CN113772127B - Space debris racemization control method - Google Patents

Space debris racemization control method Download PDF

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CN113772127B
CN113772127B CN202111066585.3A CN202111066585A CN113772127B CN 113772127 B CN113772127 B CN 113772127B CN 202111066585 A CN202111066585 A CN 202111066585A CN 113772127 B CN113772127 B CN 113772127B
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star
target
parent
tether
speed
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CN113772127A (en
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单明贺
史玲玲
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Beijing Institute of Technology BIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The invention discloses a space debris racemization control method, which is based on a rope system for capturing space debris, wherein the rope system is a combination body composed of a parent star, the space debris and a tether connected between the parent star and the space debris, in the racemization process of a target, namely the space debris, the speed of the target and the parent star is monitored, when the speed of the target is greater than the speed of the parent star, the position of the parent star is adjusted through a propeller, and the collision of the target and the parent star is prevented. Compared with the traditional method for detecting the state of the tether, the method for adjusting the position of the parent star by opening the propeller once the tether is not straightened, avoids the waste of fuel for adjusting the position of the parent star when the distance between the target and the parent star is shortened but the speed is the same and the position of the parent star cannot collide, saves the consumption of fuel of the parent star, does not need to open all the propellers each time, further saves the fuel of the parent star, is more beneficial to maintaining the stability of the system, and ensures the safe off-orbit of the target and the parent star.

Description

Space debris racemization control method
Technical Field
The invention relates to the technical field of aerospace, in particular to a space debris racemization control method.
Background
According to the records of the satellite monitoring network in the United states, the number of space fragments larger than 10 cm in the earth orbit is over twenty thousand, which clearly forms a great threat to an on-orbit spacecraft. Flexible connection capture is one of the most effective methods for active removal of spatial debris. The method is that after capturing the target, the main star and the target are connected through flexible medium, usually a tether. The flexible connection capturing method has the characteristics of light weight, low emission cost, long acting distance and the like. Common flexible connection capturing methods include a flying net capturing method, a flying claw capturing method, a fish fork method and the like. The spatial debris tends to spin in space due to its residual angular momentum. After such targets are successfully captured by the flexible connection capture method, racemization treatment is needed to be carried out on the targets through the tether, otherwise, the targets are easy to wind around the tether to collide with a main star.
In the existing tether racemization control system, the control algorithm is complex, the tether state needs to be continuously detected by the traditional method, once the tether is not straightened, the propeller is opened to adjust the position of the parent satellite to enable the tether to be in a straightened state, continuous operation of the propeller is needed, but the fact that the tether is not straightened only indicates that the distance between the parent satellite and a target is closer than that of the tether, collision cannot occur if the speeds are still synchronous, and therefore adjustment is made according to whether the tether is straightened or not, and great waste of fuel of the parent satellite is caused.
Disclosure of Invention
In view of the above, the invention provides a space debris racemization control method, which can reduce the angular speed of a target to be near zero in a short time range through the limited number of propellers, thereby greatly saving precious fuel on a main star, preventing the target from being collided with the main star too close to each other, and ensuring the safe off-orbit of a system consisting of the main star and the target.
The specific technical scheme of the invention is as follows:
a space debris racemization control method is used for capturing space debris by a tethered system, wherein the tethered system is a combination consisting of a parent star, space debris and a tether connected between the parent star and the space debris; in the racemization process of the target, namely the space debris, the speed of the target and the speed of the mother star are monitored, and when the speed of the target is greater than the speed of the mother star, the position of the mother star is adjusted through the propeller so as to prevent the target from colliding with the mother star; when the speed of the target is smaller than or equal to that of the parent star, the target and the parent star cannot collide, and the position of the parent star does not need to be adjusted;
the speed of the target and the speed of the parent star both comprise speed components in the directions of x, y and z, and when the component speed of the target in only one direction is greater than the component speed of the parent star in the corresponding direction, only the propeller in the direction corresponding to the speed component is turned on to adjust the position of the parent star.
Further, by monitoring the speed of the target and the parent star, the position of the parent star is adjusted, comprising the following steps:
step one, establishing a combined body dynamic model which comprises a tether dynamics model, a parent star dynamics model and a target dynamics model;
step two, according to a parent star dynamics model, solving a momentum wheel output control moment of the parent star by using a PD control algorithm, and controlling the attitude of the parent star;
step three, controlling the position of the parent star through the propeller according to the monitored speed condition, wherein the speed difference delta V between the target and the parent star is adjusted according to the speed difference delta V between the target and the parent starThe desired time Δt determines the thrust F of the propeller thru Is of a size of (a) and (b).
