includes:
step S2.1: according to the instantaneous number of orbits of two stars under the J2000.0 geocentric coordinate system, the rectangular coordinates of the positions and the speeds of the two stars under the coordinate system, and the relative positions r and the speed vectors v of the two stars are obtained by calculation and are expressed as
r＝rt-rc
v＝vt-vc
Step S2.2: calculating a conversion matrix from the J2000.0 geocentric coordinate system to the Hill coordinate system according to the position and the velocity vector of the target star
Mj2000-hill＝[R T N]T
In the formula (I), the compound is shown in the specification,
rcand vcIs the position and velocity vector of the earth's center coordinate system of the target star J2000.0.
Step S2.3: calculating the projection of the relative position and the velocity vector of the two stars in the Hill coordinate system by using a conversion matrix from the J2000.0 geocentric coordinate system to the Hill coordinate system, and solving the initial motion parameter r of the tracking star in the Hill coordinate systemhill＝Mj2000-hillr，vhill＝Mj2000-hillv-ωhillXr, initial relative orbit is finally obtained, wherein
Step S3: and in a Hill coordinate system, optimizing and calculating the parameters of the three pulses by adopting an analytic method according to the initial relative orbit and the terminal relative orbit.
Step S3 specifically includes:
step S3.1: calculating three characteristic parameters of an ellipse semiminor axis, an instantaneous ellipse center position Y-direction coordinate and an ellipse drift rate of the two initial and final relative orbits by adopting a CW equation analytical model according to the initial relative orbit and the terminal relative orbit parameters;
step S3.2: setting the positions of the three pulses to be located at characteristic points with zero radial speed, wherein the phase difference of the positions of the three pulses is 180 degrees, and the pulse directions are all along the Y axis;
step S3.3: the Y-direction coordinates of the ellipse semi-minor axis, the instantaneous ellipse center position and the ellipse drift rate of the initial and final relative orbit establish three equation sets described by the three-pulse size,
ΔV1＝-n(a0-a1)/2
ΔV2＝n(a1-a2)/2
ΔV3＝-n(a2-a3)/2
in the formula, a0、a1、a2And a3And solving and calculating the intermediate configuration parameters to obtain the pulse size, so that the position, size and direction of the three pulses can be obtained.
Step S4: according to the analytic calculation result, adopting a track dynamics model, carrying out re-optimization according to a numerical method, and finally obtaining an optimal solution, wherein the specific model is as follows
In the formula, aTTo take into account the acceleration of perturbation of the three bodies after the gravitational and lunar gravitations, aNAcceleration of non-spherical perturbation of the earth caused by the irregular sphere of the earth itself, aPAcceleration of the earth's tide perturbation, aAAcceleration of atmospheric perturbation of the outer layer of the earth, aSPerturbation of acceleration for light pressure caused by sunlight.
Step S4 specifically includes:
step S4.1: according to the analysis calculation result, an intermediate track transferred from the initial relative track to the terminal relative track can be obtained;
step S4.2: setting the position d of the end of the intermediate railfVelocity vector vxf、vyfAnd vzf4 variables in total are used as terminal conditions;
step S4.3: setting two time variables of the flight time delta tk after the k-th pulse action and 5 variables in total of the three pulse size as optimization variables;
step S4.4: and recursion is carried out by using a high-precision orbit model, a three-pulse analytic solution is used as an initial value guess, a least square method is adopted for target practice iteration, and finally an optimal solution is obtained.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
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 (10)
1. A single-time approaching three-pulse control method for a high-orbit target is characterized by comprising the following steps:
step S1: according to the minimum distance, speed and time of the approaching task, describing relative motion of two stars by adopting a CW equation, and constructing a relative orbit of the terminal;
step S2: calculating the initial relative orbit of the tracked star under the Hill coordinate system according to the number of the orbits of the two stars;
step S3: in a Hill coordinate system, optimizing and calculating three-pulse parameters by adopting an analytical method according to the initial relative orbit and the terminal relative orbit;
step S4: and according to the analysis calculation result, adopting a track dynamics model, and carrying out re-optimization according to a numerical method to finally obtain an optimal solution.
