CN114218675A - Small celestial body multi-node flexible attachment collaborative planning target state evaluation method - Google Patents

Small celestial body multi-node flexible attachment collaborative planning target state evaluation method Download PDF

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CN114218675A
CN114218675A CN202111543912.XA CN202111543912A CN114218675A CN 114218675 A CN114218675 A CN 114218675A CN 202111543912 A CN202111543912 A CN 202111543912A CN 114218675 A CN114218675 A CN 114218675A
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徐瑞
王棒
崔平远
李朝玉
朱圣英
梁子璇
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Beijing Institute of Technology BIT
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Abstract

The invention discloses a small celestial body multi-node flexible attachment collaborative planning target state evaluation method, and belongs to the technical field of aerospace. The energy dissipation function of the flexible connecting device is considered, and the flexible connecting device is simplified into an equivalent model of the spring-damper; considering the weak gravity continuous collision of the nodes in the attachment process, establishing a multi-node coupled motion model and generating a multi-node motion track; different speed distribution modes of the attachment tail end are obtained by changing different target states of the nodes, and the total speed increment delta V of the nodes is calculatedtotObtaining stable attachment time and node of multi-node networkA point attachment error; stable attachment time, node attachment error and delta V according to flexible landertotEstablishing an adhesion effect evaluation function, realizing small celestial body multi-node flexible adhesion collaborative planning target state evaluation through the adhesion effect evaluation function, obtaining a speed distribution mode corresponding to the minimum evaluation function value, and realizing small celestial body multi-node flexible stable adhesion according to the evaluated speed distribution mode.

Description

Small celestial body multi-node flexible attachment collaborative planning target state evaluation method
Technical Field
The invention relates to a small celestial body multi-node flexible attachment collaborative planning target state evaluation method, and belongs to the technical field of aerospace.
Background
A small celestial body is a celestial body of much smaller volume and mass than a planet in the solar system, which moves around the sun like a planet. Astronomers think that the small celestial bodies are residual substances in the process of forming the solar system, have substance information of early evolution of the solar system, are 'activating stones' in the process of evolution of the solar system, and have important significance for researching the origin of the solar system by detecting the small celestial bodies. Early small celestial exploration focused primarily on flying small celestial objects at close distances. Although this method is short and far away, many results have been achieved, which have led to an initial understanding of the small celestial body. The detection of the small celestial body can promote the earth protection and avoid the catastrophic effect caused by the impact of the small celestial body, and in addition, resources such as high-value metals, minerals and the like are also one of the exploration reasons. In recent years, NASA, JAXA, and ESA have performed many small celestial exploration tasks, and the exploration form has also been developed from fly-by exploration into various forms of in-position exploration, sample return, and the like. In order to deeply research the surface and the internal structure of the small celestial body, in-situ detection and sampling return are better, so that the landing technology of the small celestial body is necessary.
At present, the small celestial body landing has two main problems, one is that the small celestial body gravity is very weak and irregular, a detector is easy to bounce and escape, and the other is that the surface soil property is not completely known. The surface features are complex and various, the detector is prone to rolling and overturning due to the adoption of a traditional rigid attachment strategy, and once bouncing occurs, the detector is difficult to ensure to move forward in an expected direction. The small lander "Minerva" released by Hayabusa employs a definite attachment strategy that is not captured by the weak gravitational forces of the small celestial body after release, resulting in rebound escape. The MASCOT of the surface robot carried by Hayabusa-ii successfully falls on the surface of the small celestial body, but the MASCOT performs multiple bounce collisions on the surface of the small celestial body. Philae released by Rosetta generates obvious rolling bounce on the surface of comet because of high landing speed and failure in unfolding of the anchoring harpoon, falls in a crack shadow area on the surface of comet due to uncontrolled movement, and finally stops working because energy cannot be supplemented.
In order to solve the problem of difficult rigid adhesion, some researchers propose a flexibly-connected multi-node detector, wherein the detector system comprises a plurality of nodes, the nodes are connected through a flexible mechanism, and the nodes reduce the adhesion speed through the interaction of the flexible mechanism, so that the detector can be quickly and stably adhered to the whole body, and the adhesion error is small. Under the condition that the number of nodes is the same, due to mutual coupling among the nodes, different terminal speed distribution modes can cause different motion states of each node, and aiming at a target small celestial body, how to find a terminal speed distribution mode which can consume energy to be stably attached in a short time and can enable the error between the actual node drop and the target node drop to be small is a complex problem in realizing multi-node collaborative planning target state evaluation.
Disclosure of Invention
Aiming at the problem of stable attachment of a small celestial body surface detector, the invention discloses a small celestial body multi-node flexible attachment collaborative planning target state evaluation method, which aims to solve the technical problems that: (1) the energy dissipation effect of the flexible connecting device is considered and simplified into an equivalent model of the spring-damper; (2) considering the weak gravity continuous collision of the nodes in the attachment process, establishing a multi-node coupled motion model and generating a multi-node motion track; (3) different speed distribution modes of the attachment tail end are obtained by changing different target states of the nodes, and the total speed increment delta V of the nodes is calculatedtotAcquiring stable attachment time and node attachment errors of a multi-node network; (4) stable attachment time, node attachment error and delta V according to flexible landertotEstablishing an evaluation function of the adhesion effect,and realizing the multi-node flexible attachment collaborative planning target state evaluation of the small celestial body through the attachment effect evaluation function, obtaining a speed distribution mode corresponding to the minimum evaluation function value, and realizing the multi-node flexible stable attachment of the small celestial body according to the evaluated speed distribution mode.
The purpose of the invention is realized by the following technical scheme.
The invention discloses a small celestial body multi-node flexible attachment collaborative planning target state evaluation method which comprises the steps of firstly obtaining scene information including gravitational acceleration, node initial speed and position of a small celestial body. The flexible mechanism is equivalent to a spring-damper, weak gravitational force continuous collision of nodes in the attachment process is considered, nonlinear damping is introduced, a collision model is established by adopting a continuous contact force method, node velocity values after collision are obtained, and a multi-node motion track is generated through a multi-node coupling motion model of the detector. According to the magnitude of the gravitational field of the small celestial body, different velocity distribution modes of the attachment tail end are obtained by changing different target states of the nodes, and the total velocity increment delta V of the nodes is calculatedtotAnd acquiring stable attachment time and node attachment error of the flexible lander. According to stable attachment time, node attachment error and delta VtotEstablishing an adhesion effect evaluation function, realizing small celestial body multi-node flexible adhesion collaborative planning target state evaluation through the adhesion effect evaluation function, obtaining a speed distribution mode corresponding to the minimum evaluation function value, and realizing small celestial body multi-node flexible stable adhesion according to the evaluated speed distribution mode.
The invention discloses a small celestial body multi-node flexible attachment collaborative planning target state evaluation method, which comprises the following steps:
the method comprises the steps of firstly, obtaining scene information, wherein the scene information comprises the gravitational acceleration of a small celestial body, the node number n, the node initial speed and the initial position.
G is the gravitational acceleration, n is the node number, the initial position and speed of the node are expressed as matrix A0And V0The two matrices are both n × 3 matrices, and the ith row represents the spatial coordinate and the velocity of the node i.
Figure BDA0003415183290000031
Figure BDA0003415183290000032
And step two, considering the weak gravity continuous collision of the nodes in the attachment process, establishing a collision mechanism between the nodes and the surface of the small celestial body, acquiring node speed values after collision, establishing a multi-node coupled motion model of the detector, generating a multi-node motion track, and acquiring the stable attachment time and the node attachment errors of the flexible lander.
Step 2.1: the flexible connecting mechanism is equivalent to a spring with damping, and the node speed is gradually reduced under the dissipation effect of the damping. The initial length of the spring is set as the initial distance between two nodes, deltas is the deformation quantity, k is the elastic coefficient, the damping force caused by damping is positively correlated with the speed, and b is the damping coefficient.
Figure BDA0003415183290000033
And
Figure BDA0003415183290000034
the joint represents spring force and damping force generated by the connection between the ith node and the jth node in the x, y and z directions respectively, and the force components generated by the flexible connection of the node i in the three directions are expressed as formula (4):
Figure BDA0003415183290000035
Figure BDA0003415183290000036
step 2.2: and when the speed of the node before and after the collision with the surface of the small celestial body is calculated, the node is equivalent to mass points with uniform mass distribution.
Step 2.3: the calculation of the post-collision node velocity is performed. Nonlinear damping is introduced in the collision process, a weak gravitation collision dynamic model in the collision process is established by adopting a continuous contact force method, and the node speed after collision is calculated.
Step 2.4: and giving an initial condition of the node, obtaining the speed and displacement of the node in space motion by adopting a numerical integration method for the acceleration, and generating a multi-node motion track.
Step 2.5: setting stable attachment conditions of the multi-node lander when the vertical coordinate of all nodes is less than ZminSpeeds in three directions all less than VminAnd judging that the node is attached, and acquiring stable attachment time and a node attachment error.
Step three, the initial speeds of the nodes are the same, different speed distribution modes of the attachment tail end are obtained by changing different target states of the nodes aiming at the target small celestial body of the weak gravitational field, and the total speed increment delta V of the nodes is calculatedtot。
Step 3.1: from the macroscopic view, the weak gravity collision continuous motion of the flexible lander is considered, the node size is ignored and is equivalent to a mass point, and the initial velocity of each node is V0Applying a velocity pulse to the nodes, the velocity of the nodes after applying the pulse being v1,v2,...,vn。
Step 3.2: calculating the total node velocity increment delta V before and after applying the velocity pulsetot。
Figure BDA0003415183290000041
And step four, establishing an adhesion effect evaluation function according to the stable adhesion time, the adhesion error and the total node speed increment of the flexible lander in different speed distribution modes to obtain an evaluation function value, realizing the multi-node flexible adhesion collaborative planning target state evaluation of the small celestial body through the adhesion effect evaluation function, obtaining a speed distribution mode corresponding to the minimum evaluation function value, and realizing the multi-node flexible stable adhesion of the small celestial body according to the evaluated speed distribution mode.
The target landing point coordinate is P0＝{p01,p02,...,p0nThe actual drop point coordinate is Pa＝{p1,p2,...,pnAt a distance S between corresponding nodes0→a＝{s1,s2,...,snLet note the node attachment error as
Figure BDA0003415183290000042
Calculating stable attachment time, node attachment errors and node total speed increment under each group of speed distribution modes:
Figure BDA0003415183290000043
for Tsta、ErtAnd Δ VtotCarrying out normalization processing, and establishing an adhesion effect evaluation function:
Figure BDA0003415183290000044
and obtaining an evaluation function value according to the adhesion effect evaluation function (7), wherein the smaller the evaluation value is, the optimal comprehensive indexes of the adhesion stability time, the node adhesion error and the node total speed increment are obtained under the current speed distribution condition, so that the small celestial body multi-node flexible adhesion collaborative planning target state evaluation is realized, the speed distribution mode corresponding to the minimum evaluation function value is obtained, and the small celestial body multi-node flexible stable adhesion is realized according to the speed distribution mode after evaluation.
Has the advantages that:
1. the invention discloses a small celestial body multi-node flexible attachment collaborative planning target state evaluation method, which comprises the steps of considering weak gravity continuous collision of nodes in an attachment process, establishing a multi-node coupling motion model, realizing motion simulation of the multiple nodes in a weak gravity environment, calculating stable attachment time of a flexible lander, attachment errors of the nodes and total node speed increment, taking the minimum of three indexes as a target, establishing an attachment effect evaluation function, and indicating that the comprehensive indexes of the attachment stable time, the attachment errors of the nodes and the total node speed increment are optimal under the current speed distribution condition as the evaluation value is smaller, realizing small celestial body multi-node flexible attachment collaborative planning target state evaluation, obtaining a speed distribution mode corresponding to the minimum evaluation function value, and realizing small celestial body multi-node flexible stable attachment according to the evaluated speed distribution mode.
2. The small celestial body multi-node flexible attachment collaborative planning target state evaluation method disclosed by the invention is based on a spring-damper model, reduces the node speed through the dissipation effect of damping, reduces the surface collision times, is beneficial to improving the attachment precision of a lander, and can effectively solve the problem of difficult attachment in the traditional rigid mode.
3. The invention discloses a small celestial body multi-node flexible attachment collaborative planning target state evaluation method, which aims at a target small celestial body of a weak gravitational field, obtains different speed distribution modes of an attachment tail end by changing different target states of nodes, calculates stable attachment time, node attachment errors and node total speed increment under different categories, establishes an attachment effect evaluation function and provides a basis for selecting a multi-node attachment collaborative planning target state.
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FIG. 1 is a schematic view of a scenario for multi-node lander attachment.
FIG. 2 is a flow chart of a small celestial body multi-node flexible attachment collaborative planning target state evaluation method disclosed by the invention.
Detailed Description
For better illustrating the objects and advantages of the present invention, the following description will be made with reference to the accompanying drawings and examples.
In order to verify the feasibility of the method, as shown in fig. 1, three nodes are selected as an example of a flexible attachment system, the method of the invention is adopted to design a speed distribution mode of the three nodes, and corresponding evaluation function values are calculated, so that the state evaluation of the small celestial body multi-node flexible attachment collaborative planning target is realized.
As shown in fig. 2, the method for evaluating the state of the multi-node flexible attachment collaborative planning target of the small celestial body disclosed by the embodiment includes the following specific steps:
the method comprises the steps of firstly, obtaining scene information, including gravitational acceleration, node number, node initial speed and initial position of a small celestial body.
Acceleration of gravity g of 0.001m/s2The number of nodes is 3, and the initial positions and speeds of the nodes are shown in table 1.
TABLE 1 initial position and velocity of node
Figure BDA0003415183290000061
And step two, considering the weak gravity continuous collision of the nodes in the attachment process, establishing a collision mechanism between the nodes and the surface of the small celestial body, acquiring node speed values after collision, establishing a multi-node coupled motion model of the detector, generating a multi-node motion track, and acquiring the stable attachment time and the node attachment errors of the flexible lander.
Step 2.1: the flexible connecting mechanism is equivalent to a spring with damping, and the node speed is gradually reduced under the dissipation effect of the damping. The initial length of the spring is set as the initial distance between two nodes, deltas is the deformation quantity, k is the elastic coefficient, the damping force caused by damping is positively correlated with the speed, and b is the damping coefficient.
Figure BDA0003415183290000062
And
Figure BDA0003415183290000063
respectively representing spring force and damping force generated by the connection between the ith node and the jth node in the x, y and z directions, wherein the force component generated by the flexible connection of the node i in the three directions is expressed as an expression (9).
Figure BDA0003415183290000064
Figure BDA0003415183290000065
Step 2.2: and when the speed of the node before and after the collision with the surface of the small celestial body is calculated, the node is equivalent to mass points with uniform mass distribution.
Step 2.3: the calculation of the post-collision node velocity is performed. Nonlinear damping is introduced in the collision process, a weak gravitation collision dynamic model in the collision process is established by adopting a continuous contact force method, and the node speed after collision is calculated.
The tangential and normal velocities of the detector centroid before impact are vt、vzConsidering the detail factors of deformation, stress, action time, etc. in the collision process, k1In the following, δ is the penetration depth, c is the damping coefficient, e is the coefficient of restitution, and μ is the coefficient of friction.
The normal contact force of the node with the ground is expressed as:
Figure BDA0003415183290000071
the tangential contact force of the node with the ground is expressed as:
Figure BDA0003415183290000072
step 2.4: and (3) giving an initial condition of the node, acquiring the speed and displacement of the node in space motion by adopting a numerical integration method on the basis of acceleration, and generating a multi-node motion track.
1) The external force applied when the node is separated from the surface only has weak attraction of small planets, so that
Figure BDA0003415183290000073
2) The forces of the minor planet surfaces on the nodes are taken into account during the collision.
a. Tangential acceleration:
Figure BDA0003415183290000074
b. normal acceleration:
Figure BDA0003415183290000075
solving the motion parameters of the node i at each moment as follows:
Figure BDA0003415183290000076
step 2.5: and setting stable attachment conditions of the multi-node lander, and judging that the attachment of the nodes is completed when the vertical direction coordinates of all the nodes are less than 0.01m and the speeds in the three directions are less than 0.01m/s, so as to obtain stable attachment time and node attachment errors.
Step three, the initial speeds of the nodes are the same, different speed distribution modes of the attachment tail end are obtained by changing different target states of the nodes aiming at the target small celestial body of the weak gravitational field, and the total speed increment delta V of the nodes is calculatedtot。
Step 3.1: from the macroscopic view, the weak gravity collision continuous motion of the flexible lander is considered, the node size is ignored and is equivalent to a mass point, and the initial velocity of each node is V0Applying a velocity pulse to the nodes, the velocity of the nodes after applying the pulse being v1,v2,v3。
Step 3.2: calculating the total node velocity increment delta V before and after applying the velocity pulsetot。
Figure BDA0003415183290000081
The results of the 21 velocity assignments are shown in table 2:
TABLE 221 sets of velocity assignment results
Figure BDA0003415183290000082
And step four, establishing an adhesion effect evaluation function according to the stable adhesion time, the adhesion error and the total node speed increment of the flexible lander in different speed distribution modes to obtain an evaluation function value, realizing the multi-node flexible adhesion collaborative planning target state evaluation of the small celestial body through the adhesion effect evaluation function, obtaining a speed distribution mode corresponding to the minimum evaluation function value, and realizing the multi-node flexible stable adhesion of the small celestial body according to the evaluated speed distribution mode.
The target landing point coordinate is P0{ (0,0,0), (3,0,0), (1.5,2.598,0) }, the actual landing point coordinate is Pa＝{p1,p2,...,pnAt a distance S between corresponding nodes0→a＝{s1,s2,...,snLet note the node attachment error as
Figure BDA0003415183290000083
Calculating stable attachment time, node attachment errors and node total speed increment under each group of speed distribution modes:
Figure BDA0003415183290000084
for Tsta、ErtAnd Δ VtotCarrying out normalization processing, and establishing an adhesion effect evaluation function:
Figure BDA0003415183290000085
and obtaining an evaluation function value according to the adhesion effect evaluation function (18), wherein the smaller the evaluation value is, the optimal comprehensive indexes of the adhesion stability time, the node adhesion error and the node total speed increment are obtained under the current speed distribution condition, so that the small celestial body multi-node flexible adhesion collaborative planning target state evaluation is realized, the speed distribution mode corresponding to the minimum evaluation function value is obtained, and the small celestial body multi-node flexible stable adhesion is realized according to the speed distribution mode after evaluation.
TABLE 3 evaluation function values corresponding to different speed distribution modes
Figure BDA0003415183290000091
According to the data in the table, when v is1＝-1.0m/s,v2＝-0.9m/s,v3The evaluation function value is the smallest in the given simulation example when the value is-0.8 m/s, so that the speed distribution mode is selected, the best adhesion effect is achieved, the stabilization time is short, the node adhesion error is small, and the required speed increment is low.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (5)

1. The small celestial body multi-node flexible attachment collaborative planning target state evaluation method is characterized by comprising the following steps of: comprises the following steps of (a) carrying out,
acquiring scene information including gravitational acceleration of a small celestial body, node number n, node initial speed and initial position;
step two, considering the weak gravity continuous collision of the nodes in the attachment process, establishing a collision mechanism between the nodes and the surface of the small celestial body, acquiring node speed values after collision, establishing a multi-node coupled motion model of the detector, generating a multi-node motion track, and acquiring the stable attachment time and the node attachment errors of the flexible lander;
step three, the initial speeds of the nodes are the same, different speed distribution modes of the attachment tail end are obtained by changing different target states of the nodes aiming at the target small celestial body of the weak gravitational field, and the total speed increment delta V of the nodes is calculatedtot；
And step four, establishing an adhesion effect evaluation function according to the stable adhesion time, the adhesion error and the total node speed increment of the flexible lander in different speed distribution modes to obtain an evaluation function value, realizing the multi-node flexible adhesion collaborative planning target state evaluation of the small celestial body through the adhesion effect evaluation function, obtaining a speed distribution mode corresponding to the minimum evaluation function value, and realizing the multi-node flexible stable adhesion of the small celestial body according to the evaluated speed distribution mode.
2. The small celestial body multi-node flexible attachment collaborative planning target state evaluation method of claim 1, wherein: the first implementation method comprises the following steps of,
g is the gravitational acceleration, n is the node number, the initial position and speed of the node are expressed as matrix A0And V0The two matrixes are both n multiplied by 3 matrixes, and the ith row represents the space coordinate and the speed of the node i;
Figure FDA0003415183280000011
Figure FDA0003415183280000012
3. the small celestial body multi-node flexible attachment collaborative planning target state evaluation method of claim 2, wherein: the second step is realized by the method that,
step 2.1: the flexible connecting mechanism is equivalent to a spring with damping, and the node speed is gradually reduced under the dissipation effect of the damping; the initial length of the spring is set as the initial distance between two nodes, deltas is a deformation quantity, k is an elastic coefficient, a damping force caused by damping is positively correlated with speed, and b is a damping coefficient;
Figure FDA0003415183280000013
and
Figure FDA0003415183280000014
the joint represents spring force and damping force generated by the connection between the ith node and the jth node in the x, y and z directions respectively, and the force components generated by the flexible connection of the node i in the three directions are expressed as formula (4):
Figure FDA0003415183280000015
Figure FDA0003415183280000021
step 2.2: when the speed of the node before and after the collision with the surface of the small celestial body is calculated, the node is equivalent to mass points with uniform mass distribution;
step 2.3: calculating the node speed after collision; introducing nonlinear damping in the collision process, establishing a weak gravitation collision dynamic model in the collision process by adopting a continuous contact force method, and calculating the node speed after collision;
step 2.4: giving an initial condition of a node, obtaining the speed and displacement of the node in space motion by adopting a numerical integration method for the acceleration, and generating a multi-node motion track;
step 2.5: setting stable attachment conditions of the multi-node lander when the vertical coordinate of all nodes is less than ZminSpeeds in three directions all less than VminAnd judging that the node is attached, and acquiring stable attachment time and a node attachment error.
4. The small celestial body multi-node flexible attachment collaborative planning target state evaluation method of claim 3, wherein: the third step is to realize the method as follows,
step 3.1: from the macroscopic view, the weak gravity collision continuous motion of the flexible lander is considered, the node size is ignored and is equivalent to a mass point, and the initial velocity of each node is V0Applying a velocity pulse to the nodes, the velocity of the nodes after applying the pulse being v1,v2,...,vn；
Step 3.2: calculating the total node velocity increment delta V before and after applying the velocity pulsetot；
Figure FDA0003415183280000022
5. The small celestial body multi-node flexible attachment collaborative planning target state evaluation method of claim 4, wherein: the implementation method of the fourth step is that,
the target landing point coordinate is P0＝{p01,p02,...,p0nThe actual drop point coordinate is Pa＝{p1,p2,...,pnAt a distance S between corresponding nodes0→a＝{s1,s2,...,snLet note the node attachment error as
Figure FDA0003415183280000023
Calculating stable attachment time, node attachment errors and node total speed increment under each group of speed distribution modes:
Figure FDA0003415183280000024
for Tsta、ErtAnd Δ VtotCarrying out normalization processing, and establishing an adhesion effect evaluation function:
Figure FDA0003415183280000031
and obtaining an evaluation function value according to the adhesion effect evaluation function (7), wherein the smaller the evaluation value is, the optimal comprehensive indexes of the adhesion stability time, the node adhesion error and the node total speed increment are obtained under the current speed distribution condition, so that the small celestial body multi-node flexible adhesion collaborative planning target state evaluation is realized, the speed distribution mode corresponding to the minimum evaluation function value is obtained, and the small celestial body multi-node flexible stable adhesion is realized according to the speed distribution mode after evaluation.
CN202111543912.XA 2021-12-16 2021-12-16 Small celestial body multi-node flexible attachment collaborative planning target state evaluation method Pending CN114218675A (en)

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