Further, the tether dynamics model is expressed as:
where m is the mass of the tether in focus, r is the position vector of the tether,a second derivative of tether position vector r with respect to time; n is the number of nodes connected with the P point; t (T) j G is the space microgravity vector of the P point, F k The P points are the number of other external forces applied to the P points, and the P points are the connection points of the main ropes and the sub ropes in the tether;
the parent star dynamics model is expressed as:
m S a S ＝F S +F thru ,
wherein m is S The mass of the main star, a S Acceleration of the main star F S Is the tether tension applied by the main star, F thru For propulsion, J S Inertia matrix omega as main star S As the principal star rotational angular velocity, τ S For the moment generated by the pulling force and the torsion of the tether to the main star, tau c For the control moment generated by the main star momentum wheel,is the principal star rotational angular velocity omega S First derivative with respect to time;
the target dynamics model is expressed as:
m T a T ＝F T ,
wherein m is T For the target mass, a T For acceleration of the object, F T Tether tension applied to the target, J T For the inertia matrix of the target in the body coordinate system, omega T For the target rotational angular velocity τ T For the moment generated by the sub-rope tension on the target,for the target rotation angular velocity omega T The first derivative with respect to time.
Further, the Euler angle phi for the parent star gesture S ＝[α,β,γ] T The Euler angles corresponding to the rotation mode of z-x-z are alpha, beta and gamma respectively;
the momentum wheel output control moment is expressed as:
wherein alpha is Sd ,β Sd ,γ Sd Representing the desired parent star euler angle,represents the first derivative of the Euler angle of the parent star with respect to time,/and->Representing the first derivative of the expected parent Euler angle with respect to time, < >>Representing the second derivative of the expected parent Euler angle with respect to time, parameter k p > 0 represents the proportional control gain, k d > 0 represents differential control gain, τ cx ,τ cy ,τ cz Representing components of momentum wheel control moment in three directions of x, y and z, J Sx ,J Sy ,J Sz Representing the components of the principal moment of inertia matrix in the x, y and z directions, τ Sx ,τ Sy ,τ Sz The components of the moment generated for the tether to the main star in the x, y and z directions.
Further, the thrust F of the propeller is determined according to the speed difference DeltaV between the target and the parent satellite and the expected time Deltat for adjusting the speed difference thru Specifically, the size of (3) is:
the speed difference between the target and the parent star is expressed as: deltaV= [ V Tx -v Sx ,v Ty -v Sy ,v Tz -v Sz ]Wherein v is Tx ，v Ty ，v Tz Representing the velocity components of the target velocity in the x, y and z directions, v Sx ,v Sy ,v Sz The velocity components of the parent star velocity in the x, y and z directions are respectively represented;
thrust of the propeller:
wherein m is S Is the mass of the parent star.
Further, when only the velocity component of the target and the parent star in the tether direction, i.e., the x-axis direction, is considered, Δv= [ V Tx -v Sx ,0,0]At this time, the propeller at the position corresponding to the x-axis direction is only required to be turned on.
Further, the tether system further comprises a tether ejection device and a spring damping unit; the tether ejection device is arranged on the main star; the tether and the spring damping unit are stored in the tether ejection device, and when the space debris needs to be captured, the tether ejection device is triggered, and the tether and the spring damping unit are ejected together;
the tether comprises a main rope and a sub rope; the main ropes are connected with the main star, and the sub ropes are connected with the space debris;
the spring damping unit is arranged on the main rope and the sub rope.
Further, the number of the sub ropes is n, and the n sub ropes and the main rope are connected at the same point P; wherein n is a positive integer of 2 or more;
the main rope is provided with a plurality of spring damping units, and each sub rope is provided with a spring damping unit.
The beneficial effects are that:
(1) According to the invention, the speed of the target and the speed of the parent star are monitored, when the speed of the target is greater than the speed of the parent star, the position of the parent star is adjusted through the propeller, and compared with the method for detecting the state of the tether by the traditional method, the method for adjusting the position of the parent star by opening the propeller once the tether is not straightened so as to straighten the tether, the fuel waste of adjusting the position of the parent star when the distance between the target and the parent star is shortened but the speed is the same and the parent star is not collided is avoided, and the consumption of the fuel of the parent star is saved; meanwhile, the speed components of the speed in the directions of x, y and z are monitored, and the speed components can be adjusted according to the speed change condition of the components in the independent directions, so that all propellers are not required to be opened each time, the main star fuel is further saved, the stability of the system is better maintained, and the safe off-orbit of the target and the parent star is ensured.
