An active orbiting control method, device, equipment and medium for a spacecraft

Abstract

This application relates to the field of spacecraft orbital dynamics, and specifically relates to an active flying-around control method, device, equipment and medium for a spacecraft. The number of control times of the accompanying spacecraft within the flying-around period is iteratively set until the latest number of control times enables each target position deviation within the flying-around period to meet the first preset condition. Each time the number of control times is set, for each control period, the offset parameter is iteratively selected within the offset parameter range, the offset target position is determined based on each selected offset parameter, and the actual flying-around trajectory of the accompanying spacecraft transferring from the starting position of the control period to the offset target position is determined, as well as the candidate position deviation from the set flying-around trajectory; the target offset parameter whose candidate position deviation meets the second preset condition is determined, and its corresponding candidate position deviation is used as the target position deviation within the control period. This application can limit the deviation between the actual flying-around trajectory of the accompanying spacecraft and the set flying-around trajectory within a certain error range.

Description

Technical Field

[0001] This application relates to the field of spacecraft orbital dynamics. Specifically, it relates to an active fly-around control method, device, equipment, and medium for a spacecraft. Background Art

[0002] With the continuous improvement of humanity's ability to research, develop, and apply space, spacecraft on-orbit service technologies such as in-orbit fueling, maintenance and repair, function replacement and upgrade, and in-orbit assembly of spacecraft have gradually become research hotspots. In spacecraft on-orbit service missions, the "fly-around" technology is often used.

[0003] Fly-around motion is divided into natural fly-around and active fly-around. By applying active thrust control to a spacecraft, making it perform periodic relative motion around another target spacecraft within a certain distance range is called active fly-around. Active fly-around technology plays an important role in spacecraft close-range on-orbit service missions. During the active fly-around process, to make the accompanying spacecraft fly along a circular or elliptical trajectory around the target spacecraft, multiple controls need to be applied within one fly-around cycle. And within a single control cycle, there is a deviation between the actual fly-around trajectory and the set fly-around trajectory. In engineering, this deviation usually needs to be limited within a certain error range. Summary of the Invention

[0004] This application provides an active fly-around control method, device, equipment, and medium for a spacecraft to limit the deviation between the actual fly-around trajectory and the set fly-around trajectory within a certain error range during the process of the accompanying spacecraft performing dynamic fly-around of the target spacecraft.

[0005] The specific technical solutions provided by the embodiments of this application are as follows:

[0006] In a first aspect, the embodiments of this application provide an active fly-around control method for a spacecraft, including:

[0007] Set the number of controls of the accompanying spacecraft within the fly-around cycle in an iterative manner until the latest number of controls makes each target position deviation within the fly-around cycle meet a first preset condition. Wherein, each time the number of controls is set, the following operations are performed for each control cycle:

[0008] Iteratively select a bias parameter within the bias parameter range. Wherein, each time a bias parameter is selected, based on the bias parameter, determine the bias target position within the control cycle, and determine the deviation between the actual fly-around trajectory of the accompanying spacecraft transferring from the starting position of the control cycle to the bias target position and the candidate position of the set fly-around trajectory;

[0009] From multiple selected offset parameters, determine a target offset parameter for which the candidate position offset satisfies a second preset condition, and use the candidate position offset corresponding to the target offset parameter as the target position offset within the control period.

[0010] In some exemplary embodiments, the determining the offset target position within the control period based on the offset parameter includes:

[0011] Based on the set fly-around trajectory, determine the set target position within the control period;

[0012] Based on the offset parameter and the set target position, determine the offset target position within the control period.

[0013] In some exemplary embodiments, the method further includes:

[0014] Obtain the fly-around parameters of the accompanying spacecraft;

[0015] Based on the fly-around parameters, determine the set fly-around trajectory of the accompanying spacecraft.

[0016] In some exemplary embodiments, the determining the candidate position offset between the actual fly-around trajectory of the accompanying spacecraft from the starting position to the offset target position within the control period and the set fly-around trajectory includes:

[0017] Determine the position offsets between multiple position points in the actual fly-around trajectory of the accompanying spacecraft from the starting position to the offset target position and the corresponding set position points in the set fly-around trajectory;

[0018] Select the candidate position offset from the determined multiple position offsets.

