CN113867375A - Space environment torque-based passive stable transposition method for spacecraft in deformation process - Google Patents
Space environment torque-based passive stable transposition method for spacecraft in deformation process Download PDFInfo
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Abstract
The invention relates to a passive stable transposition method for a spacecraft morphing process based on space environment moment, belonging to the field of on-orbit assembly and construction of large near-earth orbit spacecrafts; step one, calculating the gravity gradient moment T suffered by the spacecraft during the in-orbit operationg(ii) a Step two, calculating the atmospheric resistance F before the transposition of the spacecraftdAnd the atmospheric moment of resistance Md(ii) a Step three, calculating the pressure center position of the spacecraft after transposition; adjusting the rotation angle of the solar wing to realize that the center of mass of the spacecraft is pressed in front and behind after transposition; setting the transposition direction as the opposite direction of the flight direction of the spacecraft, wherein the atmospheric resistance moment becomes a passive stabilizing moment in the yaw direction, and the three-axis passive stabilization in the transposition process of the spacecraft is realized by matching with the gravity gradient moment to complete the transposition of the spacecraft; the invention realizes the passive stability control of the pitching and yawing shafts, further realizes the passive stability control of the rolling shaft by analyzing and designing the atmospheric resistance distance of the system, and finally forms the three-shaft passive stability control in the transposition process of the complex aerospace structure.
Description
Technical Field
The invention belongs to the field of on-orbit assembly and construction of large near-earth orbit spacecrafts, and relates to a passive stable transposition method for a spacecraft deformation process based on space environment moment.
Background
The spacecraft can be influenced by various environmental moments during the in-orbit operation, such as large-force resistance moment, sunlight pressure moment, gravity gradient moment, geomagnetic moment and the like, and for the spacecrafts with different orbit heights, the main environmental moments are also different in source, for example, the main environmental moment sources of the near-earth orbit spacecraft are atmospheric resistance moment, gravity gradient moment and geomagnetic moment; the main environmental moment sources of the geosynchronous orbit spacecraft are sunlight pressure moment, gravity gradient moment and geomagnetic moment. Although the magnitude of the environmental moment is small, the orbit and the attitude of the spacecraft can deviate due to long-term action on the spacecraft, the deviation caused by the environmental moment is eliminated by applying control on the spacecraft, and the control mode becomes active stable attitude control. On the contrary, if the environment disturbance torque characteristic is fully utilized, the spacecraft attitude stabilization is realized under the condition of not applying any external control torque, and the spacecraft attitude stabilization is called as passive stable attitude control.
Large-scale spacecrafts such as large-scale manned space stations, space solar power stations and the like can not enter the orbit through one-time launching, and need to be launched for many times, and the on-orbit assembly is completed. For example, a space station which is being developed in China is formed by assembling a plurality of cabin sections such as a core cabin, an experimental cabin, a manned spacecraft and a cargo spacecraft on a rail. The node cabin at the front end of the core cabin is provided with a plurality of butt-joint interfaces for butt-joint residence of all cabin sections. Because direct radial butt joint is difficult to realize, axial butt joint needs to be carried out firstly, and then a butt joint cabin section is transferred to a radial butt joint port by using a transposition mechanism or a mechanical arm. Because each cabin section has huge mass, the system is a dumbbell-type variable structure system during the cabin section transposition, the bearing capacity of the system is very weak, and once the system is excited by the outside, the transposition mechanism or the mechanical arm is easily damaged, so that the transposition task fails. In order to avoid the situation that the attitude control system of the spacecraft generates additional excitation on the dumbbell type configuration changing structure during the transposition, the spacecraft usually adopts a stopping control measure during the transposition, and the system is changed into an L configuration from a linear transposition under the driving of the transposition mechanism during the stopping control. In order to ensure the safety of the system in the transposition process, the time of the transposition process is usually dozens of minutes to hours, and the spacecraft belongs to a typical variable structure and variable configuration system in the period, and mainly receives the combined action of gravity gradient moment and atmospheric resistance moment, and the size, direction and attitude change of the disturbance moment and the configuration change of the system form a strong coupling system. In the long-time stop control process, due to the action of environmental torque, the posture of the system will roll, so that the normal work of the system measurement and control, thermal control and other systems is influenced, and meanwhile, the difficulty is brought to posture recovery after transposition is completed.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a space environment torque-based spacecraft deformation process passive stability transposition method, realizes the passive stability control of pitching and yawing shafts, further realizes the passive stability control of rolling shafts through the analysis design of the atmospheric resistance distance of the system, and finally forms the three-shaft passive stability control in the complex aerospace structure transposition process.