(2) The flexibility of the tether is fully considered, a dynamic model is established aiming at the tether, the state of the system main body can be mastered more clearly, the distance factor is still considered while the speed is monitored, and the phenomenon that the speed is always the same but the distance is more and more close to the direct collision is avoided.
(3) And the momentum wheel output control moment of the parent star is solved by using a PD control algorithm, the attitude of the parent star is controlled in the processes of racemization and parent star position adjustment, the stability of the system is further ensured, and the possibility of collision between a target and the parent star is further reduced.
Drawings
FIG. 1 is a schematic diagram of a composite model according to the present invention.
Fig. 2 is a schematic diagram of the target wobble of the racemization process.
Fig. 3 is a graph of simulated changes in target angular velocity.
Detailed Description
The space debris racemization control method is characterized in that space debris is captured based on a rope system, the rope system is a combination body composed of a parent star, the space debris and a tether connected between the parent star and the space debris, the speed of a target and the parent star is monitored in the process of racemizing the target, namely the space debris, when the speed of the target is greater than the speed of the parent star, the position of the parent star is adjusted through a propeller, and the collision of the target and the parent star is prevented; when the speed of the target is less than or equal to that of the parent star, the target and the parent star cannot collide, and the position of the parent star does not need to be adjusted. Meanwhile, the speed components of the speed in the directions of x, y and z are monitored, and the speed components can be adjusted according to the speed change condition of the components in the independent directions, so that all propellers are not required to be opened each time, and the main star fuel is further saved.
The invention will now be described in detail by way of example with reference to the accompanying drawings.
As shown in fig. 1, which is a schematic diagram of the assembled model of the present invention, the tether system is an assembly of a parent star, a space debris, and a tether connected between the parent star and the space debris.
In the racemization process of the target, namely the space debris, the speed of the target and the speed of the mother star are monitored, and when the speed of the target is greater than the speed of the mother star, the position of the mother star is adjusted through the propeller so as to prevent the target from colliding with the mother star;
the speed of the target and the speed of the parent star both comprise speed components in the directions of x, y and z, and when the component speed of the target in only one direction is greater than the component speed of the parent star in the corresponding direction, only the propeller in the direction corresponding to the speed component is turned on to adjust the position of the parent star.
The method comprises the steps of monitoring the speed of a target and a parent star, adjusting the position of the parent star, firstly, building a dynamic model, controlling the attitude of the parent star, adjusting the position of the parent star, and ensuring that the target cannot collide with the parent star, and specifically comprises the following steps:
step one, building a combined body dynamic model which comprises a tether dynamics model, a parent star dynamics model and a target dynamics model.
The tether dynamics model is expressed as:
where m is the mass of the tether in focus, r is the position vector of the tether,a second derivative of tether position vector r with respect to time; n is the number of nodes connected with the P point; t (T) j G is the space microgravity vector of the P point, F k The other external force applied to the point P is the number of external forces applied to the point P, and the point P is the connection point of the main rope and the sub rope in the tether, as shown in fig. 1.
Since the rope unit can only bear tensile force and not compressive force, the rope mechanical model is that
Wherein, I 0 L is the original length and the current length of the tether respectively; k is the tensile rigidity of the tether, c is the tensile damping coefficient of the tether, r j Is the distance between the point P and each connection point,then it is a unit direction vector pointing from point P to each connection point.
The main star, namely the mother star and the target are regarded as rigid bodies, and as the main star can realize the control of the pose of the main star under the action of the momentum wheel and the propeller, the mother star dynamics model is expressed as follows:
m S a S ＝F S +F thru , (3)
wherein m is S The mass of the main star, a S Acceleration of the main star F S Is the tether tension applied by the main star, F thru For propulsion, J S Inertia matrix omega as main star S As the principal star rotational angular velocity, τ S For the moment generated by the pulling force and the torsion of the tether to the main star, tau c For the control moment generated by the main star momentum wheel,is the principal star rotational angular velocity omega S The first derivative with respect to time.
