CN113867375B - Space environment moment-based passive stable indexing method for spacecraft configuration changing process - Google Patents
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Abstract
The invention relates to a passive stable indexing method based on space environment moment in the spacecraft configuration changing process, belonging to the field of on-orbit assembly and construction of a large spacecraft with a near-earth orbit; step one, calculating a gravity gradient moment T g born by the spacecraft during in-orbit operation; step two, calculating the atmospheric resistance F d and the atmospheric resistance moment M d before the spacecraft is indexed; step three, calculating the pressing center position of the spacecraft after transposition; step four, adjusting the rotation angle of the solar wing to realize that the center of mass of the spacecraft after indexing is behind the front pressing center; setting the transposition direction as the opposite direction of the flying direction of the spacecraft, wherein the atmospheric resistance moment becomes a passive stabilization moment in the yaw direction, and matching with the gravity gradient moment, the triaxial passive stabilization in the transposition process of the spacecraft is realized, and the transposition of the spacecraft is completed; the invention realizes passive stable control of pitching and yawing shafts, further realizes passive stable control of rolling shafts through analysis design of atmospheric resistance distance of a system, and finally forms triaxial passive stable control in the indexing process of the complex space structure.
Description
Technical Field
The invention belongs to the field of on-orbit assembly and construction of a large spacecraft with a near-earth orbit, and relates to a passive stable indexing method based on a space environment moment in a spacecraft configuration changing process.
Background
The spacecraft is influenced by various environmental moments during in-orbit operation, such as high-force resistance moment, solar pressure moment, gravity gradient moment, geomagnetic moment and the like, and the main environmental moment sources of the spacecraft with different orbit heights are different, 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 torque sources of the geosynchronous orbit spacecraft are solar pressure torque, gravity gradient torque and magnetotelluric torque. Although the magnitude of the environmental moment is tiny, long-term action on the spacecraft can cause the orbit and the attitude of the spacecraft to deviate, the deviation caused by the environmental moment must be eliminated by applying control to the spacecraft, and the control mode becomes active stable attitude control. Conversely, if the environmental disturbance torque characteristics are fully utilized, the attitude stabilization of the spacecraft is achieved without applying any external control torque, which is referred to as passive stabilized attitude control.
Large-sized spacecrafts such as large manned space stations and space solar power stations cannot enter the orbit through one-time emission, and the on-orbit assembly is completed through multiple times of emission. For example, the space station under development in China is formed by assembling a plurality of cabin sections of a core cabin, an experimental cabin, a manned spacecraft, a freight spacecraft and the like on orbit. The node cabin at the front end of the core cabin is provided with a plurality of butt joints for each cabin section to butt and reside. Because direct radial docking is difficult to achieve, axial docking is required first, and then the docking pod is transferred to the radial docking interface by an indexing mechanism or a mechanical arm. Because each cabin section has huge mass, the system is a dumbbell type structure system during cabin section transposition, the carrying capacity of the system is very fragile, and once the system is subjected to external excitation, the transposition mechanism or the mechanical arm is extremely easy to damage, so that the transposition task is failed. To avoid additional excitation of the dumbbell-shaped configuration-changing structure by the spacecraft attitude control system during indexing, the spacecraft usually takes a stopping measure during indexing, and during stopping, the system is indexed from a straight shape to an L configuration under the drive of an indexing mechanism. In order to ensure the safety of the system in the indexing process, the duration of the indexing process is usually tens of minutes to several hours, during which the spacecraft belongs to a typical variable structure and variable configuration system, and is mainly subjected to the combined action of gravity gradient moment and atmospheric resistance moment, and the size and direction of the disturbance moment, the change of the posture and the change of the system configuration form a strong coupling system. In the long-time stopping control process, the system posture can roll due to the action of the environmental moment, so that the normal operation of the system measurement and control, heat control and the like is influenced, and meanwhile, difficulty is brought to posture recovery after the transposition is finished.
Disclosure of Invention
The invention solves the technical problems that: the method overcomes the defects of the prior art, proposes a spacecraft configuration-changing process passive stable indexing method based on space environment moment, realizes passive stable control of pitching and yawing shafts, further realizes passive stable control of rolling shafts through analysis design of the atmospheric resistance distance of a system, and finally forms three-axis passive stable control of the indexing process of the complex space structure.
