Spin wobble coupling spin wobble cancellation plume pointing method and system based on plume spin cancellation

Abstract

The application discloses a spin-nutation coupling spin-down plume pointing method and system based on plume spin-down, and belongs to the technical field of spacecrafts. The method comprises the following steps: collecting the rotational inertia and angular velocity data in the motion state of a target; counting spin-nutation spin-down torque parameters that can be received by a solar panel of the target during spin-down; inputting the spin-nutation spin-down torque parameters, the rotational inertia and the angular velocity data into a coupling spin-down plume pointing model to obtain an optimal plume pointing point; inputting the optimal plume pointing point into a plume spin-down dynamics model to perform spin-down calculation and obtain a spin-down termination condition; and if the motion state of the target meets the spin-down termination condition, the spin-down task is completed. According to the motion characteristics, mass characteristics and shape characteristics of the target, the spin-nutation coupling spin-down of the target can be realized, the situation that a spin-down guidance law is insufficient can be solved, and the method is suitable for various spin-down modes of using the resistance moment generated by the solar panel of a failed satellite.

Description

Technical Field

[0001] This invention belongs to the field of spacecraft technology, specifically relating to a spin-nutation coupling despinning plume pointing method and system based on plume despinning. Background Technology

[0002] As the number of human spacecraft launches increases, the amount of space debris, including failed satellites and launch waste, is also constantly growing. This large amount of space debris poses a significant threat to satellites in orbit. Failed satellites, in particular, are exposed to various disturbances in space for extended periods and have largely lost or lost their position and attitude control capabilities, resulting in complex, non-cooperative tumbling motions. To mitigate the threat posed by failed satellites, on-orbit operations are essential, and despinning of failed satellites is a prerequisite and crucial component of these operations. Depending on the method of applying the despinning torque, existing despinning methods include deceleration brush despinning, eddy current despinning, plasma plume despinning, and gas plume despinning. Plume despinning offers advantages such as high safety and low fuel consumption. However, because the magnitude and direction of the despinning torque generated by the plume are related to the shape and position of the failed satellite's solar panels, it is effective in despinning the spin of the maximum moment of inertia axis in the face of complex spin-nutation coupled motion, but it is very difficult to suppress the nutation angular velocity, thus limiting the application of plume despinning.

[0003] LIU et al. established a plume aiming method using the properties of cosine and exponential forces through a parameterized impact model. However, their method, which optimizes the plume pointing method by manually setting parameters, lacks adaptability to different despinning scenarios. Nakajima et al. designed a plume pointing control law by adjusting the gas plume pointing direction, ensuring that the generated despinning torque is always opposite to the target angular momentum. However, this condition is too strict during despinning, making it difficult to implement and significantly reducing the despinning rate. Chen et al. designed a contact point prediction method suitable for despinning of deceleration brushes, but their proposed method is limited to the application method of the actuator's despinning torque and has poor adaptability in plume despinning.

[0004] Currently, the established despin plume schemes can only solve a single problem and cannot establish a suitable despin plume method to achieve spin-nutation coupling despinning of the target based on the target's motion characteristics, mass characteristics, and shape characteristics. Summary of the Invention

[0005] Existing despin plume schemes can only solve single problems and cannot establish suitable despin plume methods to achieve spin-nutation coupling despinning based on the target's motion, mass, and shape characteristics. This invention provides a spin-nutation coupling despinning plume pointing method based on plume despinning, which can achieve spin-nutation coupling despinning of the target according to its motion, mass, and shape characteristics.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A spin-nutation coupled despinning plume pointing method based on plume despinning includes:

[0008] Collect data on the moment of inertia and angular velocity of the target during its motion.

[0009] The parameters of the spin-nutation despin torque that the target solar panel can receive during the despin process are statistically analyzed.

[0010] Input the spin-nutation despinning torque parameters, moment of inertia and angular velocity data into the coupled despinning plume pointing model to obtain the optimal plume pointing point;

[0011] The optimal plume pointing point is input into the plume deswirl dynamics model to perform deswirl calculations and obtain the deswirl termination condition. If the target's motion state meets the deswirl termination condition, the deswirl task is completed.

[0012] As a further improvement of the present invention, the motion state of the target is identified by a motion state sensor carried by the service spacecraft.

[0013] As a further improvement of the present invention, if the motion state of the target satisfies the derotation condition, the rotational inertia and angular velocity data of the target's motion state are collected.

