Software-defined thruster on-orbit reconfiguration method

Abstract

The application relates to an on-orbit reconfiguration method of a software-defined thruster, and belongs to the field of spacecraft attitude control. The steps comprise: generating a propulsion subsystem software model according to a propulsion subsystem architecture, an installation layout and a configuration; determining a thruster reconfigurable boundary for the software model; in the case of partial thruster failure, generating a thruster reconfiguration scheme in combination with the thruster reconfigurable boundary; and outputting the thruster reconfiguration scheme for execution, and comparing whether the output performance meets the task requirements. The application makes up for the torque output under the condition of partial thruster invalidation, improves the effectiveness and reliability of on-orbit output of a propulsion system, and improves the on-orbit capability boundary of the propulsion system.

Description

Technical Field

[0001] This invention relates to a software-defined on-orbit reconfiguration method for thrusters, belonging to the field of spacecraft attitude control. Background Technology

[0002] The propulsion system is one of the most critical subsystems of a spacecraft. In inertial space, the propulsion subsystem generates reaction thrust by releasing gases into the spacecraft's external environment, enabling the spacecraft to adjust its attitude and orbit. Simultaneously, as an actuator within the spacecraft, the propulsion subsystem plays a crucial role in ensuring the safe and stable operation of the spacecraft in orbit, whether it's the impact of jet control on attitude and orbit or the flammability and explosiveness of the fuel in the chemical propulsion system.

[0003] The dual-component propulsion subsystem mainly consists of a propellant tank, thrusters, pressure sensors, injection / exhaust valves, self-locking valves, and electro-explosive valves. The type of thruster and propellant tank is selected based on the spacecraft's mission and weight and size constraints. To ensure the on-orbit reliability and effectiveness of the propulsion subsystem, physical redundancy design is required. With a given thruster layout, the combination of different thrusters will have varying impacts on the spacecraft's operational status in inertial space. Traditional thrusters, based on software bonding, cannot provide effective output in the event of partial thruster failure. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the existing technology by proposing a software-defined on-orbit reconfiguration method for thrusters. When a jet failure occurs in a thruster of the propulsion subsystem, the reconfiguration composition mode of the thruster is defined at the software level, providing an effective guarantee for the safe and stable operation of the spacecraft in orbit.

[0005] The present invention solves the above-mentioned technical problem through the following technical solution:

[0006] A software-defined on-orbit reconfiguration method for thrusters includes:

[0007] A software model of the propulsion subsystem is generated based on the propulsion subsystem architecture, installation layout, and configuration.

[0008] Determine the reconfigurable boundary of the thruster in the obtained software model;

[0009] In the event of partial thruster failure, a thruster reconfiguration scheme is generated by combining the thruster reconfigurability boundary.

[0010] The obtained thruster reconfiguration scheme is executed and the output is compared to see if the output performance meets the mission requirements.

[0011] Furthermore,

[0012] The propulsion subsystem software model is as follows:

[0013]

[0014] In the formula, N is the number of thrusters in the propulsion subsystem, P(n) = f(·) is the torque and direction function that each thruster can output, and F(n) is the thrust of thruster n. Let n be the three-axis installation angle of the thruster n in the spacecraft coordinate system.

[0015] Furthermore,

[0016] The method for determining the reconfigurable boundary of the thruster is as follows:

[0017] Obtain the installation angle of thruster n in the spacecraft coordinate system.

[0018] Take out the set of thrusters Φ1 whose three-axis angles are not 0 and 90°;

[0019] Extract the set of thrusters Φ2 whose three-axis angle is exactly 90°;

[0020] The reconfigurable boundary set Φ of the thruster is determined as follows:

[0021] Φ = (Φ1∪Φ2).

[0022] Furthermore,

[0023] The specific steps for generating a thruster reconfiguration scheme are as follows:

[0024] Calculate the components of the required torque in the three axes of the spacecraft;

[0025] Solve for the thruster reconfiguration scheme while considering fuel consumption constraints.

[0026] Furthermore,

[0027] Under the execution of the thruster reconfiguration scheme Θ, determine whether the thruster control performance meets the mission requirements.

[0028] Furthermore,

[0029] Extract the set Φ1 of thrusters whose three-axis angles are not both 0° and 90°, specifically:

[0030]

[0031] in, Let be the installation angle of thruster m in the spacecraft coordinate system.

[0032] Furthermore,

[0033] Extract the set of thrusters Φ2 whose three-axis angle has exactly one of 90°, specifically:

[0034]

[0035] in, Let K be the installation angle of thruster k in the spacecraft coordinate system.