The solution of the invention is as follows:
the passive stable indexing method for the spacecraft configuration changing process based on the space environment moment comprises the following steps:
Step one, establishing an orbit coordinate system oxyz; establishing a spacecraft body coordinate system o1x1y1z1; calculating a gravity gradient moment T g born by the spacecraft during in-orbit operation;
Step two, calculating the atmospheric resistance F d and the atmospheric resistance moment M d before the spacecraft is indexed;
Step three, calculating the pressing center position of the spacecraft after transposition;
Step four, adjusting the rotation angle of the solar wing to realize that the center of mass of the spacecraft after indexing is behind the front pressing center; the indexing direction is set to be the opposite direction of the flying direction of the spacecraft, at the moment, the atmospheric resistance moment becomes the passive stabilization moment of the yaw direction, and the three-axis passive stabilization of the spacecraft indexing process is realized by matching with the gravity gradient moment, so that the indexing of the spacecraft is completed.
In the above method for passive stable indexing in the spacecraft transformation process based on the space environment moment, in the first step, the method for establishing the orbital coordinate system oxyz comprises the following steps: the origin o is positioned at the mass center of the spacecraft, and the z-axis is directed to the earth center along the radial direction in the orbit plane; the y axis is consistent with the negative normal direction of the track plane, and the x axis is determined by a right hand rule;
The method for establishing the spacecraft body coordinate system o1x1y1z1 comprises the following steps:
The origin o1 is located at the center of mass of the spacecraft; the X1 axis points to the direction of the star longitudinal axis, the Y1 and Z1 axes point along the star transverse axis, and the X1, Y1 and Z1 axes meet the right hand rule.
In the above method for passive stable indexing in the spacecraft transformation process based on space environment moment, in the first step, the method for calculating the gravity gradient moment T g is as follows:
Wherein ω 0 is the track angular velocity;
i is an inertial matrix of the spacecraft;
K 0 is the gravity vector
Is an antisymmetric matrix of K 0.
In the above passive stable indexing method based on space environment moment in the spacecraft configuration changing process, in the second step, the calculation method of the atmospheric resistance F d and the atmospheric resistance moment M d before indexing the spacecraft is as follows:
s21, dispersing the surface of the spacecraft into n triangular units, wherein the endpoint coordinates of each triangular unit are known;
s22, converting a spacecraft body coordinate system into a coordinate system with a +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 triangle 1 and the other triangle unit to be represented by triangle 2; the centroid coordinate of triangle 1 is (x c1,yc1,zc1), the coordinates of three endpoints of triangle 2 are (x 1, y1, z 1), (x 2, y2, z 2), (x 3, y3, z 3), and the centroid coordinate of triangle 2 is (x c2,yc2,zc2); calculating transformation value of triangle 1 centroid
Wherein a is a transform coefficient, and 2a= (x 1-x 3) (y 2-y 3) - (y 1-y 3) (x 2-x 3);
Calculate the depth value zd of triangle 1 relative to triangle 2:
zd＝Cxc1+Dyc1+E
Wherein C is a first coefficient,
D is a second coefficient of the coefficient,
E is a third coefficient, E=z1-Cx1-Dy 1
When zd is larger than z, judging that the triangle 1 is blocked by the triangle 2;
S24, repeatedly traversing all triangle units in S23 to obtain all visible triangle units seen from the +z direction, namely, a windward triangle unit;
s25, calculating the atmospheric resistance F d of the spacecraft;
S26, calculating the atmospheric resistance moment M d.
In the foregoing passive stable indexing method in the spacecraft configuration changing process based on the space environment moment, in S25, the calculation method of the atmospheric resistance F d is as follows:
Wherein ρ is the atmospheric density;
V is the track speed;
C Di is the resistance coefficient of the ith visible triangle;
a i is the area of the ith visible triangle.
In the foregoing passive stable indexing method in the spacecraft configuration changing process based on the space environment moment, in S26, the calculation method of the atmospheric resistance moment M d is as follows:
Md＝Fd×Ld
where L d is the triangle centroid to centroid position vector.
