Supplementary control method and device for insufficient orbit control thrust during deep space maneuvers

Abstract

The present invention provides a supplementary control method and device for the case of an orbital control thrust deficiency during deep space maneuvers, comprising the following steps: obtaining relevant parameters of the satellite and orbital control during normal orbital maneuvers, and determining whether an insufficient thrust failure occurs during orbital control; calculating the engine power-on duration required to achieve a predetermined speed increment under different thrust efficiencies, and determining the lower limit of thrust efficiency where supplementary control is not required; calculating the speed increment and power-on duration of the supplementary control based on the supplementary control interval; and determining whether the orbital control parameters of the supplementary control meet the thruster parameter requirements, and if so, completing the predetermined orbital control target. The present invention can promptly perform supplementary control when an engine thrust deficiency occurs during deep space maneuver orbital control, completing the orbital control action and reaching the predetermined target.

Description

Technical Field

[0001] The present invention relates to the field of orbital maneuvering, and in particular to a method and device for supplementary control in the event of an orbital control thrust deficiency failure during deep space maneuvering. Background Art

[0002] When designing orbital transfers and maneuvers, especially for deep space exploration spacecraft, multiple and critical maneuvers are often required. Due to the lengthy maneuvers in deep space, the short tracking and control timeframe, and the limited number of critical nodes suitable for maneuvering, failures during orbital control can severely impact mission completion. Therefore, it is necessary to design supplementary control strategies to achieve orbital control in the event of thruster failures. Earth satellites generally orbit in circular orbits, and failures such as orbital changes can be controlled at the next opportunity. However, deep space maneuvers require specific orbital change timings, necessitating immediate supplementary control in the event of a failure. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a supplementary control method and device for insufficient orbital control thrust during deep space maneuvers. When insufficient engine thrust occurs in deep space maneuver orbital control, supplementary control is performed in a timely manner to complete the orbital control action to reach the predetermined target.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A supplementary control method for a deep space maneuver under an orbit control thrust deficiency fault comprises the following steps:

[0006] Step 1: Obtain the relevant parameters of the satellite and orbit control during normal orbit maneuvers to determine whether there is a thrust shortage fault during orbit control; the relevant parameters include the speed increment V0 during orbit maneuvers, the power-on time T0, the orbit control target, and the engine shutdown time T0. G , thruster thrust size, thruster maximum power-on time T max ;

[0007] Step 2: Calculate the engine startup time required to reach a predetermined speed increment at different thrust efficiencies, and determine the lower limit of thrust efficiency at which supplementary control is not required;

[0008] Step 3: Calculate the speed increment and power-on duration of the supplementary control based on the supplementary control interval ΔT;

[0009] Step 4: Determine whether the orbital control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbital control target is achieved.

[0010] The present invention also provides a supplementary control device for the case of insufficient orbit control thrust during deep space maneuvers, comprising the following modules:

[0011] The fault judgment module obtains the relevant parameters of the satellite and orbit control during normal orbit maneuvers and determines whether there is a thrust shortage fault during orbit control. The relevant parameters include the speed increment V0 during orbit maneuvers, the power-on time T0, the orbit control target, and the engine shutdown time T0. G , thruster thrust size, thruster maximum power-on time T max ;

[0012] A lower limit judgment module calculates the engine startup time required to reach a predetermined speed increment under different thrust efficiencies and judges the lower limit of thrust efficiency at which supplementary control is not required;

[0013] A calculation module calculates a speed increment and a startup duration of the supplementary control according to a supplementary control interval ΔT;

[0014] The judgment module is required to determine whether the orbit control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbit control target is achieved.

[0015] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the supplementary control method for the case of insufficient orbital control thrust during deep space maneuvers are implemented.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the supplementary control method for the case of insufficient orbital control thrust during deep space maneuvers are implemented.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention provides a method for designing a supplementary control strategy for thruster thrust deficiency during deep space maneuvers. This allows for pre-designed remedial measures for orbital control failures before orbital control is established. If an orbital control failure occurs, supplementary control can be promptly implemented to achieve the original orbital control objective. This timely supplementary orbital control saves decision-making time and provides new assurance for the successful execution of space missions. This means that the present invention enables the pre-design of supplementary control methods before orbital control, saving decision-making time and providing greater assurance for deep space maneuvers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is a flow chart of the supplementary control method for the case of insufficient orbit control thrust during deep space maneuvers. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0021] like Figure 1 As shown, the present invention provides a supplementary control method for a deep space maneuver under a fault condition of insufficient orbit control thrust, comprising the following steps:

[0022] Step 1: Obtain relevant parameters of the satellite and orbit control during normal orbit maneuvers to determine whether there is a thrust deficiency fault during orbit control.