[0036] Furthermore,

[0037] Calculate the components of the required torque M in the three axes of the spacecraft: M1, M2, M3

[0038] M1=cos(M αf M αf ∈[0,π];

[0039] M2=cos(M θf M θf ∈[0,π];

[0040]

[0041] In the formula, Let M be the angle between the required torque and the three axes of the spacecraft's body coordinate system.

[0042] Furthermore,

[0043] Based on the component moments M1, M2, and M3 of the demand torque M in the three axes of the spacecraft, solve for the thruster reconfiguration scheme Θ1 = r1∪r2∪r3;

[0044]

[0045]

[0046]

[0047] Where F(r1), F(r2), and F(r3) are the thrusts of thrusters r1, r2, and r3, respectively; rn represents the three-axis installation angle of the thruster in the spacecraft coordinate system; f(·) represents the torque and direction function that each thruster can output.

[0048] Furthermore,

[0049] Considering fuel consumption constraints, and based on Θ1=r1∪r2∪r3, the optimal reconfigurable thruster scheme Θ2 is solved.

[0050] L=∑(g(r1)+g(r2)+g(r3));

[0051] Θ2=min(L);

[0052] In the formula, g(rn) is the weight of propellant consumed by the thruster rn to meet the mission output requirements, which is related to the size of the thruster and the type of propellant.

[0053] The advantages of this invention compared to the prior art are:

[0054] This invention provides a software-defined on-orbit reconfiguration method for thrusters. By establishing a software model of the propulsion system structure and composition, the reconfigurable boundary of the thruster is determined. For situations where the thruster cannot effectively output power under fault conditions, a software-defined approach is used to determine feasible thruster operating schemes within the reconfigurable boundary. This compensates for the torque output under partial thrust failure, improves the effectiveness and reliability of the propulsion system's on-orbit output, and enhances the on-orbit capability boundary of the propulsion system. Attached Figure Description

[0055] Figure 1 A software-defined thruster reconfiguration process provided for the invention;

[0056] Figure 2 A structural diagram of the propulsion system provided for the invention;

[0057] Figure 3 Software-defined patterns provided for inventions. Detailed Implementation

[0058] The specific solution of the present invention will now be described with reference to the accompanying drawings.

[0059] A software-defined on-orbit reconfiguration method for thrusters involves establishing a software model of the propulsion system structure and components, such as... Figure 2 , 3 As shown, the reconfigurable boundary of the thruster is determined. For the condition where the thruster cannot output power effectively under the condition of thruster failure, a software-defined approach is adopted to determine a feasible thruster working scheme within the reconfigurable boundary, thereby compensating for some of the spacecraft attitude maneuvering torque output under the condition of thruster ineffectiveness. Figure 2 It demonstrates the physical composition and topology of the propulsion system, characterizes the type and number of thrusters, and can help determine the reconfigurable boundary of the thrusters; Figure 3 The system architecture for achieving thrust reconfiguration is shown, including the composition of the control modules and the reconfiguration control process.

[0060] like Figure 1 As shown, the specific steps are as follows:

[0061] (1) A software model is generated based on the propulsion subsystem architecture, installation layout, and configuration. The specific software model of the propulsion subsystem is as follows:

[0062]

[0063] In the formula, N is the number of thrusters in the propulsion subsystem, P(n) = f(·) is the torque and direction function that each thruster can output, and F(n) is the thrust of thruster n. Let n be the three-axis installation angle of the thruster n in the spacecraft coordinate system.

[0064] (2) The reconfigurable boundary of the thruster is determined based on the obtained software model. The specific method for calculating the reconfigurable boundary of the thruster is as follows:

[0065] (2-1) Obtain the installation angle of thruster n in the spacecraft coordinate system

[0066] (2-2) Extract the set Φ1 of thrusters whose three-axis angles are not 0° and 90°, specifically:

[0067]

[0068] in, Let be the installation angle of thruster m in the spacecraft coordinate system.

[0069] (2-3) Extract the set of thrusters Φ2 whose three-axis angles have exactly one of 90°, specifically:

[0070]

[0071] in, Let K be the installation angle of thruster k in the spacecraft coordinate system.

[0072] (2-4) Determine the reconfigurable boundary set Φ of the thruster, specifically as follows:

[0073] Φ = (Φ1∪Φ2);

[0074] (3) In the case of partial thruster failure, a thruster reconfiguration scheme is generated based on the thruster reconfigurability boundary. The specific steps for calculating the thruster reconfiguration scheme are as follows:

[0075] (3-1) Calculate the component moments M1, M2, and M3 of the required torque M in the three axes of the spacecraft:

[0076] M1=cos(M αf M αf ∈[0,π];

[0077] M2=cos(M θf M θf ∈[0,π];

[0078]

[0079] In the formula, Let M be the angle between the required torque and the three axes of the spacecraft's body coordinate system.

