A spin-coriolis cooperative suppression method and system for a space tumbling target

Abstract

The application discloses a spin-nutation collaborative inhibition method and system for a space tumbling target, and belongs to the technical field of aerospace. The method comprises the following steps: acquiring pose data of a space robot, and controlling the space robot to approach the space tumbling target according to the acquired pose data of the space robot; after the space robot approaches the space tumbling target, the space robot measures the space tumbling target, and acquires real-time state data of the space tumbling target by measuring the space tumbling target; a target stress position prediction model of spin-nutation collaborative inhibition is used to simulate and predict based on the acquired real-time state data of the space tumbling target, and a despinning condition required by a despinning tool in the space robot is determined; the space robot adjusts the pose according to the despinning condition, and controls the despinning tool to contact the space tumbling target, and implements contact despinning. The application can efficiently inhibit the nutation of the target in the initial stage of the despinning task, and effectively reduces the difficulty of the subsequent despinning task.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of aerospace, and particularly relates to a spin-nutation collaborative suppression method and system for a space tumbling target. BACKGROUND

[0002] Space non-cooperative targets such as failed satellites and upper stages of rockets are usually in a tumbling state, and it is extremely difficult to directly capture them. In order to improve the safety of capture, it is often necessary to first spin down the target so that the target is at a lower rotational speed, and then carry out capture. At present, non-contact spin-down schemes such as electromagnetic force spin-down, engine plume spin-down, and electrostatic force spin-down, and contact spin-down schemes such as brush spin-down and mechanical pulse spin-down have been proposed. Among them, the engine plume spin-down, brush spin-down, and mechanical pulse spin-down schemes can exert specific directional external forces on the target and can generate large spin-down moments, so they are efficient spin-down schemes. However, when these schemes are faced with a tumbling target rotating in three axes, it is difficult to determine the force application position and force application timing due to the complex motion of the target, thereby limiting the application of the spin-down scheme.

[0003] In the plume spin-down method, simple consideration is given to nutation suppression. By controlling the direction of the plume, the spin-down moment component generated by the impact is opposite to the three components of the target angular velocity, i.e., the three-axis angular velocity is simultaneously attenuated. In the pulse spin-down method based on a rigid rod, the same nutation suppression idea is followed. By selecting an appropriate contact position, the moment generated by the pulse force at each contact is completely opposite to the angular velocity, and the three-axis angular velocity components are simultaneously suppressed.

[0004] In the above spin-down-nutation suppression schemes, the limiting condition followed is an ideal condition, which requires that the moment generated by the external force is opposite to the three-axis angular velocity of the target. The operation time window that meets this stringent limiting condition is extremely short, making it extremely difficult to implement the spin-down task, and the scheme has poor feasibility. SUMMARY

[0005] In view of the problem in the prior art that a stringent limiting condition is required to complete the spin-down task, resulting in a high difficulty in completing the spin-down task, the present application provides a spin-nutation collaborative suppression method and system for a space tumbling target. By using a spin-nutation collaborative suppression target force position prediction model to simulate and predict the data of the space tumbling target, the spin-down condition is determined, so that the nutation of the space tumbling target is most efficiently suppressed, and the difficulty of the subsequent spin-down task is effectively reduced.

[0006] To achieve the above object, the present application adopts the following technical scheme:

[0007] A spin-nutation collaborative suppression method for a space tumbling target, comprising:

[0008] Obtain pose data of the space robot, and control the space robot to approach the space tumbling target according to the obtained pose data of the space robot;

[0009] After the space robot approaches the space tumbling target, the space robot measures the space tumbling target to obtain real-time state data of the space tumbling target;

[0010] A target force position prediction model based on spin-precession collaborative inhibition is used to simulate and predict based on the obtained real-time state data of the space tumbling target, and determine a despinning condition required by a despinning tool in the space robot;

[0011] The space robot adjusts the pose according to the despinning condition, and controls the despinning tool to contact the space tumbling target, and implements contact despinning.

[0012] As a further improvement of the present application, the target force position prediction model based on spin-precession collaborative inhibition is used to simulate and predict based on the obtained real-time state data of the space tumbling target, wherein:

[0013] The target force position prediction model based on spin-precession collaborative inhibition is constructed, comprising:

[0014] The target force position for realizing optimal spin-precession collaborative inhibition is determined by the following formula:

[0015]

[0016] In the formula, H is a target value of an optimization function, r F is an initial action position of an external force on the target in a target body coordinate system, [t0, t1] is a start and end time of each application of the external force, ω x , ω y , ω z T is an angular velocity of the space tumbling target, T d = [T x , T y , T z T is a moment generated by the despinning external force on the target in the target body coordinate system.