The dynamics equation of the target has a similar form to the principal star, and the target dynamics model is expressed as:
m T a T ＝F T , (4)
wherein m is T For the target mass, a T For acceleration of the object, F T Tether tension applied to the target, J T For the inertia matrix of the target in the body coordinate system, omega T For the target rotational angular velocity τ T For the moment generated by the sub-rope tension on the target,for the target rotation angular velocity omega T The first derivative with respect to time.
Wherein,
and step two, according to the dynamic model of the parent star, solving the momentum wheel output control moment of the parent star by using a PD control algorithm, and controlling the attitude of the parent star.
In order to make the solar sailboard and the antenna pointing of the parent star not affected by the target capturing process, the attitude of the parent star should be controlled to be consistent before and after capturing the target. The female star posture adopts Euler angle phi S ＝[α,β,γ] T Describing that Euler angles corresponding to the z-x-z rotation modes are alpha, beta and gamma respectively, and the relationship between Euler angle change rate and angular velocity is that
Wherein omega is x ,ω y ,ω z Is the component of the parent star angular velocity around the coordinate axis in the body coordinate system.
Let the initial value of the Euler angle of the satellite be phi S0 ＝[90°,90°,90°] T The satellite attitude and the angular velocity have small variation range, the corresponding relation between the Euler angle variation rate and the angular velocity is obtained by linearizing the above formula,
the parent star attitude dynamics equation in the formula (3) is expanded and written into the component form,
substituting equation (7) into equation (8) and ignoring the quadratic term can obtain the simplified gesture dynamics control equation,
by adopting the traditional PD control algorithm, the momentum wheel output control moment can be obtained as follows:
wherein alpha is Sd ,β Sd ,γ Sd Representing the desired parent star euler angle,represents the first derivative of the Euler angle of the parent star with respect to time,/and->Representing the first derivative of the expected parent Euler angle with respect to time, < >>Representing the second derivative of the expected parent Euler angle with respect to time, parameter k p > 0 represents the proportional control gain, k d > 0 represents differential control gain, τ cx ,τ cy ,τ cz Representing components of momentum wheel control moment in three directions of x, y and z, J Sx ,J Sy ,J Sz Representing the components of the principal moment of inertia matrix in the x, y and z directions, τ Sx ,τ Sy ,τ Sz The components of the moment generated for the tether to the main star in the x, y and z directions.
Step three, controlling the position of the parent star through the propeller according to the monitored speed condition, wherein the thrust F of the propeller is determined according to the speed difference DeltaV between the target and the parent star and the expected time Deltat for adjusting the speed difference thru Is of a size of (a) and (b).
It is assumed that after successful capture of the target, the relative velocity of the primary and target along the tether direction is zero. And the target will tend to pull the tether during rotation to create tension in the tether. The pulling force will cause a decrease in acceleration of the main star in the direction of the tether and an increase in acceleration of the target in the direction of the tether, such that the velocity of the target in the direction of the tether tends to be greater than the main star. The primary star in this configuration must be acted upon by the controller to prevent the target from colliding with the primary star.
The following control conditions and control laws are designed:
control conditions: v T ＞v S I.e. the speed of the target is greater than that of the parent star
Control law:
ΔV＝[v Tx -v Sx ,v Ty -v Sy ,v Tz -v Sz ]
the speed difference of the target and parent is expressed as: deltaV= [ V Tx -v Sx ,v Ty -v Sy ,v Tz -v Sz ]Wherein v is Tx ，v Ty ，v Tz Representing the velocity components of the target velocity in the x, y and z directions, v Sx ,v Sy ,v Sz The velocity components of the parent star velocity in the x, y and z directions are respectively represented;
thrust of the propeller:
wherein m is S Is the mass of the parent star.
In one embodiment, as shown in fig. 1, the target is considered to be a symmetrical cube, the tensile force applied is symmetrical, and 4 sub-ropes of the tether are symmetrically connected to the target, so that the tensile force applied by the target from the tether can be automatically counteracted in the z direction, and only a small amount of fine adjustment is needed in the y direction due to the reciprocating swing of the target. Therefore, when only the velocity component of the target and the parent star in the tether direction, that is, the x-axis direction is considered, Δv= [ V Tx -v Sx ,0,0]At this time, the propeller at the position corresponding to the x-axis direction is only required to be turned on.
At this time, the control condition is v Tx ＞v Sx ，
The control law is as follows:
ΔV＝[v Tx -v Sx ,0,0],
in this configuration the tether is in a relaxed state and the target angular velocity is not zero, the racemization process has not yet been completed. This control law derives the required propeller thrust by calculating the velocity difference between the parent and the target, and expecting the parent to reach the target's linear velocity along the x-axis in Δt time. Under this pushing force the tether will be pulled taut and able to exert a racemisation moment on the target, thereby racemising the target.