[0019] In some exemplary embodiments, the method further includes:

[0020] Based on a preset relative motion equation, determine the target velocity required for the accompanying spacecraft to transfer from the starting position to the offset target position;

[0021] Based on the starting velocity at the starting position and the target velocity, determine the velocity control amount.

[0022] In some exemplary embodiments, the following method is used to determine that each target position offset within the fly-around period satisfies a first preset condition:

[0023] At the latest control count, determine the maximum position offset among each target position offset within the fly-around period;

[0024] If the maximum position deviation does not exceed the set position deviation, it is determined that each target position deviation within the fly-around period satisfies the first preset condition.

[0025] In a second aspect, an active fly-around control device for a spacecraft provided by an embodiment of the present application includes:

[0026] A setting module, configured to set the number of control times of the accompanying spacecraft within the fly-around period in an iterative manner until the latest number of control times makes each target position deviation within the fly-around period satisfy the first preset condition;

[0027] An execution module, configured to perform the following operations for each control cycle every time the number of control times is set:

[0028] Iteratively select a bias parameter within the bias parameter range. Wherein, each time a bias parameter is selected, based on the bias parameter, determine the bias target position within the control cycle, and determine the candidate position deviation between the actual fly-around trajectory of the accompanying spacecraft transferring from the starting position of the control cycle to the bias target position and the set fly-around trajectory;

[0029] Determine a target bias parameter whose candidate position deviation satisfies the second preset condition from the selected multiple bias parameters, and use the candidate position deviation corresponding to the target bias parameter as the target position deviation within the control cycle.

[0030] In some exemplary embodiments, when determining the bias target position within the control cycle based on the bias parameter, the execution module is further configured to:

[0031] Based on the set fly-around trajectory, determine the set target position within the control cycle;

[0032] Based on the bias parameter and the set target position, determine the bias target position within the control cycle.

[0033] In some exemplary embodiments, the device further includes a determination module, configured to:

[0034] Obtain the fly-around parameters of the accompanying spacecraft;

[0035] Based on the fly-around parameters, determine the set fly-around trajectory of the accompanying spacecraft.

[0036] In some exemplary embodiments, when determining the candidate position deviation between the actual fly-around trajectory of the accompanying spacecraft transferring from the starting position of the control cycle to the bias target position and the set fly-around trajectory, the execution module is further configured to:

[0037] Determine the position deviations between multiple position points in the actual flying-around trajectory of the accompanying spacecraft transferred from the starting position to the offset target position and the corresponding set position points in the set flying-around trajectory respectively;

[0038] Select the candidate position deviation from the determined multiple position deviations.

[0039] In some exemplary embodiments, the device further includes a control module, configured to:

[0040] Determine the target velocity required for the accompanying spacecraft to be transferred from the starting position to the offset target position based on a preset relative motion equation;

[0041] Determine a velocity control amount based on the starting velocity at the starting position and the target velocity.

[0042] In some exemplary embodiments, the execution module is further configured to determine that each target position deviation within the flying-around period meets a first preset condition in the following manner:

[0043] At the latest control times, determine the maximum position deviation among each target position deviation within the flying-around period;

[0044] If the maximum position deviation does not exceed the set position deviation, determine that each target position deviation within the flying-around period meets the first preset condition.

[0045] In a third aspect, the present application provides a control device, including:

[0046] A memory for storing program instructions;

[0047] A processor for calling the program instructions stored in the memory and executing the steps included in the method according to any one of the first aspect.

[0048] In a fourth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is caused to execute the method according to any one of the first aspect.

[0049] In a fifth aspect, the present application provides a computer program product, where the computer program product includes: computer program code, and when the computer program code runs on a computer, the computer is caused to execute the method according to any one of the first aspect.