[0017] As a further improvement of the present application, the target force position prediction model based on spin-precession collaborative inhibition is constructed, wherein:

[0018] An object body-fixed coordinate system of the space tumbling target is defined as O b -X b Y b Z b , which is an inertia principal axis coordinate system, and the rotational inertia of the space tumbling target is I = diag{I​​x ,I y ,I z},need to meet

[0019]

[0020] That is, the maximum rotational inertia axis of the space tumbling target is O b Z b axis.

[0021] As a further improvement of the present application, the moment generated by the racemization external force on the target in the target body coordinate system, wherein:

[0022] T d = ( b A I F)× b r p

[0023] In the formula, F is the external force of the contact racemization tool on the target; b A I is the coordinate conversion matrix from the global coordinate system to the target body coordinate system; b r p is the contact position in the target local coordinate system.

[0024] As a further improvement of the present application, the external force of the contact racemization tool on the target is obtained by system dynamics model simulation.

[0025] As a further improvement of the present application, the external force of the contact racemization tool on the target is obtained by system dynamics model simulation, comprising:

[0026] Based on the system dynamics model, the contact process of the racemization tool and the space tumbling target is simulated, and the initial contact position is predicted for each contact, so as to guide the space robot to control the racemization tool to implement spin-precession suppression.

[0027] As a further improvement of the present application, the system dynamics model is based on the model formed by the space robot and the space tumbling target, and is used to predict the contact position of the racemization tool and the space tumbling target.

[0028] As a further improvement of the present application, the space robot adjusts the pose according to the racemization condition, controls the racemization tool, and contacts the space tumbling target to implement racemization, generates racemization external force acting on the space tumbling target, and suppresses the precession of the space tumbling target.

[0029] As a further improvement of the present application, the space robot adjusts the pose according to the racemization condition, controls the racemization tool, and contacts the space tumbling target to implement racemization, and then:

[0030] The space robot adjusts the pose, reacquires the data of the pose of the space robot, and starts a new round of despinning process.

[0031] A spin-nutation collaborative suppression system for a space tumbling target, comprising:

[0032] The control approach module is configured to acquire the pose data of the space robot, and control the space robot to approach the space tumbling target according to the acquired pose data of the space robot.

[0033] The measurement target module is configured to, after the space robot approaches the space tumbling target, measure the space tumbling target by the space robot, and acquire real-time state data of the space tumbling target by measuring the space tumbling target.

[0034] The simulation prediction module is configured to simulate and predict based on the acquired real-time state data of the space tumbling target by using a target force position prediction model of spin-nutation collaborative suppression, and determine a despinning condition required by a despinning tool in the space robot.

[0035] The despinning control module is configured to adjust the pose of the space robot according to the despinning condition, control the despinning tool, and implement contact despinning by contacting the space tumbling target.

[0036] Compared with the prior art, the present application has the following beneficial effects:

[0037] In view of the deficiencies of the prior art, the present application provides a spin-nutation collaborative suppression method for a space tumbling target, which acquires characteristic parameters and real-time state data of the space tumbling target by measuring and reconstructing the space tumbling target, and determines a required despinning condition by simulating and predicting based on the acquired real-time data of the space tumbling target by using a target force position prediction model of spin-nutation collaborative suppression, thereby ensuring that the nutation of the space tumbling target is most efficiently suppressed, so that the despinning tool quickly suppresses the nutation of the target in the despinning process, and the attitude motion of the space tumbling target quickly approaches single-axis spin from complex three-axis rotation, thereby effectively reducing the difficulty of subsequent despinning tasks. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 FIG. 1 is a flowchart of a spin-nutation collaborative suppression method for a space tumbling target according to the present application.