The technical scheme of the invention is as follows:
a spacecraft deformatting process passive stabilization transposition method based on space environment moment comprises the following steps:
firstly, establishing an orbit coordinate system oxyz; establishing a spacecraft body coordinate system o1x1y1z 1; calculating the gravity gradient moment T suffered by the spacecraft during the on-orbit operationg；
Step (ii) ofSecondly, calculating the atmospheric resistance F before the transposition of the spacecraftdAnd the atmospheric moment of resistance Md；
Step three, calculating the pressure center position of the spacecraft after transposition;
adjusting the rotation angle of the solar wing to realize that the center of mass of the spacecraft is pressed in front and behind after transposition; the transposition direction is set to be the opposite direction of the flight direction of the spacecraft, the atmospheric resistance moment becomes a passive stabilizing moment in the yaw direction, the three-axis passive stabilization in the transposition process of the spacecraft is realized by matching with the gravity gradient moment, and the transposition of the spacecraft is completed.
In the above passive stabilization and transposition method for the space vehicle based on the space environment moment in the process of transforming the configuration, in the first step, the method for establishing the orbital coordinate system oxyz is as follows: the origin o is located at the center of mass of the spacecraft, and the z axis points to the geocentric along the radial direction in the orbital plane; the y axis is consistent with the direction of the negative normal of the plane of the track, and the x axis is determined by the right-hand rule;
the method for establishing the spacecraft body coordinate system o1x1y1z1 comprises the following steps:
origin o1 is located at the spacecraft centroid; the X1 axis points in the direction of the longitudinal axis of the star, the Y1 and Z1 axes point along the transverse axis of the star, and the X1, Y1 and Z1 axes meet the right hand rule.
In the passive stable transposition method for the space environment torque-based spacecraft morphing process, in the first step, the gravity gradient torque TgThe calculation method comprises the following steps:
in the formula, ω0Is the track angular velocity;
i is an inertia matrix of the spacecraft;
K0is a gravity vector
In the above space environment torque-based spacecraft morphing processA passive stable transposition method, in the second step, the atmospheric resistance F before the transposition of the spacecraftdAnd the atmospheric moment of resistance MdThe calculation method comprises the following steps:
s21, dispersing the surface of the spacecraft into n triangular units, wherein the coordinates of the end points of each triangular unit are known;
s22, converting the spacecraft body coordinate system into a coordinate system with the + Z axis pointing to the flight direction of the spacecraft through rotation transformation;
s23, judging the shielding relation of any 2 triangle units, and setting one triangle unit to be represented by a triangle 1 and the other triangle unit to be represented by a triangle 2; the centroid coordinate of triangle 1 is (x)c1,yc1,zc1) The coordinates of the three endpoints of the triangle 2 are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and the centroid coordinate of the triangle 2 is (x1, y1, z1), respectivelyc2,yc2,zc2) (ii) a Calculating a transformation value for the centroid of triangle 1
Wherein a is a transform coefficient, and 2A ═ (x1-x3) (y2-y3) - (y1-y3) (x2-x 3);
calculate the depth value zd for triangle 1 relative to triangle 2:
zd＝Cxc1+Dyc1+E
wherein C is a first coefficient,
d is a second coefficient of the first coefficient,
e is a third coefficient, and E is z1-Cx1-Dy1
When zd is larger than z, judging that the triangle 1 is shielded by the triangle 2;
s24, repeating S23 to traverse all the triangle units to obtain all visible triangle units seen from the + z direction, namely the triangle units on the windward side;
s25, calculating the atmospheric resistance F of the spacecraftd；
S26, calculating the atmospheric resistance moment Md。
In the above passive stable indexing method based on the space environment moment in the spacecraft morphing process, in S25, the atmospheric resistance FdThe calculation method comprises the following steps:
wherein ρ is the atmospheric density;
v is the track speed;
CDithe drag coefficient of the ith visible triangle;
Aiis the area of the ith visible triangle.
In the above passive stable indexing method for the spacecraft morphing process based on the space environment moment, in S26, the atmospheric resistance moment MdThe calculation method comprises the following steps:
Md＝Fd×Ld
in the formula, LdIs the position vector of the triangle from the centroid to the centroid.