[0050] The active flying-around control method for a spacecraft provided by the embodiments of the present application has at least the following beneficial effects:

[0051] In the embodiments of the present application, during one fly-around period of the accompanying spacecraft, the accompanying spacecraft needs to be controlled multiple times to achieve active fly-around. To determine the number of times of controlling the accompanying spacecraft, the number of times of controlling the accompanying spacecraft within the fly-around period is iteratively set until the latest number of times of control enables each target position deviation within the fly-around period to meet the first preset condition; wherein, each time the number of times of control is set, in each control at this number of times of control, the target point is dynamically offset, that is: the control target point is no longer a certain point on the set fly-around trajectory, but the offset target point is determined through the searched target offset parameter, and the target position deviation in this control is determined. In this way, by iteratively setting the number of times of control and searching for the target offset parameter, the deviation between the actual fly-around trajectory and the set fly-around trajectory in the final control scheme is limited within a certain error range. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0053] Figure 1 It is a schematic diagram of a two-pulse transfer based on the C-W motion equation provided in the embodiments of the present application;

[0054] Figure 2 It is a schematic diagram of a fly-around coordinate system of an accompanying spacecraft provided in the embodiments of the present application;

[0055] Figure 3 It is a flowchart of an active fly-around control method for a spacecraft provided in the embodiments of the present application;

[0056] Figure 4 It is a schematic diagram of the calculation result of an example provided in the embodiments of the present application;

[0057] Figure 5 It is a schematic diagram of the structure of an active fly-around control device for a spacecraft provided in the embodiments of the present application;

[0058] Figure 6 It is a schematic diagram of the structure of a control device provided in the embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0059] To enable those skilled in the art to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0060] In the description of this application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, unless otherwise stated, the meaning of "plural" is two or more.

[0061] During the active fly-around process, in order to make the accompanying spacecraft fly around the target spacecraft in a circular or elliptical trajectory, multiple controls need to be applied within one fly-around cycle. And within a single control cycle, there is a deviation between the actual fly-around trajectory and the set fly-around trajectory. In engineering, this deviation usually needs to be limited within a certain error range. In view of this, the embodiments of this application provide a method, device, equipment and medium for active fly-around control of a spacecraft, which can limit the deviation between the actual fly-around trajectory and the set fly-around trajectory within a certain error range during the active fly-around process of the accompanying spacecraft around the target spacecraft.

[0062] The following introduces the relative motion equation and fly-around trajectory of the accompanying spacecraft.

[0063] For the relative motion situation of the accompanying spacecraft and the target spacecraft at a close distance (such as a few meters to dozens of kilometers), its relative motion equation can be simplified to the Clohessy-Wiltshire (C-W) equation describing the relative motion of satellites. The following introduces the double-pulse transfer method based on the C-W equation.

[0064] In the orbital system (the z-axis points to the center of the earth, the y-axis is perpendicular to the orbital plane, and the x-axis forms a right-handed system with the y and z axes), the position, velocity and acceleration at the initial moment are r0, and a. When a is a fixed value a c , the C-W equation has an analytical solution, as shown in the following formula (1):

[0065]

[0066] Among them,

[0067]

[0068]

[0069]

[0070]

[0071]

[0072]

[0073] Assume that the initial position of the accompanying spacecraft is denoted as r0 and the velocity is denoted as To enable the accompanying spacecraft to reach the specified position r at t = T T , the required initial velocity is:

[0074]

[0075] The velocity pulse to be applied at the initial moment is

[0076] The velocity at time T is:

[0077]

[0078] If the required velocity at r T is then the pulse applied at time T is:

[0079] As Figure 1 shown, by applying pulses Δv0 and Δv at the initial moment and time T T it is possible to achieve a double-pulse transfer of the accompanying spacecraft from to within time T.

[0080] Assume that the orbit of the accompanying spacecraft around the target spacecraft is elliptical, as Figure 2 shown. For the active fly-around problem of any elliptical orbit, a fly-around coordinate system ox′y′z′ can be established. Among them, the fly-around orbital plane of the target spacecraft is ox′z′, and the x′-axis and z′-axis are the two main axes of the fly-around ellipse respectively. According to the 312 rotation sequence (i.e., zxy), the Euler angles from the orbital system to the fly-around coordinate system are set as θ z , θ x , θ y , then the rotation matrix C is shown in the following equation (10):

[0081] C = C y (θ y )C x (θ x )C z (θz ) (10)

[0082] In the ox′y′z′ coordinate system, the eccentric anomaly of the initial position (t = 0) of the accompanying spacecraft is 0, the flying-around period is T, and the flying-around angular velocity ω c = 2π / T. The lengths of the major axes of the flying-around ellipse are a and b respectively. Assuming a clockwise flying-around, the set flying-around trajectory in the orbital system is shown in the following formula (11):