2. The method of claim 1, wherein the method comprises: the step S1 includes:
step S1.1: assuming that the orbit eccentricity of the target star is zero, defining the origin of a Hill coordinate system as the center of mass of the target star, pointing the X axis to the radial direction, forming a right-hand coordinate system by the Z axis along the normal direction of the orbit surface and forming a right-hand coordinate system by the Y axis and other two axes;
step S1.2: establishing a CW equation under a Hill coordinate system, and defining a single approach orbit by adopting a water drop configuration;
step S1.3: and calculating a water drop configuration track set meeting the constraint according to the minimum distance, speed and time of the approaching task, and preferably determining one track as a terminal relative track.
3. The method of claim 1, wherein the method comprises: the step S2 includes:
step S2.1: according to the instantaneous number of the orbits of the two stars under the J2000.0 geocentric coordinate system, calculating to obtain the rectangular coordinates of the positions and the speeds of the two stars under the coordinate system, and the relative positions and the speed vectors of the two stars;
step S2.2: calculating a conversion matrix from a J2000.0 geocentric coordinate system to a Hill coordinate system according to the position and the velocity vector of the target star;
step S2.3: and calculating the projection of the relative positions and the speed vectors of the two stars in the Hill coordinate system by using a conversion matrix from the J2000.0 geocentric coordinate system to the Hill coordinate system, solving the initial motion parameters of the tracking stars in the Hill coordinate system, and finally obtaining the initial relative orbit.
4. The method of claim 1, wherein the method comprises: the step S3 includes:
step S3.1: calculating three characteristic parameters of an ellipse semiminor axis, an instantaneous ellipse center position Y-direction coordinate and an ellipse drift rate of the two initial and final relative orbits by adopting a CW equation analytical model according to the initial relative orbit and the terminal relative orbit parameters;
step S3.2: setting the positions of the three pulses to be located at characteristic points with zero radial speed, wherein the phase difference of the positions of the three pulses is 180 degrees, and the pulse directions are all along the Y axis;
step S3.3: and (3) establishing three equation sets described by the sizes of the three pulses according to the Y-direction coordinates and the ellipse drift rate of the ellipse semi-minor axis, the instantaneous ellipse central position and the ellipse drift rate of the initial and final relative orbit, and solving and calculating to obtain the sizes of the pulses, so that the positions, the sizes and the directions of the three pulses can be obtained.
5. The method of claim 1, wherein the method comprises: the step S4 includes:
step S4.1: according to the analysis calculation result, an intermediate track transferred from the initial relative track to the terminal relative track can be obtained;
step S4.2: setting 4 variables of the position and the speed vector of the tail end of the middle track as terminal conditions;
step S4.3: setting two time variables of the flight time delta tk after the k-th pulse action and 5 variables in total of the three pulse size as optimization variables;
step S4.4: and recursion is carried out by using a high-precision orbit model, a three-pulse analytic solution is used as an initial value guess, a least square method is adopted for target practice iteration, and finally an optimal solution is obtained.
6. A single-time-approaching three-pulse control system for a high-orbit target is characterized by comprising the following steps of:
module M1: according to the minimum distance, speed and time of the approaching task, describing relative motion of two stars by adopting a CW equation, and constructing a relative orbit of the terminal;
module M2: calculating the initial relative orbit of the tracked star under the Hill coordinate system according to the number of the orbits of the two stars;
module M3: in a Hill coordinate system, calculating three-pulse parameters by adopting an analytic system optimization according to the initial relative orbit and the terminal relative orbit;
module M4: and according to the analysis calculation result, adopting a track dynamics model, and carrying out re-optimization according to a numerical system to finally obtain an optimal solution.