[0039] Figure 2An implementation flowchart of a spin-nutation collaborative suppression method for a space tumbling target according to the present application;

[0040] Figure 3 A schematic diagram of a space robot approaching a space tumbling target according to the present application;

[0041] Figure 4 A schematic diagram of a space robot implementing spin elimination on a space tumbling target according to the present application;

[0042] Figure 5 A schematic diagram of a space tumbling target structure in an embodiment of the present application;

[0043] Figure 6 A schematic diagram of a space robot approaching a space tumbling target in an embodiment of the present application;

[0044] Figure 7 A schematic diagram of a space robot contacting a space tumbling target in an embodiment of the present application;

[0045] Figure 8 A space tumbling target angular velocity variation curve in an embodiment of the present application;

[0046] Figure 9 A corresponding predicted function value for each contact in an embodiment of the present application;

[0047] Figure 10 An initial contact position distribution on a sailboard edge in an embodiment of the present application

[0048] Figure 11 A structural schematic diagram of a spin-nutation collaborative suppression system for a space tumbling target according to the present application. DETAILED DESCRIPTION

[0049] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0050] The following detailed description is exemplary and is intended to provide further detailed description of the present application. Unless otherwise specified, all technical terms used in the present application have the same meaning as generally understood by those skilled in the art to which the present application belongs. The terms used in the present application are only for the purpose of describing the specific embodiments and are not intended to limit the exemplary embodiments according to the present application.

[0051] In view of the problem in the prior art that a strict restriction condition is required to complete the spin elimination task, resulting in a high difficulty in completing the spin elimination task, the present application provides a spin-nutation collaborative suppression method for a space tumbling target. As shown in Figure 1 The method comprises:

[0052] Obtain pose data of the space robot, and control the space robot to approach the space tumbling target according to the obtained pose data of the space robot;

[0053] After the space robot approaches the space tumbling target, the space robot measures the space tumbling target to obtain real-time state data of the space tumbling target;

[0054] A target force position prediction model based on spin-precession cooperative suppression is used to simulate and predict based on the obtained real-time state data of the space tumbling target, and the required spin-elimination condition of the spin-elimination tool in the space robot is determined;

[0055] The space robot adjusts the pose according to the spin-elimination condition, and controls the spin-elimination tool to contact the space tumbling target to implement contact spin-elimination.

[0056] The application will be described in detail below with reference to the accompanying drawings:

[0057] The space robot uses a long brush as the spin-elimination tool, which is installed at the end of the mechanical arm, and implements spin-precession suppression through multiple contacts with the target. First, a spin-elimination system dynamics model composed of the space robot and the space tumbling target is established, and then the model is used for contact effect simulation to predict the contact position. The target force position prediction model based on spin-precession cooperative suppression is used to predict the initial position of each contact, and the space robot operates the spin-elimination brush to contact the space tumbling target to implement spin-precession cooperative suppression of the space tumbling target.

[0058] As shown in Figure 2 , the implementation process of the spin-precession cooperative suppression method for the space tumbling target is as follows:

[0059] S1: The space robot approaches the outer periphery of the motion envelope of the space tumbling target, as shown in Figure 3 , and maintains a certain safety distance to avoid collision and facilitate subsequent contact operation;

[0060] S2: The space robot uses the carried measurement equipment to measure and reconstruct the state of the space tumbling target to obtain the inertia parameters and real-time motion state information of the space tumbling target;

[0061] S3: Before contacting the space tumbling target, the space robot carries out simulation prediction based on the spin-elimination dynamics model, uses the target force position prediction model based on spin-precession cooperative suppression to predict the initial action position of the spin-elimination tool on the space tumbling target, and then determines the required spin-elimination condition of the spin-elimination tool, i.e., the expected position and direction;

[0062] The target force position prediction model of spin-nutation synergistic suppression is defined by the body-fixed coordinate system of the space tumbling target as O b -X b Y b Z b , which is the inertia principal axis coordinate system, the rotational inertia of the space tumbling target is I = diag{I x ,I y ,I z}, which satisfies

[0063]

[0064] that is, the maximum rotational inertia axis of the space tumbling target is the O b Z b axis.

[0065] The target force position for realizing optimal spin-nutation synergistic suppression can be determined by formula (2)

[0066]

[0067] In formula (2), H is the target value of the optimization function, r F is the initial action position of the external force on the target in the target body coordinate system, [t0, t1] is the start and end time of each application of external force, ω = [ω x ,ω y ,ω z ] T is the angular velocity of the space tumbling target, T d = [T x ,T y ,T z ] T is the moment of the despinning external force on the target in the target body coordinate system. Wherein,

[0068] T d = ( b A I F)× b r p (3)

[0069] In formula (3), F is the external force of the contact despinning tool on the target, which is obtained by system dynamics model simulation; b A I is the coordinate conversion matrix from the global coordinate system to the target body coordinate system; b r p is the contact position in the target local coordinate system.