[0083]

[0084] To make the accompanying spacecraft fly around the target spacecraft in an elliptical orbit, multiple controls need to be applied within one flying-around period. Assuming the time interval between two controls is ΔT, and the positions of the starting point (t = t0) and the target point (t = t0 + ΔT) are both on the flying-around ellipse. Based on the C-W equation double-pulse transfer method to solve the control quantity, it can be known that the actual flying-around trajectory of the accompanying spacecraft is shown in the following formula (12):

[0085]

[0086] Among them,

[0087]

[0088] Comparing the actual flying-around trajectory described by formula (12) with the set flying-around trajectory described by formula (11), there is a deviation between the two. To make the deviation between the actual flying-around trajectory and the set flying-around trajectory meet the engineering error precision requirements during the entire flying-around process, the active flying-around control method of the spacecraft in the embodiments of the present application is used to determine the control scheme of the accompanying spacecraft.

[0089] The following will combine the accompanying drawings and specific embodiments to elaborate in detail on the active flying-around control method of the spacecraft in the present application.

[0090] As Figure 3 shown, the embodiments of the present application provide an active flying-around control method for a spacecraft, including the following steps S301 - S303:

[0091] Step S301, set the number of controls of the accompanying spacecraft within the flying-around period in an iterative manner until the latest number of controls makes the deviation of each target position within the flying-around period meet the first preset condition. Among them, each time the number of controls is set, the following steps S302 - S303 are executed for each control period.

[0092] Among them, each time the number of controls within the fly-around period of the accompanying spacecraft is set, that is, a fly-around period is divided into multiple control periods. For example, a fly-around period is equally divided into n parts at equal intervals, and each control period is 1 / n of a fly-around period. The target position deviation for each control period is determined according to the following steps S302 - S303, and multiple target position deviations within the fly-around period are obtained.

[0093] After setting a number of controls, if the obtained target position deviations all meet the first preset condition, the iteration of setting the number of controls is stopped; if the obtained target position deviations do not meet the first preset condition, the iteration continues to set the next number of controls. Specifically, the next number of controls set can be incremented based on the previously set number of controls. That is to say, when iteratively setting the number of controls of the accompanying spacecraft within the fly-around period, the number of controls can be incremented successively. For example, if the initially set number of controls is 10, the subsequent incremented numbers of controls are 11, 12,... and so on, until the target position deviations obtained with the latest set number of controls meet the first preset condition.

[0094] In some exemplary embodiments, when it is determined that the target position deviations within the fly-around period meet the first preset condition, the following steps A1 - A2 can be executed:

[0095] A1. At the latest number of controls, determine the maximum position deviation among the target position deviations within the fly-around period.

[0096] Among them, at the latest number of controls, a target position deviation is calculated for each control period. A fly-around period includes multiple control periods, that is, multiple target position deviations are included, and the maximum position deviation is selected from the multiple target position deviations.

[0097] A2. If the maximum position deviation does not exceed the set position deviation, it is determined that the target position deviations within the fly-around period meet the first preset condition.

[0098] Among them, the set position deviation can be set as needed and is not limited herein.

[0099] Step S302: Iteratively select a bias parameter within the bias parameter range. Among them, each time a bias parameter is selected, based on the bias parameter, the biased target position within the control period is determined, and the actual fly-around trajectory of the accompanying spacecraft transferring from the starting position of the control period to the biased target position is determined, as well as the candidate position deviation from the set fly-around trajectory.

[0100] Step S303: From the selected multiple bias parameters, determine the target bias parameter for which the candidate position deviation meets the second preset condition, and use the candidate position deviation corresponding to the target bias parameter as the target position deviation within the control period.

[0101] In the above step S302, the offset parameter range can be set as needed. For example, set the upper and lower bounds of the offset parameter, and use the offset parameter between the upper and lower bounds as the offset parameter range, such as 0.9 - 1.1, which is not limited herein. When selecting the offset parameter from the offset parameter range, in order to improve efficiency, it can be selected by a setting method. For example, use the dichotomy method to search for the offset parameter from the offset parameter range, and the finally selected offset parameter makes the target position deviation within the control period the smallest. That is to say, in the above step S303, the second preset condition can be: the smallest candidate position deviation among multiple candidate position deviations, use the offset parameter corresponding to the smallest candidate position deviation as the target offset parameter, and use this smallest candidate position deviation as the target position deviation within the control period.