[0023] Step 2: Calculate the engine startup time required to reach a predetermined speed increment at different thrust efficiencies, and determine the lower limit of thrust efficiency that does not require supplementary control.

[0024] Step 3: Calculate the speed increment and power-on duration of the supplementary control based on the supplementary control interval ΔT.

[0025] Step 4: Determine whether the orbital control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbital control target is achieved.

[0026] Specifically, the step 1 includes the following steps:

[0027] Step 1.1: Define the inertial coordinate system, obtain the satellite mass and thruster parameters, obtain the orbit parameters and orbit control target before orbit control, determine the velocity increment V0, power-on time T0, orbit control target, and determine the engine shutdown time T G , the maximum operating time of the thruster T max .

[0028] Step 1.2: During orbit control, if the thruster has not reached the required speed increment V0 after the power-on time T0, it is determined that a thrust shortage fault has occurred.

[0029] Specifically, the second step includes the following steps:

[0030] Step 2.1: Calculate the engine startup time required for the speed increment to reach the nominal orbital speed increment at different thrust efficiencies, until the startup time exceeds the maximum time T for the engine to be shut down according to the timer. G .

[0031] Determine the thrust of the thruster and set the thruster efficiency to decrease in intervals of Δ%. For each different thruster efficiency, calculate the time required for the thruster to provide a speed increment V0.

[0032] Step 2.2: Calculate the orbital parameters after orbit control and the impact on subsequent maneuvers under the above different thrust efficiencies, when the engine is turned on according to the nominal orbit control start time, and then turned off after reaching the speed increment V0 during the orbital maneuver.

[0033] Step 2.3: Under different thrust efficiencies, if the thruster on time exceeds the maximum time T for the engine to be shut down according to the timer G , then additional control is required, so the thruster startup time is just not longer than T G The thruster efficiency of is used as the lower limit before supplemental control is unnecessary. If the actual thrust efficiency falls below this lower limit, supplemental control is required. Furthermore, if the actual thrust efficiency is above this lower limit, but the orbital parameters after orbit control cause the subsequent maneuver orbit control timing and required velocity increment to change by more than a threshold, supplemental control is also required.

[0034] Specifically, the step three includes the following steps:

[0035] Step 3.1: Use the orbit control front track to make the thruster start at different thruster efficiencies and the maximum time T of the engine shutdown according to the time G , recursively obtain the orbital parameters after the first control;

[0036] Step 3.2: Use the controlled orbit parameters to fly to the predetermined target orbit and calculate the required velocity increment, power-on time, and attitude parameters under different thruster efficiencies.

[0037] Specifically, the step 4 includes the following steps:

[0038] Step 4.1: Determine whether the supplementary control startup time is greater than the maximum thruster startup time T max If it is greater than the maximum power-on time of the thruster, then under such circumstances of insufficient thrust, a single supplementary control cannot reach the predetermined orbit, and further supplementary control or redesign of the mission orbit is required.

[0039] According to the orbit control thruster startup time T and the supplementary control thruster startup time T B The corresponding orbit control measures are as follows:

[0040] .

[0041] Example:

[0042] This embodiment discloses a supplementary control method for performing insufficient orbit control thrust during deep space maneuvers, comprising the following steps:

[0043] Step 1: Take the lunar capture maneuver of a satellite during Earth-Moon transfer as an example. The orbital parameters before orbit control in the lunar J2000 coordinate system are R=[3.5895×10 3, -2.5136×10 4 , -1.3354×10 4 ] km; V = [-146.974, 812.66, -614.848] km / s; the orbital time is 24 Mar 2024 11:00:00.000 UTCG; the estimated velocity increment for this orbit control is 214.65 m / s, the power-on time is 652 s, the orbital control target is an orbital semi-major axis of 21026.8 km, the maximum power-on time of the thruster engine is 2000 s, the thruster thrust is 20 N, and the maximum time for the engine to be shut down according to schedule is 1304 s.

[0044] During orbit control, if the velocity increment has not reached 214.65 m / s after 652 seconds of the thruster being turned on, it is judged as a thrust shortage fault.

[0045] Step 2: Set the thruster efficiency to decrease by 5% and calculate the startup time required for the speed increment to reach the nominal orbit control speed increment as shown in Table 1.