As shown in fig. 2, the swing state of the racemization process target is where the small cubes represent the target and the large cubes represent the parent stars with tethers therebetween. Fig. 2 (a) shows an initial state, in which the target is not oscillated and the tether is in a tensioned state. FIG. 2 (b) shows the target swinging clockwise, the tether slackening, where the target speed is greater than the parent star speed, and the pusher needs to be triggered to straighten the tether with a certain pushing force, and the straightened tether generates a pulling force, and the target will drop its rotation speed to zero and rotate counter-clockwise under the action of the pulling force. Fig. 2 (c) shows that the target is racemized when the parent star rotates anticlockwise, when the rotation speed of the target rotates anticlockwise after the racemization treatment in the last step, and the target speed exceeds the parent star speed again, the propeller triggers according to the control rate and generates corresponding propelling force to perform secondary racemization treatment on the target, and the process is repeated until the rotation speed of the target is reduced to a certain range and the speed difference between the target and the parent star is reduced to 0 or a state close to 0, so that the system is restored to be stable.
The target uniaxial rotation despin was simulated according to the simulation parameters of table 1.
Table 1 simulation parameters
The initial angular velocity of the target is 0.3rad/s around the z axis, a target angular velocity change process diagram shown in fig. 3 is obtained through racemization simulation, wherein the angular velocity in the x and y directions is not changed, two lines are overlapped to be 0, each time the angular velocity in the z direction passes through a straight line x=0, the propeller is triggered and the target angular velocity direction is switched, as can be seen from fig. 3, four racemization actions are performed within 150 seconds, and each time the target undergoes one racemization action, the angular velocity of the target is reduced by a little point until the angular velocity is reduced to be near 0, and the system is restored to a stable state. Therefore, the system can reduce the target from 0.3rad/s to the vicinity of 0 only by 4 triggering actions of the propeller, and the fuel is greatly saved.
The invention relates to a space debris racemization control method, which is based on a combination body consisting of a parent star, space debris and a tether connected between the parent star and the space debris, namely a tether system. As shown in fig. 1, the tether system further comprises a tether ejection device and a spring damping unit; the tether catapulting device is arranged on the main star, the tether and the spring damping unit are stored in the tether catapulting device, and when space fragments need to be captured, the tether catapulting device is triggered, and the tether and the spring damping unit are popped out together.
The tether comprises a main rope and a sub rope, the main rope is connected with the main star, and the sub rope is connected with the space debris; the spring damping units are arranged on the main ropes and the sub ropes.
The number of the sub ropes is n, and the n sub ropes are connected with the main rope at the same point P; wherein n is a positive integer of 2 or more; as shown in fig. 1, the number of the sub-ropes is 4, the number of the sub-ropes is related to the shape of the space debris, and the space debris should be ensured to be evenly and symmetrically pulled by the sub-ropes as much as possible.
A plurality of spring damping units are arranged on the main rope, and each sub rope is provided with a spring damping unit. In a specific implementation, a plurality of spring damping units may be provided on the sub-string if desired. As shown in fig. 1, the main rope is provided with 3 spring damping units, and in the implementation process, any integer number can be set.
The above specific embodiments merely describe the design principle of the present invention, and the shapes of the components in the description may be different, and the names are not limited. Therefore, the technical scheme described in the foregoing embodiments can be modified or replaced equivalently by those skilled in the art; such modifications and substitutions do not depart from the spirit and technical scope of the invention, and all of them should be considered to fall within the scope of the invention.