In the above passive stable indexing method based on space environment moment in the spacecraft configuration changing process, in the third step, the calculation method of the pressing center position of the spacecraft after indexing is as follows:
S31, calculating the pressing center positions (X, Y, Z) of the triangle 1 and the triangle 2;
s32, circulating all the triangular units on the windward side to obtain the pressing center of the whole windward side of the spacecraft.
In the foregoing passive stable indexing method in the spacecraft configuration changing process based on the space environment moment, in S31, the calculating method of the pressing center position (X, Y, Z) is as follows:
X＝(A1×xc1+A2×xc2)/(A1+A2)
Y＝(A1×yc1+A2×yc2)/(A1+A2)
Z＝(A1×zc1+A2×zc2)/(A1+A2)
Wherein A1 is the windward area of the 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 stable indexing method based on gravity gradient moment and atmospheric resistance moment in the spacecraft configuration changing process, which can realize the passive stable three-axis attitude of a large spacecraft in-orbit indexing process;
(2) Compared with the method adopting active attitude control in the indexing process, the method provided by the invention does not introduce control moment in the indexing process, and can greatly improve the safety of an indexing mechanism in the indexing process;
(3) Compared with the conventional attitude control during the stop and control transposition, the three-axis passive stabilization of the transposition process is realized by utilizing the gravity gradient moment and the atmospheric resistance moment, good measurement and control and thermal control conditions can be ensured, and the attitude control after the transposition is finished is facilitated.
Drawings
FIG. 1 is a flow chart of a stable indexing of a spacecraft of the invention.
Detailed Description
The invention is further illustrated below with reference to examples.
The invention provides a spacecraft configuration-changing process passive stable indexing method based on space environment moment, which comprises the steps of firstly realizing passive stable control of pitching and yawing shafts through analysis and design of gravity gradient moment of a system, further realizing passive stable control of rolling shafts through analysis and design of atmospheric resistance distance of the system, then carrying out joint simulation verification of environment moment and attitude dynamics in the indexing process, optimizing the passive stable effect in the indexing process, and finally forming a triaxial passive stable control scheme in the indexing process of a complex space structure.
The passive stable indexing method for the spacecraft configuration changing process based on the space environment moment, as shown in fig. 1, specifically comprises the following steps:
Step one, establishing an orbit coordinate system oxyz; establishing a spacecraft body coordinate system o1x1y1z1; the method for establishing the orbital coordinate system oxyz comprises the following steps: the origin o is positioned at the mass center of the spacecraft, and the z-axis is directed to the earth center along the radial direction in the orbit plane; the y-axis coincides with the track plane negative normal direction 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: the origin o1 is located at the center of mass of the spacecraft; the X1 axis points to the direction of the star longitudinal axis, the Y1 and Z1 axes point along the star transverse axis, and the X1, Y1 and Z1 axes meet the right hand rule. Calculating a gravity gradient moment T g born by the spacecraft during in-orbit operation; the calculation method of the gravity gradient moment T g comprises the following steps:
Wherein ω 0 is the track angular velocity;
i is an inertial matrix of the spacecraft;
K 0 is the gravity vector
Is an antisymmetric matrix of K 0. Suppose that the spacecraft body coordinate system rotates epsilon from the orbit coordinate system in order of 3-1-2,Θ, then K 0 can be written as:
Most of the on-orbit assembled spacecraft assemblies belong to slender bodies, the moment of inertia in the rolling direction is far smaller than the moment of inertia in the pitching and yawing directions, the gravity gradient stable flying attitude of the spacecraft is that the slender shaft points to the geocentric direction, at the moment, the spacecraft presents space pendulum characteristics in the flying process, and the gravity gradient moment becomes the attitude passive stable moment.