[0046] Table 1

[0047]

[0048] In this embodiment, under different thrust efficiencies, the satellite is powered on according to the nominal orbit control power-on time, and powered off after the velocity increment reaches the nominal orbit control velocity increment of 214.65 m / s. The orbital parameters after control are calculated. Since this embodiment involves a lunar capture maneuver in an Earth-Moon transfer orbit, the subsequent satellite needs to perform a far-moon maneuver and two near-moon maneuvers before reaching the mission orbit. The impact of orbit control on subsequent maneuvers is also calculated, as shown in Table 2 (Post-Control Orbit Conditions under Different Thrust Efficiencies).

[0049] Table 2

[0050]

[0051] When the thrust duration exceeds the maximum engine shutdown duration of 1304 seconds, this indicates that at this thrust efficiency, the maximum engine shutdown duration cannot generate sufficient orbital control velocity increment, and supplemental control is required. In this embodiment, supplemental control is required when the thrust efficiency is less than 50%. Furthermore, when the thrust efficiency is not less than 50%, orbital control has little impact on subsequent maneuvers. Therefore, supplemental control is calculated for thrust efficiency less than 50%.

[0052] Step 3: Calculate the orbital parameters 1304s after the thruster is turned on when the thrust efficiency is less than 50%, as shown in Table 3.

[0053] Table 3

[0054]

[0055] When the thrust efficiency is less than 50%, the startup time, velocity increment, and velocity direction required for orbit control to an orbit with a semi-major axis of 21026.8 km after 1304 seconds of thrust startup are shown in Table 4 (Supplementary Control Parameters at Different Thrust Efficiencies).

[0056] Table 4

[0057]

[0058] Step 4: Judging from the results of step 3, when the thrust coefficient of this embodiment is between 0.45 and 0.3, the supplementary control can be completed normally and the predetermined orbit can be entered; when the thrust coefficient is below 0.25, the supplementary control can still be completed and the predetermined orbit can be entered, but the engine startup time is required to exceed 2000 seconds, which exceeds the maximum engine startup time in this example. In this case, the supplementary control cannot be completed.

[0059] According to the orbit control thruster startup time T and the supplementary control thruster startup time T B The corresponding orbit control measures are as follows:

[0060] .

[0061] The present invention also provides a supplementary control device for the case of insufficient orbit control thrust during deep space maneuvers, comprising the following modules:

[0062] The fault diagnosis module obtains the relevant parameters of the satellite and orbit control during normal orbit maneuvers and determines whether there is a thrust shortage fault during orbit control.

[0063] The lower limit judgment module calculates the engine startup time required to reach a predetermined speed increment under different thrust efficiencies and judges the lower limit of thrust efficiency at which supplementary control is not required.

[0064] The calculation module calculates the speed increment and the power-on time of the supplementary control according to the supplementary control interval ΔT.

[0065] The judgment module is required to determine whether the orbit control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbit control target is achieved.

[0066] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the supplementary control method for the case of insufficient orbital control thrust during deep space maneuvers are implemented.

[0067] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of the supplementary control method for the above-mentioned orbit control thrust deficiency failure during deep space maneuvers are implemented.

[0068] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk drives, CD-ROMs, optical storage devices, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention may be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0069] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0070] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0072] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0073] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A supplementary control method for insufficient orbit control thrust during deep space maneuvers, characterized in that: The steps include: Step 1: Obtain the relevant parameters of the satellite and orbit control during normal orbit maneuvers to determine whether there is a thrust shortage fault during orbit control; the relevant parameters include the speed increment V0 during orbit maneuvers, the power-on time T0, the orbit control target, and the engine shutdown time T0. G , thruster thrust size, thruster maximum power-on time T max ; Step 2: Calculate the engine power-on time required to reach a predetermined speed increment at different thruster efficiencies, and determine the lower limit of thruster efficiency that does not require supplemental control; thruster efficiency is the ratio of thrust to nominal thrust; Step 3: Calculate the speed increment and power-on duration of the supplementary control based on the supplementary control interval ΔT, including the following steps: Step 3.1: Use the orbit control front track to start the thruster at different thruster efficiencies T G Duration, that is, the maximum duration of the engine shutdown according to the time, is recursively used to obtain the orbit parameters after the first control; Step 3.2: Use the controlled orbit parameters to drive the target to the predetermined target orbit and calculate the required velocity increment, power-on time, and attitude parameters under different thruster efficiencies. Step 4: Determine whether the orbital control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbital control target is achieved.