[0102] In the above step S302, after each selection of the offset parameter, determining the offset target position within the control period based on the offset parameter may include the following steps B1 - B2:

[0103] B1. Determine the set target position within the control period based on the set fly - around trajectory.

[0104] B2. Determine the offset target position within the control period based on the offset parameter and the set target position.

[0105] In the embodiments of the present application, the set fly - around trajectory can be determined in the following manner: obtain the fly - around parameters of the accompanying spacecraft; based on the fly - around parameters of the accompanying spacecraft, determine the set fly - around trajectory of the accompanying spacecraft.

[0106] Among them, the fly - around parameters of the accompanying spacecraft can be set as needed. The fly - around parameters may include the fly - around period, the major semi - axis and minor semi - axis of the fly - around ellipse, the fly - around angular velocity, etc. The fly - around period can be the same as or different from the flight period of the target spacecraft.

[0107] Specifically, based on the fly - around parameters of the accompanying spacecraft, the set fly - around trajectory of the accompanying spacecraft can be determined according to Equation (11) in the above embodiments.

[0108] In the above step B1, based on the set starting position within the control period (the set starting position is the set target position in the previous control period) combined with the set fly - around trajectory, the set target position within the control period can be determined. Among them, each control period corresponds to a section of the trajectory in the set fly - around trajectory, including the set starting position and the set target position within the control period.

[0109] In the above step B2, the product of the offset parameter and the set target position can be used as the offset target position within the control period.

[0110] Further, the deviation between the actual flying-around trajectory determined in step S302 above for the accompanying spacecraft to transfer from the starting position of the control period to the offset target position and the candidate positions of the set flying-around trajectory may include the following steps C1 - C2:

[0111] C1. Determine the position deviations between multiple position points in the actual flying-around trajectory of the accompanying spacecraft to transfer from the starting position of the control period to the offset target position and the corresponding set position points in the set flying-around trajectory.

[0112] Among them, multiple position points can be selected as needed. For example, the position point at moment, where ΔT is the control period.

[0113] C2. Select candidate position deviations from the determined multiple position deviations.

[0114] Optionally, select the minimum position deviation from the determined multiple position deviations as the candidate position deviation.

[0115] In some embodiments, when the accompanying spacecraft transfers from the starting position to the offset target position in step S302 above, the control amount to be applied can be determined according to the double-pulse transfer method based on the C-W equation in the above embodiments. Specifically, the control amount to be applied can be determined based on the following steps E1 - E2:

[0116] E1. Based on a preset relative motion equation, determine the target velocity required for the accompanying spacecraft to transfer from the starting position to the offset target position.

[0117] Among them, the preset relative motion equation can be the C-W equation in the above embodiments. Based on equations (1) - (9) in the above embodiments, the starting velocity of the accompanying spacecraft at the starting position of this control period and the target velocity required to transfer from the starting position to the offset target position can be calculated.

[0118] E2. Determine the velocity control amount based on the starting velocity at the starting position and the target velocity.

[0119] Among them, the target velocity minus the starting velocity equals the velocity control amount.

[0120] In the embodiments of the present application, in order to determine the number of controls for the accompanying spacecraft, the number of controls for the accompanying spacecraft within the flying-around period is iteratively set until the latest number of controls makes the deviation of each target position within the flying-around period meet the first preset condition; wherein, each time the number of controls is set, in each control under this number of controls, the target point is dynamically offset, that is: the control target point is no longer a certain point on the set flying-around trajectory, but the offset target point is determined through the searched target offset parameter, and the target position deviation in this control is determined. In this way, by iteratively setting the number of controls and searching for the target offset parameter, the deviation between the actual flying-around trajectory and the set flying-around trajectory in the final control scheme is limited within a certain error range.

[0121] Next, a specific example is used to exemplarily introduce the active flying-around control method for the spacecraft in the embodiments of the present application.