7. The single-pass three-pulse-approach control system for high-orbit targets of claim 6, wherein: the module M1 includes:
module M1.1: assuming that the orbit eccentricity of the target star is zero, defining the origin of a Hill coordinate system as the center of mass of the target star, pointing the X axis to the radial direction, forming a right-hand coordinate system by the Z axis along the normal direction of the orbit surface and forming a right-hand coordinate system by the Y axis and other two axes;
module M1.2: establishing a CW equation under a Hill coordinate system, and defining a single approach orbit by adopting a water drop configuration;
module M1.3: and calculating a water drop configuration track set meeting the constraint according to the minimum distance, speed and time of the approaching task, and preferably determining one track as a terminal relative track.
8. The single-pass three-pulse-approach control system for high-orbit targets of claim 6, wherein: the module M2 includes:
module M2.1: according to the instantaneous number of the orbits of the two stars under the J2000.0 geocentric coordinate system, calculating to obtain the rectangular coordinates of the positions and the speeds of the two stars under the coordinate system, and the relative positions and the speed vectors of the two stars;
module M2.2: calculating a conversion matrix from a J2000.0 geocentric coordinate system to a Hill coordinate system according to the position and the velocity vector of the target star;
module M2.3: and calculating the projection of the relative positions and the speed vectors of the two stars in the Hill coordinate system by using a conversion matrix from the J2000.0 geocentric coordinate system to the Hill coordinate system, solving the initial motion parameters of the tracking stars in the Hill coordinate system, and finally obtaining the initial relative orbit.
9. The single-pass three-pulse-approach control system for high-orbit targets of claim 6, wherein: the module M3 includes:
module M3.1: calculating three characteristic parameters of an ellipse semiminor axis, an instantaneous ellipse center position Y-direction coordinate and an ellipse drift rate of the two initial and final relative orbits by adopting a CW equation analytical model according to the initial relative orbit and the terminal relative orbit parameters;
module M3.2: setting the positions of the three pulses to be located at characteristic points with zero radial speed, wherein the phase difference of the positions of the three pulses is 180 degrees, and the pulse directions are all along the Y axis;
module M3.3: and (3) establishing three equation sets described by the sizes of the three pulses according to the Y-direction coordinates and the ellipse drift rate of the ellipse semi-minor axis, the instantaneous ellipse central position and the ellipse drift rate of the initial and final relative orbit, and solving and calculating to obtain the sizes of the pulses, so that the positions, the sizes and the directions of the three pulses can be obtained.
10. The single-pass three-pulse-approach control system for high-orbit targets of claim 6, wherein: the module M4 includes:
module M4.1: according to the analysis calculation result, an intermediate track transferred from the initial relative track to the terminal relative track can be obtained;
module M4.2: setting 4 variables of the position and the speed vector of the tail end of the middle track as terminal conditions;
module M4.3: setting two time variables of the flight time delta tk after the k-th pulse action and 5 variables in total of the three pulse size as optimization variables;
module M4.4: and recursion is carried out by using a high-precision orbit model, a three-pulse analytic solution is used as an initial value guess, a least square method is adopted for target practice iteration, and finally an optimal solution is obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111082154.6A CN113741197B (en) | 2021-09-15 | 2021-09-15 | Single-approach three-pulse control method and system for high-rail target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111082154.6A CN113741197B (en) | 2021-09-15 | 2021-09-15 | Single-approach three-pulse control method and system for high-rail target |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113741197A true CN113741197A (en) | 2021-12-03 |
| CN113741197B CN113741197B (en) | 2023-10-27 |
Family
ID=78739138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111082154.6A Active CN113741197B (en) | 2021-09-15 | 2021-09-15 | Single-approach three-pulse control method and system for high-rail target |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113741197B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460952A (en) * | 2022-01-17 | 2022-05-10 | 上海卫星工程研究所 | Double-satellite cooperative orbit transfer method and system for initializing orbit tracing configuration |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140077036A1 (en) * | 2012-09-14 | 2014-03-20 | The Government Of The Us, As Represented By The Secretary Of The Navy | System and Method for Maneuver Plan for Satellites Flying in Proximity |