[0070] Based on the racemate system dynamics model, the contact process simulation can be carried out, and the initial contact position prediction is carried out for each contact, so as to guide the space robot to control the racemate tool to implement the spin-nutation suppression.

[0071] S4: The space robot controls the racemate tool to make it meet the racemate condition determined by S, and then contacts the space tumbling target as shown in Figure 4 , and implements racemate;

[0072] S5: After one contact process, the space robot adjusts the pose and prepares for the next contact racemate process, and returns to S1.

[0073] Embodiment

[0074] It is assumed that the racemate tool carried by the space robot can be equivalent to a soft rod, the equivalent soft rod length is 1m, the elastic modulus is 80Mpa, the equivalent diameter is 0.02m, the target is a satellite with a conventional configuration, and the structure diagram of the space tumbling target is as shown in Figure 5 , the base is a square, the side length is 2m, the solar panel length is 4m, the solar panel width is 2m, the solar panel thickness is 0.02m, the two panels are symmetrically distributed, the total mass of the satellite is 2000kg, and the moment of inertia is diag{1500, 1800, 2400}kg·m 2 . The target satellite is free floating, the angular velocity is [-1.2, 1.5, 6]° / s, and the outer edge and the upper and lower edge regions of the panel are the contactable regions.

[0075] Implementation process:

[0076] S1: The space robot approaches the rotating target, keeps a distance of about 6.5m from the mass center of the target, and keeps the center of the robot near the O-XZ plane where the mass center of the space tumbling target is located, as shown in Figure 6 .

[0077] S2: The space robot uses the measurement equipment carried to measure and reconstruct the state of the space tumbling target, and obtains the real-time motion state information and configuration parameters of the target.

[0078] S3: The racemate tool is set to be in the O-XZ plane where the mass center of the target is located at the initial moment of contact, and is perpendicular to the edge of the target panel expected to be contacted, and the middle region of the tool is first contacted with the target. Under this scene limitation, combined with the motion state information before the target is contacted, based on the racemate system dynamics model (space robot + target satellite), the contact process simulation is carried out, the target stress position prediction model for spin-nutation cooperative suppression is adopted, the initial action position of the racemate tool on the target is predicted, and then according to the contact scene setting, the racemate condition required by the racemate tool can be determined, that is, the expected position and direction;

[0079] S4: The space robot adjusts the pose and controls the despin tool to meet the despin condition determined in S3, and then contacts the space tumbling target, as shown in FIG. 4, to implement despinning and generate the despinning external force acting on the space tumbling target; Figure 7

[0080] S5: After the first contact process, the space robot adjusts the pose and prepares for the next contact despinning process, and contacts the two sails alternately. Return to S1.

[0081] The simulation results of the spin-nutation suppression process are shown in the following figure, Figure 8 The change curve of the rotation angular velocity of the space tumbling target can be seen, and the nutation and spin of the target are effectively suppressed; Figure 9 The prediction function value corresponding to S3 in each contact process; Figure 10 The initial contact position distribution corresponding to each contact process, and the number indicates the corresponding contact number.

[0082] As shown in FIG. 4, the second object of the application is to provide a spin-nutation cooperative suppression system for a space tumbling target, comprising: Figure 11 The control approaching module is used to obtain the pose data of the space robot, and control the space robot to approach the space tumbling target according to the obtained pose data of the space robot;

[0083] The target measurement module is used to measure the space tumbling target by the space robot after the space robot approaches the space tumbling target, and obtain real-time state data of the space tumbling target by measuring the space tumbling target;

[0084] The simulation prediction module is used to perform simulation prediction based on the obtained real-time state data of the space tumbling target by using the target stress position prediction model of the spin-nutation cooperative suppression, and determine the despinning condition required by the despinning tool in the space robot;

[0085] The despinning control module is used to adjust the pose of the space robot according to the despinning condition, control the despinning tool to contact the space tumbling target, and implement contact despinning.

[0086] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can 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.) containing computer usable program code.

[0087]

[0088] ​​The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks. Figure 1 one or more flow or blocks.

[0089] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks. Figure 1 one or more flow or blocks.

[0090] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks. Figure 1 one or more flow or blocks.