2. The method for supplementary control in the event of insufficient orbit control thrust during deep space maneuvers according to claim 1, characterized in that: The step 1 comprises the following steps: Step 1.1: Define the inertial coordinate system, obtain the satellite mass and thruster parameters, obtain the orbit parameters and orbit control target before orbit control, determine the velocity increment V0, power-on time T0, orbit control target, and determine the engine shutdown time T G , the maximum operating time of the thruster T max ; Step 1.2: During orbit control, if the thruster has not reached the required speed increment V0 after the power-on time T0, it is determined that a thrust shortage fault has occurred.

3. The method for supplementary control in the event of insufficient orbit control thrust during deep space maneuvers according to claim 1, characterized in that: The second step comprises the following steps: Step 2.1: Calculate the engine startup time required for the speed increment to reach the nominal orbital speed increment at different thruster efficiencies, until the startup time exceeds the maximum time T for the engine to be shut down according to the timer. G ; Step 2.2: Calculate the orbital parameters after orbit control and the impact on subsequent maneuvers when the thrusters are turned on according to the nominal orbit control start time, and then turned off after reaching the velocity increment V0 during the orbital maneuver under the above different thruster efficiencies.

4. The method for supplementary control in the event of insufficient orbit control thrust during deep space maneuvers according to claim 3, characterized in that: The second step also includes: Step 2.3: Under different thruster efficiencies, if the thruster on time exceeds the maximum time T for the engine to be shut down according to the timer G , then supplementary control is required, so the thruster startup time is T G The thruster efficiency at that time is taken as the lower limit where supplementary control is not required. If the actual thruster efficiency is lower than this lower limit, supplementary control is required.

5. The method for supplementary control in the event of insufficient orbit control thrust during deep space maneuvers according to claim 3, characterized in that: The step 2.1 includes: determining the thrust of the thruster, setting the thruster efficiency to decrease at intervals of Δ%; and for each different thruster efficiency, calculating the startup time required for the thruster to provide a velocity increment V0 during orbital maneuvers.

6. The method for supplementary control in the event of insufficient orbit control thrust during deep space maneuvers according to claim 4, characterized in that: In step 2.3, if the actual thruster efficiency is higher than the lower limit, and the orbital parameters after orbit control cause the change in the subsequent maneuver orbit control timing and the required speed increment to be greater than the threshold, supplementary control is also performed.

7. The method for supplementary control in the event of insufficient orbit control thrust during deep space maneuvers according to claim 1, characterized in that: The step 4 includes the following steps: Step 4.1: Determine whether the supplementary control startup time is greater than the maximum thruster startup time T max If it is greater than the maximum time T that the thruster can be turned on max , then under such circumstances of insufficient thrust, a single supplementary control cannot reach the predetermined orbit, and further supplementary control or redesign of the mission orbit is required; According to the orbit control thruster startup time T and the supplementary control thruster startup time T B The corresponding orbit control measures are as follows: 。 8. A supplementary control device for the case of insufficient orbit control thrust during deep space maneuvers, characterized in that: Includes the following modules: The fault judgment module obtains the relevant parameters of the satellite and orbit control during normal orbit maneuvers and determines whether there is a thrust shortage fault during orbit control. The relevant parameters include the speed increment V0 during orbit maneuvers, the power-on time T0, the orbit control target, and the engine shutdown time T0. G , thruster thrust size, thruster maximum power-on time T max ; A lower limit judgment module calculates the engine startup time required to reach a predetermined speed increment under different thruster efficiencies and judges the lower limit of thruster efficiency that does not require supplementary control; The thruster efficiency is the ratio of thrust to nominal thrust; The calculation module calculates the speed increment and start-up time of the supplementary control according to the supplementary control interval ΔT, including: using the front track of the orbit control to make the thruster start at different thruster efficiencies T G Duration, that is, the maximum duration of the engine shutdown according to the time, is recursively used to obtain the orbit parameters after the first control; Use the controlled orbit parameters to shoot to the predetermined target orbit and calculate the required velocity increment, power-on time and attitude parameters under different thruster efficiencies; The judgment module is required to determine whether the orbit control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbit control target is achieved.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the supplementary control method for the case of insufficient orbit control thrust during deep space maneuvers as described in any one of claims 1-7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the supplementary control method for the case of insufficient orbit control thrust during deep space maneuvers as described in any one of claims 1 to 7 are implemented.

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