In the above passive stable transposition method for the spacecraft based on the space environment moment in the morphing process, in the third step, the method for calculating the core pressing position of the spacecraft after transposition comprises:
s31, calculating the pressure center positions (X, Y, Z) of the triangle 1 and the triangle 2;
and S32, circulating all the windward triangular units to obtain the pressure center of the whole windward side of the spacecraft.
In the above passive stable indexing method for the spacecraft morphing process based on the space environment moment, in S31, the method for calculating the center-pressure position (X, Y, Z) is:
X＝(A1×xc1+A2×xc2)/(A1+A2)
Y＝(A1×yc1+A2×yc2)/(A1+A2)
Z＝(A1×zc1+A2×zc2)/(A1+A2)
in the formula, A1 is the windward area of triangle 1;
a2 is the frontal area of triangle 2.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention provides a passive stabilization and transposition method for a spacecraft in a morphing process based on gravity gradient torque and atmospheric resistance torque, which can realize passive stabilization of three-axis postures of a large spacecraft in an in-orbit transposition process;
(2) compared with the method adopting active attitude control in the transposition process, the method provided by the invention does not introduce control moment in the transposition process, and can greatly improve the safety of the transposition mechanism in the transposition process;
(3) compared with the conventional mode that the posture is greatly rolled during the stop and the transposition, the method realizes the passive stabilization of three axes in the transposition process by utilizing the gravity gradient moment and the atmospheric resistance moment, can ensure good measurement and control and thermal control conditions, and is convenient for posture control after the transposition is finished.
Drawings
Fig. 1 is a flow chart of the spacecraft stable transposition of the invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides a space environment moment-based passive stable transposition method for a spacecraft morphing process, which comprises the steps of firstly realizing passive stable control of a pitching shaft and a yawing shaft by analyzing and designing a gravity gradient moment of a system, further realizing passive stable control of a rolling shaft by analyzing and designing an atmospheric resistance distance of the system, then carrying out joint simulation verification of environment moment and attitude dynamics in a transposition process, optimizing the passive stable effect in the transposition process, and finally forming a three-shaft passive stable control scheme in the transposition process of a complex space structure.
A space environment torque-based spacecraft deformation process passive stabilization and transposition method is shown in figure 1 and specifically comprises the following steps:
firstly, establishing an orbit coordinate system oxyz; establishing a spacecraft body coordinate system o1x1y1z 1; the method for establishing the track coordinate system oxyz comprises the following steps: the origin o is located at the center of mass of the spacecraft, and the z axis points to the geocentric along the radial direction in the orbital plane; the y-axis is aligned with the negative normal direction of the orbital plane and the x-axis is determined by the right hand rule. The method for establishing the spacecraft body coordinate system o1x1y1z1 comprises the following steps: origin o1 is located at the spacecraft centroid; the X1 axis points in the direction of the longitudinal axis of the star, the Y1 and Z1 axes point along the transverse axis of the star, and the X1, Y1 and Z1 axes meet the right hand rule. Calculating the gravity gradient moment T suffered by the spacecraft during the on-orbit operationg(ii) a Gravity gradient moment TgThe calculation method comprises the following steps:
in the formula, ω0Is the track angular velocity;
i is an inertia matrix of the spacecraft;
K0is a gravity vector
most of the on-orbit assembled spacecraft assemblies belong to slender bodies, the rotational inertia in the rolling direction is far smaller than the rotational inertia in the pitching and yawing directions, the gravity gradient stable flight attitude of the spacecraft is that the slender shaft points to the geocentric direction, at the moment, the spacecraft presents the space pendulum characteristic in the flight process, and the gravity gradient moment becomes the attitude passive stable moment.
Step two, calculating the atmospheric resistance F before the transposition of the spacecraftdAnd the atmospheric moment of resistance Md(ii) a Atmospheric resistance F before spacecraft transpositiondAnd the atmospheric moment of resistance MdThe calculation method comprises the following steps:
s21, dispersing the surface of the spacecraft into n triangular units, wherein the coordinates of the end points of each triangular unit are known;
s22, converting the spacecraft body coordinate system into a coordinate system with the + Z axis pointing to the flight direction of the spacecraft through rotation transformation;
s23, judging the shielding relation of any 2 triangle units, and setting one triangle unit to be represented by a triangle 1 and the other triangle unit to be represented by a triangle 2; the centroid coordinate of triangle 1 is (x)c1,yc1,zc1) The coordinates of the three endpoints of the triangle 2 are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and the centroid coordinate of the triangle 2 is (x1, y1, z1), respectivelyc2,yc2,zc2) (ii) a Calculating a transformation value for the centroid of triangle 1
Wherein a is a transform coefficient, and 2A ═ (x1-x3) (y2-y3) - (y1-y3) (x2-x 3);
calculate the depth value zd for triangle 1 relative to triangle 2:
zd＝Cxc1+Dyc1+E
wherein C is a first coefficient,
d is a second coefficient of the first coefficient,
e is a third coefficient, and E is z1-Cx1-Dy1
When zd is larger than z, judging that the triangle 1 is shielded by the triangle 2;
s24, repeating S23 to traverse all the triangle units to obtain all visible triangle units seen from the + z direction, namely the triangle units on the windward side;
s25, calculating the atmospheric resistance F of the spacecraftd(ii) a Atmospheric resistance FdThe calculation method comprises the following steps:
wherein ρ is the atmospheric density;
v is the track speed;
CDithe drag coefficient of the ith visible triangle;
Aiis the area of the ith visible triangle.