[0122] The active flying-around control method for the spacecraft in the embodiments of the present application may include the following steps:

[0123] Step 1: Initialize the semi-major axis of the target spacecraft orbit, the semi-major axis of the flying-around ellipse of the accompanying spacecraft as a and the semi-minor axis as b, the flying-around period T, the position deviation index ε, and the number of controls n; calculate the control period ΔT = T / n, and initialize the starting point position according to Equation (10) in the above embodiments. Initialize the upper and lower bounds w L and w U of the offset parameter w.

[0124] Among them, the semi-major axis of the target spacecraft orbit is used to determine the rotational angular velocity ω of the target spacecraft, so as to determine the C-W equation in the above embodiments for subsequent velocity double-pulse transfer calculation.

[0125] Step 2: For each control period, use the bisection method to search for w to obtain the final w = w opt such that the within this control period is the smallest; wherein, is calculated through the following Step 3; go to Step 4.

[0126] Step 3: Calculate the position of the set target point according to Equation (11) in the above embodiments. Then the position of the offset target point is Adopt the velocity double-pulse transfer method in the above embodiments, that is, Equations (1)-(9) in the above embodiments, to calculate the control quantity Δv for transferring from the initial point of this control period to the offset target point. i Calculate the position deviation of the accompanying spacecraft at the moment i after applying the control quantity Δv, and obtain the maximum value of the position deviation of these 100 points.

[0127] Step 4: If \(i = n\), go to Step 5; otherwise, Return to Step 2;

[0128] Step 5: Calculate the maximum position deviation during the entire fly-around period If \(\Delta r\) max is greater than the position deviation index, then Return to Step 2; otherwise, output \(n\), \(\Delta v\) i and

[0129] In the embodiments of the present application, to ensure that during the entire fly-around process, the position deviation between the actual fly-around trajectory and the set fly-around trajectory meets the engineering error precision requirements, that is: ( is the given position deviation index), the following control method with dynamic bias is designed: Divide a fly-around period into \(n\) equal intervals, and the control period is \(1 / n\) of a fly-around period. For each control, perform a dynamic bias on the control target, that is: the control target point is no longer a certain point on the nominal fly-around ellipse, but through a certain bias parameter, the maximum position deviation during this control process is reduced. For each control, search for the optimal bias parameter and obtain the maximum value of the position deviation. If the maximum value of the position deviation during the entire fly-around period does not meet the given index requirements, increase the value of \(n\) and recalculate. When the position deviation meets the index requirements, obtain the final control scheme.

[0130] The following gives an exemplary introduction to the calculation example using the method of the embodiments of the present application.

[0131] Taking the example of elliptical fly-around of a target spacecraft in a circular orbit with a semi-major axis of 6751959.068, set the error threshold to 2m, set the fly-around period to one orbital period of the target spacecraft, and the settings of other parameters of the fly-around ellipse and the simulation calculation results are shown in Table 1 below:

[0132] Table 1

[0133] Example Name Fly-around Ellipse Parameter (m) Rotational Euler Angle (°) Example 1 a = b = 200 <![CDATA[θ x = θ y = θ z = 0°]]> Example 2 a = 200, b = 250 <![CDATA[θ x = θ y = θ z = 0°]]> Example 3 a = 200, b = 250 <![CDATA[θ x = 90°, θ y = θ z = 0°]]> Example 4 a = 200, b = 250 <![CDATA[θ y = 90°, θ x = θ z = 0°]]> Example 5 a = 200, b = 250 <![CDATA[θ z = 90°, θ x = θ y = 0°]]> Example 6 a = 200, b = 250 <![CDATA[θ x = θ y = θ z = 45°]]>

[0134] Using the dynamic bias fly-around control strategy, the calculation results of the dynamic bias active fly-around control are shown in Table 2 below, and the maximum position deviation (i.e., the maximum deviation) of the above various calculation examples under the determined number of controls is as Figure 4 shown.

[0135] Table 2

[0136] Example Name Control Times Burnout (m / s) Example 1 30 2.4485 Example 2 36 3.6120 Example 3 33 2.4752 Example 4 26 1.9576 Example 5 41 5.8052 Example 6 34 2.6963

[0137] Based on the same inventive concept, an embodiment of the present application provides an active fly-around control device for a spacecraft, as follows Figure 5 As shown, the active fly-around control device for a spacecraft includes a setting module 51 and an execution module 52.