[0080] (3-2) Based on the component moments M1, M2, and M3 of the demand torque M in the three axes of the spacecraft, solve the thruster reconfiguration scheme Θ1 = r1∪r2∪r3;

[0081]

[0082]

[0083]

[0084] Where F(r1), F(r2), and F(r3) are the thrusts of thrusters r1, r2, and r3, respectively; rn represents the three-axis installation angle of the thruster in the spacecraft coordinate system; f(·) represents the torque and direction function that each thruster can output.

[0085] (4) Considering fuel consumption constraints, based on Θ1=r1∪r2∪r3, solve for the optimal reconfigurable thruster scheme Θ2.

[0086] L=∑(g(r1)+g(r2)+g(r3));

[0087] Θ2=min(L);

[0088] In the formula, g(rn) is the weight of propellant consumed by the thruster rn to meet the mission output requirements, which is related to the size of the thruster and the type of propellant.

[0089] Based on the optimal reconfigurable scheme Θ2 of the thruster, the thruster control performance is judged, and the output performance is compared to see if it meets the mission requirements.

[0090] The following is a further explanation with reference to specific embodiments:

[0091] (1) Generate a software model based on the propulsion subsystem architecture, installation layout, and configuration:

[0092]

[0093] In the formula, N represents the 12 thrusters in the propulsion subsystem, P(n) is the torque and direction function that each thruster can output, and F(n) is the thrust of thruster n. Let n be the three-axis installation angle of the thruster n in the spacecraft coordinate system.

[0094] (2) Determine the reconfigurable boundary of the thruster based on the obtained software model:

[0095] (2-1) Obtain the installation angle of thruster n in the spacecraft coordinate system Form the installation matrix T of the thruster in the spacecraft body coordinate system:

[0096] T=[0 1 1; -1 1 1; 1 0 1; 1 -1 1; 0.866 -0.5 0.5; -0.866 -0.5 0.5; 0.54460.7071 0.3746; 0.5446 -0.7071 0.3746; 0.866 -0.5 0.5; -0.866 -0.5 0.5; 0.54460.7071 0.3746; 0.5446 -0.7071 0.3746];

[0097] The installation angles of thrusters T1 to T12 are as follows:

[0098] T1=[0 90 90]; T2=[π 90 90]; T3=[90 0 90];

[0099] T4=[90 π 90; T5=[30 120 60]; T6=[-30 120 60];

[0100] T7=[57 45 68]; T8=[57 -45 68]; T9=[30 120 60];

[0101] T10=[-30 120 60]; T11=[57 45 68]; T12=[57 -45 68].

[0102] (2-2) Extract the set Φ1 of thrusters whose three-axis angles are not 0° and 90°, specifically:

[0103]

[0104] in, Let be the installation angle of thruster m in the spacecraft coordinate system.

[0105] (2-3) Extract the set of thrusters Φ2 whose three-axis angles have exactly one of 90°, specifically:

[0106]

[0107] in, Let K be the installation angle of thruster k in the spacecraft coordinate system.

[0108] (2-4) Determine the reconfigurable boundary set Φ of the thruster, specifically as follows:

[0109] Φ = (Φ1∪Φ2);

[0110] (3) In the case of thruster T1 failure, a thruster reconfiguration scheme is generated by combining the thruster reconfigurability boundary. The specific steps for calculating the thruster reconfiguration scheme are as follows:

[0111] (3-1) Calculate the component moments of the required torque in the three axes of the spacecraft, specifically: calculate the component moments M1, M2, and M3 of the required torque M in the three axes of the spacecraft:

[0112] M1=cos(M αf M αf ∈[0,π];

[0113] M2=cos(M θf M θf ∈[0,π];

[0114]

[0115] In the formula, Let M be the angle between the required torque and the three axes of the spacecraft's body coordinate system.

[0116] (3-2) Based on the component moments M1, M2, and M3 of the demand torque M in the three axes of the spacecraft, solve the thruster reconfiguration scheme Θ1 = r1∪r2∪r3;

[0117]

[0118]

[0119]

[0120] Where F(r1), F(r2), and F(r3) are the thrusts of thrusters r1, r2, and r3, respectively; rn represents the three-axis installation angle of the thruster in the spacecraft coordinate system; f(·) represents the torque and direction function that each thruster can output.