| RU2561490C1 (en) * | 2014-04-30 | 2015-08-27 | Федеральное государственное унитарное предприятие "Центральный научно-исследовательский институт машиностроения" (ФГУП ЦНИИмаш) | Control over spacecraft deorbit from earth artificial satellite orbit |
| CN113268809A (en) * | 2021-04-26 | 2021-08-17 | 上海卫星工程研究所 | Design method and system for solar system marginal detection electric propulsion transfer orbit |
-
2021
- 2021-09-15 CN CN202111082154.6A patent/CN113741197B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140077036A1 (en) * | 2012-09-14 | 2014-03-20 | The Government Of The Us, As Represented By The Secretary Of The Navy | System and Method for Maneuver Plan for Satellites Flying in Proximity |
| RU2561490C1 (en) * | 2014-04-30 | 2015-08-27 | Федеральное государственное унитарное предприятие "Центральный научно-исследовательский институт машиностроения" (ФГУП ЦНИИмаш) | Control over spacecraft deorbit from earth artificial satellite orbit |
| CN113268809A (en) * | 2021-04-26 | 2021-08-17 | 上海卫星工程研究所 | Design method and system for solar system marginal detection electric propulsion transfer orbit |
Non-Patent Citations (1)
| Title |
|---|
| 朱彦伟: "航天器近距离相对运动轨迹规划与控制研究", 《中国博士学位论文全文数据库》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460952A (en) * | 2022-01-17 | 2022-05-10 | 上海卫星工程研究所 | Double-satellite cooperative orbit transfer method and system for initializing orbit tracing configuration |
| CN114460952B (en) * | 2022-01-17 | 2023-03-24 | 上海卫星工程研究所 | Double-star cooperative orbit transfer method and system for initializing elliptical orbit flight accompanying configuration |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113741197B (en) | 2023-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106697333B (en) | A kind of robust analysis method of spacecraft orbit control strategy | |
| CN106682274B (en) | Halo track on-track maintaining method considering amplitude constraint | |
| CN104309822B (en) | A kind of spacecraft single impulse water-drop-shaped based on parameter optimization is diversion track Hovering control method | |
| CN109255096B (en) | Geosynchronous satellite orbit uncertain evolution method based on differential algebra | |
| CN109375648A (en) | Elliptical orbit satellite Formation Configuration initial method under a kind of multi-constraint condition | |
| CN110989644B (en) | Aircraft trajectory planning method considering target point multi-terminal constraint | |
| CN110378012B (en) | Strict regression orbit design method, system and medium considering high-order gravity field | |
| CN104898642A (en) | Integrated test simulation system for spacecraft attitude control algorithm | |
| CN105353763A (en) | Relative orbit attitude finite time control method for non-cooperative target spacecraft | |
| CN114355962B (en) | Near-distance smooth approaching and maintaining control method for fuel optimization under time constraint | |
| CN105912819A (en) | Quick design method of earth-moon L1 Lagrange point transfer orbit | |
| CN113867143B (en) | Safety soft landing analysis obstacle avoidance guidance method for extraterrestrial celestial body | |
| CN105930305A (en) | Three-pulse intersection approaching guidance method | |
| CN116142490A (en) | Spacecraft attitude redirection control method based on potential function under complex constraint | |
| CN114370793A (en) | Rocket sublevel return and vertical landing guidance method | |
| CN113741197A (en) | Single-time approaching three-pulse control method and system for high-orbit target | |
| CN115343960B (en) | Spacecraft illumination shadow avoidance control method in earth-moon system | |
| CN116692028B (en) | Method and device for controlling ground rapid gaze direction tracking of small satellite | |
| CN104932520B (en) | A kind of spacecraft rain drop shapes hovering configuration control method existed under measurement error | |
| CN116796108A (en) | Tracking star trajectory planning method under complex multi-constraint condition | |
| Kasiri et al. | Coupled position and attitude control of a servicer spacecraft in rendezvous with an orbiting target | |
| CN115892519A (en) | Spacecraft control method for short-distance spacecraft orbit pulse game | |
| CN112506209B (en) | Reentry vehicle prediction control method based on self-adaptive prediction period | |
| Xu et al. | Coordinated control method of space-tethered robot system for tracking optimal trajectory | |
| Felicetti et al. | Image-based visual servoing control for spacecraft formation flying |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |