CN201971169U - Miniature attitude orbit control thruster array structure - Google Patents
Miniature attitude orbit control thruster array structure Download PDFInfo
- Publication number
- CN201971169U CN201971169U CN2010205225174U CN201020522517U CN201971169U CN 201971169 U CN201971169 U CN 201971169U CN 2010205225174 U CN2010205225174 U CN 2010205225174U CN 201020522517 U CN201020522517 U CN 201020522517U CN 201971169 U CN201971169 U CN 201971169U
- Authority
- CN
- China
- Prior art keywords
- thruster
- array
- thrusters
- control
- array structure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to a miniature attitude orbit control thruster array structure. In order to solve the problem that the existing thruster array is not applied to orbit control, the utility model discloses the thruster array structure of which a basic generating element is a regular hexagon, exists in a circumference form and has central symmetry: in particular arrangement, a first thruster is placed in the center of the basic generating element regular hexagon, and the thrusters are also placed at the six top points of the basic generating element regular hexogen, the side length of the regular hexagon is used as an interval, other thruster positions are derived outwards, and the positions of the other thrusters are required to ensure that the interval between each two thrusters is equal to the side length; and the number of the derived thrusters is determined by the size of the required array scale. The array can avoid the thrust misalignment generated by algorithms, and the coordinate position of each required thruster can be found out fast and accurately through making use of the distribution rules and related control algorithms of the thrusters, therefore, the utilization of the thrusters in the array is improved, and the too early ending of the service life of the array can also be effectively avoided.
Description
Technical field
The utility model relates to a kind of miniature rail control thruster array thruster structure.
Background technology
Development and application along with micro-satellite, its high-accuracy posture and track control have also been proposed challenge, need that actuating unit quality and volume are little, integrated level is high, low in energy consumption, reliability is high, small but excellent true momentum can be provided, and miniature solid thruster array can satisfy the requirement of micro-satellite rail control system.The integrated highdensity miniature thruster of miniature solid thruster array energy, each thruster unit produces small momentum, can realize the array mode of lighting a fire arbitrarily, become Thrust Control, the outstanding advantage of this thruster is exactly can be applied to the skin satellite of feather weight or receive on the satellite, is a kind of later-model satellite control engine installation.
Along with various countries are goed deep into gradually to the research of miniature thruster array, press for the application problem that solves array, therefore the research for large scale array becomes present research emphasis.Array structure for present research is regular tetragonal mode, but this kind array is applicable to attitude control is not suitable for track control, when the igniting thruster of needs is odd number, this kind array can't satisfy the requirement that the center with application force overlaps with the satellite barycenter, therefore need be optimized the thruster structure, to be applicable to track control.Therefore need design and both be applicable to attitude control, be applicable to the thruster array structure of track control again.In addition, also be to rarely have research for thruster allocation algorithm based on microthrust device array.
Summary of the invention
The utility model proposes a kind of miniature rail control thruster array structure, improved the problem that is not suitable for track control of existing thruster array.
The basic generator of this thruster array structure is a regular hexagon, exist with the circumference form, has centre symmetry: during concrete layout, place first thruster at the basic orthohexagonal center of generator, thruster is also all placed on basic orthohexagonal six summits of generator, with this orthohexagonal length of side is the interval, outwards expansion derives other thruster position, their position will guarantee all thrusters length of side size for this reason at interval in twos, and the thruster number of deriving is determined by required array scale.Obtaining the thruster characteristics thus is, it is on certain circumference in the center of circle that each thruster all will be distributed in the orthohexagonal center of basic generator; A multiple thruster of 6 is all distributing on each circumference.
On satellite, the thruster array configuration can adopt the form of regular hexahedron, respectively arranges a thruster array on six faces, and is relative in twos, and each is to two degree of freedom of array control.
When thruster need carry out attitude control, adopt the control of three decoupler shafts, three pairs of arrays produce pitching, driftage, rolling moment separately.The specific implementation step is:
Step 1, obtain the moment that need to produce;
When thruster need carry out track when control, the three pairs of arrays produce separately normal direction, radially, the orbital plane normal thrust.The specific implementation step is:
Step 1, obtain the momentum data that need to produce;
Step 5, after each thruster uses, its value at cost is made as certain fixed value, this fixed value is greater than the maxim of all thrusters combination value at costs.
Beneficial effect
The utility model has designed a kind of miniature rail control thruster array structure, has improved the array area degree of utilization, and can avoid producing because of algorithm the probability of thrust eccentric and reduction mis-ignition; Draw the thruster regularity of distribution in the array, can find out the coordinate position of each thruster fast.And designed the thruster assigning process based on the attitude control of microthrust device array, used algorithm has improved the degree of utilization of thruster in the array, and searches out the thrust available device quickly and accurately.This utility model has also designed the thruster assigning process of the track control of microthrust device array array, and used algorithm is found the solution accurately, and has realized cost minimization, can effectively avoid finishing the array life-span too early, improves the degree of utilization of array.
Description of drawings
Fig. 1 is thruster array distribution figure of the present utility model
Fig. 2 is the grouping scheme drawing of thruster array of the present utility model on coordinate axle
Fig. 3 is the thruster allocation algorithm diagram of circuit of the utility model in attitude control
Fig. 4 is the thruster allocation algorithm diagram of circuit of the utility model in track control
The specific embodiment
Provide this kind thruster array concrete math modeling and algorithm that uses when realizing attitude control and track control below.
This propelling unit array scheme drawing as shown in Figure 1.The basic generator of this thruster array is a regular hexagon, exist with the circumference form, has centre symmetry: during concrete layout, place first thruster at the basic orthohexagonal center of generator, thruster is also all placed on basic orthohexagonal six summits of generator, with this orthohexagonal length of side is the interval, outwards expansion derives other thruster position, their position will guarantee all thrusters length of side size for this reason at interval in twos, and the thruster number of deriving is determined by required array scale.Obtaining the thruster characteristics thus is, it is on certain circumference in the center of circle that each thruster all will be distributed in the orthohexagonal center of basic generator; A multiple thruster of 6 is all distributing on each circumference.
Obtain array coordinate rule by rotation, can obtain thruster coordinate on all circumference, as table 1 example.
0,0 | ? | ? | ? | ? | ? | ? | ? | ? | ? | ? |
? | 0.5,0.5a | ? | ? | ? | ? | ? | ? | ? | ? | ? |
1,0 | ? | 1,a | ? | ? | ? | ? | ? | ? | ? | ? |
[0028]
Table 1 thruster array distribution rule
On satellite, this thruster array configuration adopts the form of regular hexahedron, respectively arranges a thruster array on six faces, and is relative in twos, and each is to two degree of freedom of array control, as shown in Figure 2
When thruster need carry out attitude control, the specific implementation step was:
Step 1, obtain the moment that need to produce;
Its mathematical description is as follows:
Objective function:
1≤K≤N,1≤I≤N,1≤J≤N
In the formula: min Z represents the cost function of all thruster combinations, make its value minimum; K is the thruster row of being expert at number; I is the row number of thruster column; J is the row number of relative array; N is the array scale, and N is a positive integer, 100 * 100 arrays for example, and if N=100 then is 10 * 10 arrays, then N=10.
Cost function:
Wherein, u
(i, j, k)Be the cost function of selected thruster combination, 1≤i≤N, 1≤j≤N, 1≤k≤N constraint condition:
Wherein, K
cBe desired moment, L
MinBe two minimum intervals between the thruster, F
EqBe the equivalent thrust of single thruster; When having selected to be positioned at array i row, its relative array j row, during the capable thruster of k, x
(i, j, k)=1; Otherwise x
(i, j, k)=0.
| i-j|
k* L
MinFor laying respectively at i row and distance two thrusters of j row between, the in fact just arm of force of two the thruster moment that produces of two relative array k on capable.The minimum moment M that array can provide
MinBe:
M
min=F
eqL
min (4)
Minimum moment can be defined as 1 specific torque.
This model can retrain the control torque that how the thruster unit makes up provides required, with maximization and the minimum purpose of use cost that reaches degree of utilization.Near more then cost function u is more little from array center, preferentially uses the near thruster of decentering, can guarantee that the thruster that stays can provide the thruster array configuration of more generation moment.
With 10 * 10 arrays is example, and the maximum torque that two relative thruster array single files can provide is 9 units, and minimum is 1 unit.With reference to Fig. 1, Fig. 2, with the first behavior example, in the A array first thruster unit can with the moment of 1~9 unit of B array thruster combination results of going together, and the 5th thruster unit be because near apart from center of symmetry, moment that can only 1~5 unit of combination results.For any moment that needs generation, earlier array is searched for the maximum torque that finds each row to produce.
According to the last thruster of required moment and array the situation of moment can be provided, carry out moment and decompose, resolve into some execution steps;
According to the math modeling definition cost function of setting up.
u=|i-5.5|
2+|j-5.5|
2+40.5 (9)
In the formula: u is the cost that is used for producing a pair of combination of moment; I is the columns of the thruster of lighting a fire in the A array; J is the columns of the thruster of lighting a fire in the B array.
In all possible thruster combined situation, find out the combination of cost minimum, if cost is the same, then select to cut the moment of having found out with required moment then wherein from the group of transverse axis distance, continue to repeat the fwd operation, to the last realize required moment.Seek optimum decision sequence, each sequence step is on cost minimum, and the minimum principle of thruster number makes up, and has guaranteed each substep required thrust device combination cost minimum, minimum number.
The diagram of circuit of this algorithm is as shown in Figure 4:
The moment a that need provide at first is provided, calculate the maximum torque b that each row can provide in the array, judge that whether the moment a that needs is greater than b, if greater than b, just deduct b with required moment a, obtaining provides the thruster of moment b coordinate, with the surplus value that deducts b once more with array in the thrust-drag margin device maximum torque that can provide compare, according to this circulation, less than the maximum torque that array can provide, find out each thruster combination that moment a can be provided up to remaining moment, the cost that compares them, find out the cost minimum, the thruster value at cost that has solved is made as 100, export for all thruster coordinates of having obtained.
This thruster allocation algorithm is because be that branch uses thruster, so can reduce the probability of mis-ignition.
Step 5, store the thruster coordinate in each sequence that solves in the step 4 into control module, control the transmission firing command by control module, and after each thruster uses, its value at cost is made as maxim.
When thruster need carry out track when control, the three pairs of arrays produce separately normal direction, radially, the orbital plane normal thrust.The specific implementation step is:
Step 1, obtain the momentum data that need to produce;
Objective function:
Cost function:
u
i(r
i,X
i)=|X
i-0|+|r
i-1|*u
max
Constraint condition:
In the formula: MinZ represents the cost function of all thruster combinations, make its value minimum; u
i(r
i, X
i) cost function of the selected thruster of expression combination; r
iRepresent every group sequence number, r
i=1,2 ... .n; m
iExpression thruster quantity; c
iExpression decision variable 0 or 1, X
iThe distance of expression distance center axle Y-axis; u
MaxBe a constant, u
Max=100; I is required momentum; I
MinFor working as a thruster momentum;
Specification of a model:
Objective function is used for the thruster array combination, improves the service life of array, the preferential minimum combination of alternative costs, and the promptly preferential service range array center and the longitudinal axis be apart from minimum, and take the minimum thruster combination of group number; Cost function has been expressed the cost of institute's use thruster; Constraint condition has guaranteed that selected thruster satisfies required momentum requirement.By the comparison of multiple combination results required thrust scheme, can learn that the math modeling of building adheres to specification, omit concrete comparison procedure at this.
Algorithm implementation procedure: with the momentum I of single thruster generation
MinBe unit.At first the thruster on each circumference is divided into some groups according to described rule before, every group of 6 thrusters, every group of maximum thrust that can produce is 6I
MinIf required momentum is I, earlier be the momentum that unit produces to be needed with the group, promptly use round (I/6) group thruster earlier, remainder rem (I/6) is produced by the thruster in the less grouping of group number.The selection of each thruster all will be searched in strict accordance with building math modeling, guarantees that use group number is minimum, and thruster distance arrays center and longitudinal axis distance are little.For with thruster its cost being set at 100.
For producing less than 6I
MinMomentum will be handled respectively, as 1 thruster of fruit dot, then needs relative two thruster array combination to produce 2 thrusters of a point, 3 thrusters of a point; As 5 thrusters of fruit dot, then need split into 2 and 3 combination results; Thruster for remainder 1 waste is too many, and therefore, except putting 1 thruster, other remainders calculate according to 7, produces 7I
MinDuring momentum, then be divided into 3I
MinAnd 4I
MinCombination, provide by an array to get final product.
According to the rule of combination of foundation math modeling and definition, the realization of required thrust is divided into some sequences, principle that each sequence step is on cost minimum and self-defining thruster rule of combination make up, and can effectively avoid finishing the array life-span too early.For example, too many if the combination of selected thruster takies the group number, all used the even number thruster in all groups, then can't produce the odd number unit impulse again; If preferentially select distance center distance thruster far away for use, then can reduce the ability that attitude is adjusted.
Diagram of circuit such as Fig. 5 of algorithm show:
The thrust a that will provide at first is provided, every group of maximum that can provide is provided tried hard to recommend b, judge that whether the thrust a that needs is greater than b, if greater than b, if a be 7 then, resolving into 3 and 4 carries out the thruster coordinate and finds the solution, otherwise just deduct b with required thrust a, obtaining provides the thruster of thrust b coordinate, with the surplus value that deducts b once more with array in the thrust-drag margin device maximum thrust that can provide compare, according to this circulation, less than the maximum thrust value that array can provide, find out each thruster combination that thrust a can be provided up to remaining thrust magnitude, the cost that compares them, find out the cost minimum, the thruster value at cost that has solved is made as 100, export for all thruster coordinates of having obtained.
Algorithm simulating is the result show, this algorithm meets the description of math modeling, satisfies the requirement of track control, can improve thruster array service life.
Step 5, each sequence separated obtain the thruster coordinate and be stored in control module, by the relevant thruster igniting of control module control;
By emulation to the algorithm of control of the attitude of thruster and track control, can find, more than the algorithm that adopted meet the description of corresponding mathematics model, satisfy the requirement that attitude control and track are controlled respectively, can improve thruster array service life.
Claims (3)
1. miniature rail control thruster array structure, it is characterized in that, its basic generator is a regular hexagon, exist with the circumference form, have centre symmetry: during concrete layout, place first thruster at the basic orthohexagonal center of generator, thruster is also all placed on basic orthohexagonal six summits of generator, with this orthohexagonal length of side is the interval, and outwards expansion deriving other thruster position, and their position will guarantee all thrusters length of side size for this reason at interval in twos.
2. a kind of miniature rail control thruster array structure according to claim 1 is characterized in that it is on certain circumference in the center of circle that each thruster all is distributed in the orthohexagonal center of basic generator; A multiple thruster of 6 is all distributing on each circumference.
3. a kind of miniature rail control thruster array structure according to claim 1 is characterized in that, on satellite, this thruster array configuration adopts the form of regular hexahedron, respectively arrange a thruster array on six faces, relative in twos, each is to two degree of freedom of array control.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2010205225174U CN201971169U (en) | 2010-09-08 | 2010-09-08 | Miniature attitude orbit control thruster array structure |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2010205225174U CN201971169U (en) | 2010-09-08 | 2010-09-08 | Miniature attitude orbit control thruster array structure |
Publications (1)
Publication Number | Publication Date |
---|---|
CN201971169U true CN201971169U (en) | 2011-09-14 |
Family
ID=44576273
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2010205225174U Expired - Fee Related CN201971169U (en) | 2010-09-08 | 2010-09-08 | Miniature attitude orbit control thruster array structure |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN201971169U (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101941529A (en) * | 2010-09-08 | 2011-01-12 | 北京理工大学 | Layout method for micro attitude and orbit control thruster array |
WO2016155086A1 (en) * | 2015-04-03 | 2016-10-06 | 湘潭大学 | Radioactive material with alpha particle cascade decay and propulsion device made therefrom, and lotus seed propeller |
CN108958277A (en) * | 2018-08-02 | 2018-12-07 | 西北工业大学 | A kind of micro-nano satellite appearance rail integrated control method of MEMS solid micro-thruster |
-
2010
- 2010-09-08 CN CN2010205225174U patent/CN201971169U/en not_active Expired - Fee Related
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101941529A (en) * | 2010-09-08 | 2011-01-12 | 北京理工大学 | Layout method for micro attitude and orbit control thruster array |
CN101941529B (en) * | 2010-09-08 | 2013-04-17 | 北京理工大学 | Layout method for micro attitude and orbit control thruster array |
WO2016155086A1 (en) * | 2015-04-03 | 2016-10-06 | 湘潭大学 | Radioactive material with alpha particle cascade decay and propulsion device made therefrom, and lotus seed propeller |
CN108958277A (en) * | 2018-08-02 | 2018-12-07 | 西北工业大学 | A kind of micro-nano satellite appearance rail integrated control method of MEMS solid micro-thruster |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101941529B (en) | Layout method for micro attitude and orbit control thruster array | |
CN111428372B (en) | Rocket power failure degradation orbit-entering guidance method based on convex planning and adaptive iteration | |
CN201971169U (en) | Miniature attitude orbit control thruster array structure | |
CN104635741B (en) | Control System for Reusable Launch Vehicle reenters attitude control method | |
CN111301715B (en) | Hoeman orbital transfer-based constellation layout and orbit adjustment method and device for same-orbit specific phase distribution and computer storage medium | |
CN110986974A (en) | Multi-spacecraft task intelligent planning and control method oriented to complex dynamic environment | |
CN103224017B (en) | Planar series-parallel bionic swing propelling mechanism with variable stiffness | |
CN104590589A (en) | Mars probe landing guidance method based on fuel minimization | |
CN103942401A (en) | Tool kit and method for optimizing high-precision self-adaptation and modular spacecraft trajectory multi-constrained track | |
CN104077435A (en) | Wind farm design and optimization method and system | |
CN109002624B (en) | Supersonic rigid combustion flow double-adaptive decoupling optimization simulation method and system | |
CN104330971B (en) | Microsatellite group's formation consumption optimization method | |
CN106168998A (en) | Consider that the full electricity of solar wing radiation damage pushes away spacecraft orbit transfer optimization method | |
WO2014115753A1 (en) | Method for controlling orbital plane of artificial satellite | |
CN109941460A (en) | Track return in spacecraft Asia, which reenters overload, reduces design method | |
CN104914873B (en) | A kind of coupling process of rail control engine | |
CN108958273A (en) | A kind of gyro group configuration designing method based on different type spectrum single-gimbal control momentum gyros | |
CN107643688A (en) | A kind of two steps for solid micro-thruster array control distribution method | |
CN109325288A (en) | A kind of Solid Launch Vehicle population parameter based on uncertainty optimization determines method and system | |
CN104965418A (en) | Injection phase guiding method based on trajectory damping control and hot-fluid analyzing prediction | |
CN101915904B (en) | Multiple trajectory fusion processing method | |
CN106295218B (en) | A kind of quick determining energetic optimum intercepts the numerical optimization of predicted set-forward position | |
Villanueva et al. | Small launch vehicle trajectory profile optimization using hybrid algorithm | |
CN108891625A (en) | Solid micro-thruster array and magnetic torquer combination control method | |
CN111812977B (en) | GEO direct fixed-point launching orbit optimization method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
C17 | Cessation of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110914 Termination date: 20120908 |