Step two, calculating the atmospheric resistance F d and the atmospheric resistance moment M d before the spacecraft is indexed; the calculation method of the atmospheric resistance F d and the atmospheric resistance moment M d before the spacecraft indexing comprises the following steps:
s21, dispersing the surface of the spacecraft into n triangular units, wherein the endpoint coordinates of each triangular unit are known;
s22, converting a spacecraft body coordinate system into a coordinate system with a +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 triangle 1 and the other triangle unit to be represented by triangle 2; the centroid coordinate of triangle 1 is (x c1,yc1,zc1), the coordinates of three endpoints of triangle 2 are (x 1, y1, z 1), (x 2, y2, z 2), (x 3, y3, z 3), and the centroid coordinate of triangle 2 is (x c2,yc2,zc2); calculating transformation value of triangle 1 centroid
Wherein a is a transform coefficient, and 2a= (x 1-x 3) (y 2-y 3) - (y 1-y 3) (x 2-x 3);
Calculate the depth value zd of triangle 1 relative to triangle 2:
zd＝Cxc1+Dyc1+E
Wherein C is a first coefficient,
D is a second coefficient of the coefficient,
E is a third coefficient, E=z1-Cx1-Dy 1
When zd is larger than z, judging that the triangle 1 is blocked by the triangle 2;
S24, repeatedly traversing all triangle units in S23 to obtain all visible triangle units seen from the +z direction, namely, a windward triangle unit;
S25, calculating the atmospheric resistance F d of the spacecraft; the calculation method of the atmospheric resistance F d comprises the following steps:
Wherein ρ is the atmospheric density;
V is the track speed;
C Di is the resistance coefficient of the ith visible triangle;
a i is the area of the ith visible triangle.
S26, calculating the atmospheric resistance moment M d. The calculation method of the atmospheric resistance moment M d comprises the following steps:
Md＝Fd×Ld
where L d is the triangle centroid to centroid position vector.
Step three, calculating the pressing center position of the spacecraft after transposition; the calculation method of the pressing center position of the spacecraft after transposition comprises the following steps:
s31, calculating the pressing center positions (X, Y, Z) of the triangle 1 and the triangle 2; the calculation method of the pressing core 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)
Wherein A1 is the windward area of the triangle 1;
A2 is the frontal area of triangle 2.
S32, circulating all the triangular units on the windward side to obtain the pressing center of the whole windward side of the spacecraft.
Step four, adjusting the rotation angle of the solar wing to realize that the center of mass of the spacecraft after indexing is behind the front pressing center; the indexing direction is set to be the opposite direction of the flying direction of the spacecraft, at the moment, the atmospheric resistance moment becomes the passive stabilization moment of the yaw direction, and the three-axis passive stabilization of the spacecraft indexing process is realized by matching with the gravity gradient moment, so that the indexing of the spacecraft is completed.
Step five, developing environment moment and attitude dynamics joint simulation verification in the indexing process of the variable-configuration spacecraft to determine a passive stable control effect, wherein the method comprises the following steps:
calculating the gravity gradient moment of the real-time change of the indexing process by using the method of the second step for each simulation moment;
Calculating the atmosphere resistance moment of real-time change of the indexing process by using the method of the third step for each simulation moment;
Driving the indexing process multi-body dynamics model by using the calculated sum of the environmental moments;
and updating the environment moment corresponding to the next simulation moment by using the spacecraft configuration and the attitude output by the multi-body dynamics model in the transposition process.
And step six, optimizing the setting state of the windward side outside the cabin, and improving the passive stabilizing effect of the atmospheric resistance. The specific method comprises the following steps:
Evaluating the passive stabilization effect in the simulation process of the step five;
If the passive stability does not meet the requirement, adjusting the angle of the solar wing, and submitting the simulation evaluation again until the requirement is met;
resulting in a final passive stable indexing scheme.