[0138] The setting module 51 is used to set the number of control times of the accompanying spacecraft within the fly-around period in an iterative manner until the latest number of control times makes the deviation of each target position within the fly-around period meet the first preset condition;

[0139] The execution module 52 is used to perform the following operations for each control cycle every time the number of control times is set:

[0140] Iteratively select a bias parameter within the bias parameter range. Wherein, each time a bias parameter is selected, based on the bias parameter, determine the bias target position within the control cycle, and determine the deviation between the actual fly-around trajectory of the accompanying spacecraft transferring from the starting position of the control cycle to the bias target position and the candidate position of the set fly-around trajectory;

[0141] Determine the target bias parameter whose candidate position deviation meets the second preset condition from the selected multiple bias parameters, and use the candidate position deviation corresponding to the target bias parameter as the target position deviation within the control cycle.

[0142] In the embodiment of the present application, in order to determine the number of control times of the accompanying spacecraft, the number of control times of the accompanying spacecraft within the fly-around period is iteratively set until the latest number of control times makes the deviation of each target position within the fly-around period meet the first preset condition; wherein, each time the number of control times is set, in each control at this number of control times, dynamically bias the target point, that is: the control target point is no longer a certain point on the set fly-around trajectory, but determine the bias target point through the searched target bias parameter, and determine the target position deviation in this control. In this way, by iteratively setting the number of control times and searching for the target bias parameter, the deviation between the actual fly-around trajectory and the set fly-around trajectory in the final control scheme is limited within a certain error range.

[0143] In some exemplary embodiments, when determining the bias target position within the control cycle based on the bias parameter, the execution module 52 is further used for:

[0144] Based on the set fly-around trajectory, determine the set target position within the control cycle;

[0145] Based on the bias parameter and the set target position, determine the bias target position within the control cycle.

[0146] In some exemplary embodiments, the device further includes a determination module, which is used for:

[0147] Obtain the fly-around parameters of the accompanying spacecraft;

[0148] Based on the fly-around parameters, determine the set fly-around trajectory of the accompanying spacecraft.

[0149] In some exemplary embodiments, when determining the deviation between the actual fly-around trajectory of the accompanying spacecraft transferred from the starting position of the control cycle to the offset target position and the candidate position of the set fly-around trajectory, the execution module 52 is further configured to:

[0150] Determine the position deviations between multiple position points in the actual fly-around trajectory of the accompanying spacecraft transferred from the starting position of the control cycle to the offset target position and the corresponding set position points in the set fly-around trajectory;

[0151] Select a candidate position deviation from the determined multiple position deviations.

[0152] In some exemplary embodiments, the device further includes a control module, configured to:

[0153] Based on a preset relative motion equation, determine the target velocity required for the accompanying spacecraft to transfer from the starting position to the offset target position;

[0154] Determine a velocity control amount based on the starting velocity at the starting position and the target velocity.

[0155] In some exemplary embodiments, the execution module 52 is further configured to determine that each target position deviation within the fly-around period satisfies a first preset condition by the following method:

[0156] At the latest control count, determine the maximum position deviation among each target position deviation within the fly-around period;

[0157] If the maximum position deviation does not exceed the set position deviation, determine that each target position deviation within the fly-around period satisfies the first preset condition.

[0158] Based on the same inventive concept, an embodiment of the present application provides a control device, which can implement the functions of the active fly-around control device of the spacecraft discussed above. Please refer to Figure 6 , the device includes a processor 601 and a memory 602, the memory 602 is used to store program instructions; the processor 601 is used to call the program instructions stored in the memory 602 and execute the steps included in any of the active fly-around control methods of the spacecraft in the above embodiments according to the obtained program instructions.

[0159] In the embodiments of the present application, the specific connection medium between the above-mentioned memory 602 and the processor 601 is not limited. For example, the memory 602 and the processor 601 are connected through a bus, and the bus can be divided into an address bus, a data bus, a control bus, etc.