Claims (5)

1. A space debris racemization control method is characterized by being used for capturing space debris by a rope system, wherein the rope system is an assembly consisting of a parent star, space debris and a tether connected between the parent star and the space debris; in the racemization process of the target, namely the space debris, the speed of the target and the speed of the mother star are monitored, and when the speed of the target is greater than the speed of the mother star, the position of the mother star is adjusted through the propeller so as to prevent the target from colliding with the mother star; when the speed of the target is smaller than or equal to that of the parent star, the target and the parent star cannot collide, and the position of the parent star does not need to be adjusted;
the speed of the target and the speed of the parent star both comprise speed components in the directions of x, y and z, when the component speed of the target in only one direction is greater than the component speed of the parent star in the corresponding direction, only the propeller in the direction corresponding to the speed component is turned on, and the position of the parent star is adjusted;
the method for adjusting the position of the parent star by monitoring the speed of the target and the parent star comprises the following steps:
step one, establishing a combined body dynamic model which comprises a tether dynamics model, a parent star dynamics model and a target dynamics model;
step two, according to a parent star dynamics model, solving a momentum wheel output control moment of the parent star by using a PD control algorithm, and controlling the attitude of the parent star;
step three, controlling the position of the parent star through the propeller according to the monitored speed condition, wherein the thrust F of the propeller is determined according to the speed difference DeltaV between the target and the parent star and the expected time Deltat for adjusting the speed difference thru Is of a size of (2);
the tether dynamics model is expressed as:
where m is the mass of the tether in focus, r is the position vector of the tether,a second derivative of tether position vector r with respect to time; n is the number of nodes connected with the P point; t (T) j G is the space microgravity vector of the P point, F k The P points are the number of other external forces applied to the P points, and the P points are the connection points of the main ropes and the sub ropes in the tether;
the parent star dynamics model is expressed as:
m S a S ＝F S +F thru ,
wherein m is S The mass of the main star, a S Acceleration of the main star F S Is the tether tension applied by the main star, F thru For propulsion, J S Is the inertia of the main starQuantity matrix omega S As the principal star rotational angular velocity, τ S For the moment generated by the pulling force and the torsion of the tether to the main star, tau c For the control moment generated by the main star momentum wheel,is the principal star rotational angular velocity omega S First derivative with respect to time;
the target dynamics model is expressed as:
m T a T ＝F T ,
wherein m is T For the target mass, a T For acceleration of the object, F T Tether tension applied to the target, J T For the inertia matrix of the target in the body coordinate system, omega T For the target rotational angular velocity τ T For the moment generated by the sub-rope tension on the target,for the target rotation angular velocity omega T First derivative with respect to time;
euler angle phi for female star gesture S ＝[α,β,γ] T The Euler angles corresponding to the rotation mode of z-x-z are alpha, beta and gamma respectively;
the momentum wheel output control moment is expressed as:
wherein alpha is Sd ,β Sd ,γ Sd Representing the desired parent star euler angle,representing the first derivative of the parent star euler angle with respect to time,representing the first derivative of the expected parent Euler angle with respect to time, < >>Representing the second derivative of the expected parent Euler angle with respect to time, parameter k p >0 represents the proportional control gain, k d >0 represents differential control gain, τ cx ,τ cy ,τ cz Representing components of momentum wheel control moment in three directions of x, y and z, J Sx ,J Sy ,J Sz Representing the components of the principal moment of inertia matrix in the x, y and z directions, τ Sx ,τ Sy ,τ Sz The components of the moment generated for the tether to the main star in the x, y and z directions.
2. The control method according to claim 1, wherein the thrust force F of the propeller is determined based on the speed difference DeltaV between the target and the parent satellite and the time Deltat for which the speed difference is adjusted thru Specifically, the size of (3) is:
the speed difference between the target and the parent star is expressed as: deltaV= [ V Tx -v Sx ,v Ty -v Sy ,v Tz -v Sz ]Wherein v is Tx ，v Ty ，v Tz Representing the velocity components of the target velocity in the x, y and z directions, v Sx ,v Sy ,v Sz The velocity components of the parent star velocity in the x, y and z directions are respectively represented;
thrust of the propeller:
wherein m is S Is the mass of the parent star.
3. A control method according to claim 2, wherein Δv= [ V ] when only the velocity component of the target and the parent star in the tether direction, i.e., the x-axis direction, is considered Tx -v Sx ,0,0]At this time, the propeller at the position corresponding to the x-axis direction is only required to be turned on.
4. The control method of claim 1, wherein the tether system further comprises a tether ejection device and a spring dampening unit; the tether ejection device is arranged on the main star; the tether and the spring damping unit are stored in the tether ejection device, and when the space debris needs to be captured, the tether ejection device is triggered, and the tether and the spring damping unit are ejected together;
the tether comprises a main rope and a sub rope; the main ropes are connected with the main star, and the sub ropes are connected with the space debris;
the spring damping unit is arranged on the main rope and the sub rope.
5. The control method according to claim 4, wherein the number of the sub-ropes is n, and n sub-ropes are connected with the main rope at the same point P; wherein n is a positive integer of 2 or more; the main rope is provided with a plurality of spring damping units, and each sub rope is provided with a spring damping unit.
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