[0121] Considering fuel consumption constraints, and based on Θ1=r1∪r2∪r3, the optimal reconfigurable thruster scheme Θ2 is solved.

[0122] L=∑(g(r1)+g(r2)+g(r3));

[0123] Θ2=min(L);

[0124] In the formula, g(rn) is the weight of propellant consumed by the thruster rn to meet the mission output, which is related to the size of the thruster and the type of propellant, Θ2=[T5T9T11.

[0125] (4) Based on the output of the obtained thruster reconfiguration scheme Θ2, determine the thruster control performance and compare whether the output performance meets the mission requirements.

[0126] This invention establishes a software model of the propulsion system structure and composition, determines the reconfigurable boundary of the thruster, and adopts a software-defined approach to determine feasible thruster operating schemes within the reconfigurable boundary for the condition where the thruster cannot output effectively under malfunction. This compensates for the torque output under partial thruster ineffectiveness, improves the effectiveness and reliability of the propulsion system's on-orbit output, and enhances the on-orbit capability boundary of the propulsion system.

[0127] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0128] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A software-defined on-orbit reconfiguration method for thrusters, characterized in that, include: A software model of the propulsion subsystem is generated based on the propulsion subsystem architecture, installation layout, and configuration. Determine the reconfigurable boundary of the thruster in the obtained software model; In the event of partial thruster failure, a thruster reconfiguration scheme is generated by combining the thruster reconfigurability boundary. The obtained thruster reconfiguration scheme is executed and the output is compared to see if the output performance meets the mission requirements. The propulsion subsystem software model is as follows: P∈(1,N),N∈Z+ In the formula, N is the number of thrusters in the propulsion subsystem, P(n) = f(·) is the torque and direction function that each thruster can output, F(n) is the thrust of thruster n, and α n θ n , Let n be the three-axis mounting angle of the thruster n in the spacecraft coordinate system; The method for determining the reconfigurable boundary of the thruster is as follows: Obtain the installation angle α of thruster n in the spacecraft coordinate system. n θ n , n∈P; Take out the set of thrusters Φ1 whose three-axis angles are not 0 and 90°; Extract the set of thrusters Φ2 whose three-axis angle is exactly 90°; The reconfigurable boundary set Φ of the thruster is determined as follows: Φ = (Φ1∪Φ2); Considering fuel consumption constraints, and based on Θ1=r1∪r2∪r3, the optimal reconfigurable thruster scheme Θ2 is solved: L=∑(g(r1)+g(r2)+g(r3)); Θ2=min(L); In the formula, g(rn) is the weight of propellant consumed by the thruster rn to meet the mission output requirements, which is related to the size of the thruster and the type of propellant.

2. The software-defined on-orbit reconfiguration method for a thruster according to claim 1, characterized in that: The specific steps for generating a thruster reconfiguration scheme are as follows: Calculate the components of the required torque in the three axes of the spacecraft; Solve for the thruster reconfiguration scheme while considering fuel consumption constraints.

3. The software-defined on-orbit reconfiguration method for a thruster according to claim 1, characterized in that: Under the execution of the thruster reconfiguration scheme Θ, determine whether the thruster control performance meets the mission requirements.

4. The software-defined on-orbit reconfiguration method for a thruster according to claim 1, characterized in that: Extract the set Φ1 of thrusters whose three-axis angles are not both 0° and 90°, specifically: Where, α m ,θ m , Let be the installation angle of thruster m in the spacecraft coordinate system.

5. The software-defined on-orbit reconfiguration method for a thruster according to claim 1, characterized in that: Extract the set of thrusters Φ2 whose three-axis angle has exactly one of 90°, specifically: Where, α k ,θ k , Let K be the installation angle of thruster k in the spacecraft coordinate system.

6. The software-defined on-orbit reconfiguration method for a thruster according to claim 2, characterized in that: Calculate the components of the required torque M in the three axes of the spacecraft: M1, M2, M3 M1=cos(M αf );M αf ∈[0,π]; M2=cos(M θf );M θf ∈[0,π]; In the formula, M αf M θf , Let M be the angle between the required torque and the three axes of the spacecraft's body coordinate system.

7. The software-defined on-orbit reconfiguration method for a thruster according to claim 6, characterized in that: Based on the component moments M1, M2, and M3 of the demand torque M in the three axes of the spacecraft, solve for the thruster reconfiguration scheme Θ1 = r1∪r2∪r3; Where F(r1), F(r2), and F(r3) are the thrusts of thrusters r1, r2, and r3; α rn θ rn , rn represents the three-axis installation angle of the thruster in the spacecraft coordinate system; f(·) represents the torque and direction function that each thruster can output.

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