[0160] The memory 602 may include a Read-Only Memory (ROM) and a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0161] The aforementioned processor 601 may be a general-purpose processor, including a central processor, a Network Processor (NP), etc.; it may also be a Digital Signal Processing (DSP), an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0162] Based on the same inventive concept, an embodiment of this application provides a computer-readable storage medium. The computer program product includes: computer program code, which when running on a computer, causes the computer to execute any one of the document generation methods discussed above. Since the principle of solving problems by the above computer-readable storage medium is similar to the active fly-around control method of a spacecraft, the implementation of the above computer-readable storage medium can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0163] In a specific implementation process, the computer storage medium may include: various storage media that can store program code, such as a Universal Serial Bus Flash Drive (USB), a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disc.

[0164] Based on the same inventive concept, an embodiment of this application also provides a computer program product. The computer program product includes: computer program code, which when running on a computer, causes the computer to execute any one of the document generation methods discussed above. Since the principle of solving problems by the above computer program product is similar to the active fly-around control method of a spacecraft, the implementation of the above computer program product can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0165] A computer program product may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0166] Those skilled in the art will appreciate that the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0167] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows 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 the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0168] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0169] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, so that a series of user operation steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the steps specified in one process or a plurality of processes and / or blocks Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps for the functions specified in one block or a plurality of blocks.

[0170] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. An active fly-around control method for a spacecraft, characterized in that Including: Setting the number of controls of the accompanying spacecraft within the fly-around period in an iterative manner until, under the latest number of controls, the maximum position deviation among the respective target position deviations within the fly-around period does not exceed the set position deviation, where, each time the number of controls is set, the following operations are performed for each control period: Iteratively selecting a bias parameter within the bias parameter range, where, each time a bias parameter is selected, based on the set fly-around trajectory, determining the set target position within the control period, based on the bias parameter and the set target position, determining the bias target position within the control period, and determining the candidate position deviation between the actual fly-around trajectory of the accompanying spacecraft transferring from the starting position of the control period to the bias target position and the set fly-around trajectory; Selecting the minimum candidate position deviation from the candidate position deviations corresponding to the selected multiple bias parameters as the target position deviation within the control period.

2. The method according to claim 1, wherein The method further includes: Obtaining the fly-around parameters of the accompanying spacecraft; Based on the fly-around parameters, determining the set fly-around trajectory of the accompanying spacecraft.

3. The method according to claim 1, characterized in that The determining the candidate position deviation between the actual fly-around trajectory of the accompanying spacecraft transferring from the starting position of the control period to the bias target position and the set fly-around trajectory includes: Determining the position deviations between multiple position points in the actual fly-around trajectory of the accompanying spacecraft transferring from the starting position to the bias target position and the corresponding set position points in the set fly-around trajectory; Selecting the candidate position deviation from the determined multiple position deviations.

4. The method according to claim 1, wherein The method further includes: Based on a preset relative motion equation, determining the target velocity required for the accompanying spacecraft to transfer from the starting position to the bias target position; Determining a velocity control amount based on the starting velocity at the starting position and the target velocity.

5. An active orbiting control device for a spacecraft, characterized in that, Including: A setting module, configured to set the number of controls of the accompanying spacecraft within the fly-around period in an iterative manner until, under the latest number of controls, the maximum position deviation among the respective target position deviations within the fly-around period does not exceed the set position deviation; An execution module, configured to, each time the number of controls is set, perform the following operations for each control period: Iteratively selecting a bias parameter within the bias parameter range, where, each time a bias parameter is selected, based on the set fly-around trajectory, determining the set target position within the control period, based on the bias parameter and the set target position, determining the bias target position within the control period, and determining the candidate position deviation between the actual fly-around trajectory of the accompanying spacecraft transferring from the starting position of the control period to the bias target position and the set fly-around trajectory; Selecting the minimum candidate position deviation from the candidate position deviations corresponding to the selected multiple bias parameters as the target position deviation within the control period.

6. A control device, characterized in that, Including: A memory, configured to store program instructions; A processor, configured to call the program instructions stored in the memory and execute the steps included in the method according to any one of claims 1-4 according to the obtained program instructions.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and the computer program includes program instructions which, when executed by a computer, cause the computer to execute the method according to any one of claims 1-4.

8. A computer program product, characterized in that, The computer program product includes: computer program code which, when running on a computer, causes the computer to execute the method according to any one of claims 1-4 above.

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