Aiming at the problems of long transposition time, weak bearing capacity, stop control of a gesture control system, rolling of gestures and the like in the on-orbit construction process of a large spacecraft, the invention provides a design scheme for realizing passive stable control of the system gestures in the transposition process by utilizing environmental torque. The method has the characteristics of simple and reliable realization, no extra vibration of the system, no consumption of propellant, and stable triaxial passive attitude.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (5)
1. The passive stable indexing method for the spacecraft configuration changing process based on the space environment moment is characterized by comprising the following steps of: the method comprises the following steps:
Step one, establishing an orbit coordinate system oxyz; establishing a spacecraft body coordinate system o1x1y1z1; calculating a gravity gradient moment T g born by the spacecraft during in-orbit operation;
Step two, calculating the atmospheric resistance F d and the atmospheric resistance moment M d before the spacecraft is indexed;
In the second step, the calculation method of the atmospheric resistance F d and the atmospheric resistance moment M d before the transposition of the spacecraft comprises the following steps:
s21, dispersing the surface of the spacecraft into n triangular units, wherein the endpoint coordinates of each triangular unit are known;
s22, converting a spacecraft body coordinate system into a coordinate system with a +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 triangle 1 and the other triangle unit to be represented by triangle 2; the centroid coordinate of triangle 1 is (x c1,yc1,zc1), the coordinates of three endpoints of triangle 2 are (x 1, y1, z 1), (x 2, y2, z 2), (x 3, y3, z 3), and the centroid coordinate of triangle 2 is (x c2,yc2,zc2); calculating transformation value of triangle 1 centroid
Wherein a is a transform coefficient, and 2a= (x 1-x 3) (y 2-y 3) - (y 1-y 3) (x 2-x 3);
Calculate the depth value zd of triangle 1 relative to triangle 2:
zd＝Cxc1+Dyc1+E
Wherein C is a first coefficient,
D is a second coefficient of the coefficient,
E is a third coefficient, E=z1-Cx1-Dy 1
When zd is larger than z c1, judging that the triangle 1 is blocked by the triangle 2;
S24, repeatedly traversing all triangle units in S23 to obtain all visible triangle units seen from the +z direction, namely, a windward triangle unit;
s25, calculating the atmospheric resistance F d of the spacecraft;
In the step S25, the calculation method of the atmospheric resistance F d is as follows:
Wherein ρ is the atmospheric density;
V is the track speed;
C Di is the resistance coefficient of the ith visible triangle;
a i is the area of the ith visible triangle;
s26, calculating an atmospheric resistance moment M d;
In the step S26, the calculation method of the atmospheric resistance moment M d includes:
Md＝Fd×Ld
Wherein L d is the position vector from the triangle pressing center to the mass center;
Step three, calculating the pressing center position of the spacecraft after transposition;
Step four, adjusting the rotation angle of the solar wing to realize that the center of mass of the spacecraft after indexing is behind the front pressing center; the indexing direction is set to be the opposite direction of the flying direction of the spacecraft, at the moment, the atmospheric resistance moment becomes the passive stabilization moment of the yaw direction, and the three-axis passive stabilization of the spacecraft indexing process is realized by matching with the gravity gradient moment, so that the indexing of the spacecraft is completed.
2. The spacecraft transformation configuration process passive stable indexing method based on space environment moment according to claim 1, wherein the method is characterized by comprising the following steps: in the first step, the method for establishing the orbital coordinate system oxyz comprises the following steps: the origin o is positioned at the mass center of the spacecraft, and the z-axis is directed to the earth center along the radial direction in the orbit plane; the y axis is consistent with the negative normal direction of the track plane, and the x axis is determined by a right hand rule;
The method for establishing the spacecraft body coordinate system o1x1y1z1 comprises the following steps:
The origin o1 is located at the center of mass of the spacecraft; the X1 axis points to the direction of the star longitudinal axis, the Y1 and Z1 axes point along the star transverse axis, and the X1, Y1 and Z1 axes meet the right hand rule.
3. The spacecraft transformation configuration process passive stable indexing method based on space environment moment according to claim 1, wherein the method is characterized by comprising the following steps: in the first step, the method for calculating the gravity gradient moment T g comprises the following steps:
Wherein ω 0 is the track angular velocity;
i is an inertial matrix of the spacecraft;
K 0 is the gravity vector
Is an antisymmetric matrix of K 0.
4. A spacecraft transformation configuration process passive stable indexing method based on space environment torque according to claim 3, wherein: in the third step, the calculation method of the pressing center position of the spacecraft after transposition comprises the following steps:
S31, calculating the pressing center positions (X, Y, Z) of the triangle 1 and the triangle 2;
s32, circulating all the triangular units on the windward side to obtain the pressing center of the whole windward side of the spacecraft.
5. The method for passively stabilizing indexing of a spacecraft transformation process based on space environment torque according to claim 4, wherein the method comprises the following steps: in S31, the calculation method of the pressing center position (X, Y, Z) is as follows:
X＝(A1×xc1+A2×xc2)/(A1+A2)
Y＝(A1×yc1+A2×yc2)/(A1+A2)
Z＝(A1×zc1+A2×zc2)/(A1+A2)
Wherein A1 is the windward area of the triangle 1;
A2 is the frontal area of triangle 2.
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