S26, calculating the atmospheric resistance moment Md. Moment of atmospheric resistance MdThe calculation method comprises the following steps:
Md＝Fd×Ld
in the formula, LdIs the position vector of the triangle from the centroid to the centroid.
Step three, calculating the pressure center position of the spacecraft after transposition; the method for calculating the pressure center position of the spacecraft after transposition comprises the following steps:
s31, calculating the pressure center positions (X, Y, Z) of the triangle 1 and the triangle 2; the calculation method of the pressure center position (X, Y, Z) comprises the following steps:
X＝(A1×xc1+A2×xc2)/(A1+A2)
Y＝(A1×yc1+A2×yc2)/(A1+A2)
Z＝(A1×zc1+A2×zc2)/(A1+A2)
in the formula, A1 is the windward area of triangle 1;
a2 is the frontal area of triangle 2.
And S32, circulating all the windward triangular units to obtain the pressure center of the whole windward side of the spacecraft.
Adjusting the rotation angle of the solar wing to realize that the center of mass of the spacecraft is pressed in front and behind after transposition; the transposition direction is set to be the opposite direction of the flight direction of the spacecraft, the atmospheric resistance moment becomes a passive stabilizing moment in the yaw direction, the three-axis passive stabilization in the transposition process of the spacecraft is realized by matching with the gravity gradient moment, and the transposition of the spacecraft is completed.
Step five, carrying out combined simulation verification of environmental torque and attitude dynamics in the transposition process of the variable configuration spacecraft, determining the passive stability control effect, and having the flow as follows:
for each simulation moment, calculating the gravity gradient moment changing in real time in the transposition process by using the method in the second step;
for each simulation moment, calculating the atmospheric resistance moment changing in real time in the transposition process by using the method in the third step;
driving a multi-body dynamic model in the transposition process by using the sum of the environmental moments obtained by calculation;
and updating the environmental moment corresponding to the next simulation moment by utilizing the spacecraft configuration and the attitude output by the multi-body dynamic model in the transposition process.
And step six, optimizing the windward side setting state of the extravehicular equipment, and improving the passive stability effect of atmospheric resistance. The specific method comprises the following steps:
evaluating the passive stability effect in the simulation process of the fifth step;
if the passive stability does not meet the requirement, the solar wing angle is adjusted, and simulation evaluation is submitted again until the requirement is met;
resulting in a final passively stable indexing scheme.
The invention provides a design scheme for realizing passive and stable control of the attitude of a system in an on-orbit building process by utilizing environmental torque, aiming at the problems of long transposition time, weak bearing capacity, shutdown of an attitude control system, rolling of the attitude and the like in the on-orbit building process of a large spacecraft. The method has the characteristics of simple and reliable realization, no additional vibration of the system, no propellant consumption and capability of realizing the stabilization of the passive three-axis attitude.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (8)
1. A spacecraft deformation process passive stable transposition method based on space environment moment is characterized in that: the method comprises the following steps:
firstly, establishing an orbit coordinate system oxyz; establishing a spacecraft body coordinate system o1x1y1z 1; calculating the gravity gradient moment T suffered by the spacecraft during the on-orbit operationg；
Step two, calculating the atmospheric resistance F before the transposition of the spacecraftdAnd the atmospheric moment of resistance Md；
Step three, calculating the pressure center position of the spacecraft after transposition;
adjusting the rotation angle of the solar wing to realize that the center of mass of the spacecraft is pressed in front and behind after transposition; the transposition direction is set to be the opposite direction of the flight direction of the spacecraft, the atmospheric resistance moment becomes a passive stabilizing moment in the yaw direction, the three-axis passive stabilization in the transposition process of the spacecraft is realized by matching with the gravity gradient moment, and the transposition of the spacecraft is completed.