[0091] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the technical solutions of the present application. Although the present application is described in detail with reference to the above embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced, and any modification or replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A method for spin-coriolis cooperative suppression of a spatially tumbling target, characterized by, Comprise: Obtain the pose data of the space robot, and control the space robot to approach the space tumbling target according to the obtained pose data of the space robot; After the space robot approaches the space tumbling target, the space robot measures the space tumbling target, and obtains real-time state data of the space tumbling target by measuring the space tumbling target; Using a target force position prediction model for spin-precession collaborative suppression to simulate and predict based on the obtained real-time state data of the space tumbling target, and determine the despinning condition required for the despinning tool in the space robot; The space robot adjusts the pose according to the despinning condition, controls the despinning tool, and contacts the space tumbling target to implement contact despinning; The target force position prediction model for spin-precession collaborative suppression simulates and predicts based on the obtained real-time state data of the space tumbling target, wherein: The target force position prediction model for spin-precession collaborative suppression is constructed, comprising: The optimal target force position for spin-precession collaborative suppression is determined by the following formula: In the formula, H is the target value of the optimization function, is the initial position of the external force on the target in the target body coordinate system, is the start and end time of each application of the external force, is the angular velocity of the space tumbling target, is the moment generated by the de-spin external force on the target in the target body coordinate system.

2. The spin-coriolis co-suppression method for a space-oriented tumbling target according to claim 1, characterized in that, The target force position prediction model for spin-precession collaborative suppression is constructed, wherein: The body-fixed coordinate system defining the spatial tumbling target is , which is an inertia principal axis coordinate system, and the moment of inertia of the spatial tumbling target is , which needs to satisfy That is, the maximum moment of inertia axis of the spatial tumbling target is axis.

3. The spin-coriolis co-suppression method for a space-oriented tumbling target according to claim 1, characterized in that, The moment generated by the despinning external force on the target in the target body coordinate system, wherein: wherein is the external force of the contact between the target and the tool; is the coordinate transformation matrix from the global coordinate system to the target body coordinate system; is the contact position in the target local coordinate system.

4. The spin-coriolis co-suppression method for a space-oriented tumbling target according to claim 3, characterized in that, The external force of the contact despinning tool on the target is obtained by system dynamics model simulation.

5. The spin-coriolis co-suppression method for a spatially tumbling target according to claim 4, wherein, The external force of the contact despinning tool on the target is obtained by system dynamics model simulation, comprising: Based on the system dynamics model, the contact process simulation of the despinning tool and the space tumbling target is carried out, the initial contact position prediction is carried out for each contact, so as to guide the space robot to control the despinning tool to implement spin-precession suppression.

6. The spin-coriolis co-suppression method for a spatially tumbling target according to claim 5, wherein, The system dynamics model is based on the model formed by the space robot and the space tumbling target, and is used to predict the contact position of the despinning tool and the space tumbling target.

7. The spin-coriolis co-suppression method for a spatially tumbling target according to claim 1, wherein, The space robot adjusts the pose according to the despinning condition, controls the despinning tool, and contacts the space tumbling target to implement despinning, which generates despinning external force acting on the space tumbling target, so that the nutation of the space tumbling target is suppressed.

8. The spin-coriolis co-suppression method for a spatially tumbling target according to claim 1, wherein, The space robot adjusts the pose according to the despinning condition, controls the despinning tool, and contacts the space tumbling target to implement despinning, and then: The space robot adjusts the pose, reacquires the data of the pose of the space robot, and starts a new round of despinning process.

9. A spin-coriolis synergistic suppression system for a spatially tumbling target, characterized by, The spin-precession collaborative suppression system for space tumbling target is used to implement the spin-precession collaborative suppression method for space tumbling target according to any one of claims 1-8, comprising: The control approach module is used to obtain the pose data of the space robot, and control the space robot to approach the space tumbling target according to the obtained pose data of the space robot; The measurement target module is used to measure the space tumbling target by the space robot after the space robot approaches the space tumbling target, and obtain real-time state data of the space tumbling target by measuring the space tumbling target; The simulation prediction module is configured to simulate and predict, based on the real-time state data of the space tumbling target, a target force position prediction model using spin-precession cooperative suppression, and determine a spin-elimination condition required by a spin-elimination tool in the space robot. The spin-elimination control module is configured to adjust a pose of the space robot according to the spin-elimination condition, control the spin-elimination tool to contact the space tumbling target, and implement contact spin-elimination.

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