2. The space environment moment-based spacecraft morphing process passive stabilization and transposition method according to claim 1, wherein: in the first step, the method for establishing the orbital coordinate system oxyz comprises the following steps: the origin o is located at the center of mass of the spacecraft, and the z axis points to the geocentric along the radial direction in the orbital plane; the y axis is consistent with the direction of the negative normal of the plane of the track, and the x axis is determined by the right-hand rule;
the method for establishing the spacecraft body coordinate system o1x1y1z1 comprises the following steps:
origin o1 is located at the spacecraft centroid; the X1 axis points in the direction of the longitudinal axis of the star, the Y1 and Z1 axes point along the transverse axis of the star, and the X1, Y1 and Z1 axes meet the right hand rule.
3. The space environment moment-based spacecraft morphing process passive stabilization and transposition method according to claim 1, wherein: in the step one, gravity gradient torque TgThe calculation method comprises the following steps:
in the formula, ω0Is the track angular velocity;
i is an inertia matrix of the spacecraft;
K0is a gravity vector
4. The space environment moment-based spacecraft deformatting process passive stabilization and transposition method according to claim 3, characterized in that: in the second step, the atmospheric resistance F before the spacecraft transpositiondAnd the atmospheric moment of resistance MdThe calculation method comprises the following steps:
s21, dispersing the surface of the spacecraft into n triangular units, wherein the coordinates of the end points of each triangular unit are known;
s22, converting the spacecraft body coordinate system into a coordinate system with the + Z axis pointing to the flight direction of the spacecraft through rotation transformation;
s23, judging the shielding relation of any 2 triangle units, and setting one triangle unit to be represented by a triangle 1 and the other triangle unit to be represented by a triangle 2; the centroid coordinate of triangle 1 is (x)c1,yc1,zc1) The coordinates of the three endpoints of the triangle 2 are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and the centroid coordinate of the triangle 2 is (x1, y1, z1), respectivelyc2,yc2,zc2) (ii) a Calculating a transformation value for the centroid of triangle 1
Wherein a is a transform coefficient, and 2A ═ (x1-x3) (y2-y3) - (y1-y3) (x2-x 3);
calculate the depth value zd for triangle 1 relative to triangle 2:
zd＝Cxc1+Dyc1+E
wherein C is a first coefficient,
d is a second coefficient of the first coefficient,
e is a third coefficient, and E is z1-Cx1-Dy1
When zd is larger than z, judging that the triangle 1 is shielded by the triangle 2;
s24, repeating S23 to traverse all the triangle units to obtain all visible triangle units seen from the + z direction, namely the triangle units on the windward side;
s25, calculating the atmospheric resistance F of the spacecraftd；
S26, calculating the atmospheric resistance moment Md。
5. The space environment moment-based spacecraft deformatting process passive stabilization and transposition method according to claim 4, characterized in that: in the above S25, the atmospheric resistance FdThe calculation method comprises the following steps:
wherein ρ is the atmospheric density;
v is the track speed;
CDithe drag coefficient of the ith visible triangle;
Aiis the area of the ith visible triangle.
6. The space environment moment-based spacecraft deformatting process passive stabilization and transposition method according to claim 5, characterized in that: in the above S26, the atmospheric resistance moment MdThe calculation method comprises the following steps:
Md＝Fd×Ld
in the formula, LdIs the position vector of the triangle from the centroid to the centroid.
7. The space environment moment-based spacecraft deformatting process passive stabilization and transposition method according to claim 6, characterized in that: in the third step, the method for calculating the core pressing position of the spacecraft after transposition comprises the following steps:
s31, calculating the pressure center positions (X, Y, Z) of the triangle 1 and the triangle 2;
and S32, circulating all the windward triangular units to obtain the pressure center of the whole windward side of the spacecraft.
8. The space environment moment-based spacecraft morphing process passive stabilization and transposition method according to claim 7, wherein: in S31, the method for calculating the center of pressure position (X, Y, Z) includes:
X＝(A1×xc1+A2×xc2)/(A1+A2)
Y＝(A1×yc1+A2×yc2)/(A1+A2)
Z＝(A1×zc1+A2×zc2)/(A1+A2)
in the formula, A1 is the windward area of triangle 1;
a2 is the frontal area of triangle 2.
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