[0014] As a further improvement of the present invention, if the motion state of the target does not meet the derotation condition, the motion state of the target is re-identified until the motion state of the target meets the derotation condition.

[0015] As a further improvement of the present invention, the angular velocity data in the motion state of the target needs to be normalized.

[0016] As a further improvement of the present invention, the spin-nutation despin torque parameter is obtained by the target solar panel size and the target relative position during the despin process.

[0017] As a further improvement of the present invention, the optimal plume pointing point is input into the plume deswirl dynamics model to perform deswirl calculation to obtain the deswirl termination condition. If the target's motion state does not meet the deswirl termination condition, the target's motion state is re-identified.

[0018] A spin-nutation coupled despinning plume pointing system based on plume despinning includes:

[0019] Acquisition module: Used to acquire the rotational inertia and angular velocity data of the target in its motion state;

[0020] Statistics module: used to statistically analyze the spin-nutation despin torque parameters that the target solar panel can receive during the despin process;

[0021] First input module: used to input spin-nutation despin torque parameters, moment of inertia and angular velocity data into the coupled despin plume pointing model to obtain the optimal plume pointing point;

[0022] The second input module is used to input the optimal plume pointing point into the plume deswirl dynamics model to perform deswirl calculations and obtain the deswirl termination condition. If the target's motion state meets the deswirl termination condition, the deswirl task is completed.

[0023] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the spin-nutation coupling despinning plume pointing method based on plume despinning.

[0024] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the spin-nutation coupling despinning plume pointing method based on plume despinning.

[0025] Compared with the invention, the present invention has the following beneficial effects:

[0026] This invention collects the target's motion state and parameters of the despinning torque it can generate, and introduces angular velocity parameters and moment of inertia into a coupled despinning plume pointing model to achieve multi-axis motion adaptive optimization of the plume pointing point for target despinning. Then, the plume pointing point is input into the plume despinning dynamics model to determine if the target's motion state meets the termination condition. If the target's motion state meets the despinning termination condition, the despinning task is completed; if the target's motion state does not meet the despinning termination condition, the target's motion state is re-identified. This invention can adjust the calculation ratio according to different despinning situations. It achieves spin-nutation coupled despinning of failed spacecraft, improves the despinning efficiency of freely tumbling satellites, has good adaptability, and is applicable to all methods of generating despinning torque through the shape of space debris. This invention can achieve spin-nutation coupled despinning of targets based on their motion characteristics, mass characteristics, and shape characteristics, solving the problem of insufficient despinning guidance laws, and this method is applicable to various despinning methods that use the drag torque generated by the solar panels of failed satellites. Attached Figure Description

[0027] Figure 1 This is a schematic flowchart of a spin-nutation coupling despinning plume pointing method based on plume despinning according to the present invention.

[0028] Figure 2 This is a schematic diagram showing the relative positions of the failed spacecraft and the plume nozzle.

[0029] Figure 3 A schematic diagram of the spin nutation coupling despin method for a failed spacecraft;

[0030] Figure 4 The curve shows the change in angular velocity.

[0031] Figure 5 The location of the point where the feather stream points;

[0032] Figure 6 This is a graph showing the change in angular velocity using the traditional method.

[0033] Figure 7 This is a schematic diagram of the structure of a spin-nutation coupled despinning plume pointing system based on plume despinning according to the present invention;

[0034] Figure 8 This is a schematic diagram of the electronic device structure of the present invention. Detailed Implementation

[0035] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0036] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0037] Existing despin plume schemes can only solve single problems and cannot establish suitable despin plume methods to achieve spin-nutation coupling despinning based on the target's motion, mass, and shape characteristics. This invention provides a spin-nutation coupling despinning plume pointing method based on plume despinning, such as... Figure 1 As shown, the method includes:

[0038] Collect data on the moment of inertia and angular velocity of the target during its motion.

[0039] The parameters of the spin-nutation despin torque that the target solar panel can receive during the despin process are statistically analyzed.

[0040] Input the spin-nutation despinning torque parameters, moment of inertia and angular velocity data into the coupled despinning plume pointing model to obtain the optimal plume pointing point;

[0041] The optimal plume pointing point is input into the plume deswirl dynamics model to perform deswirl calculations and obtain the deswirl termination condition. If the target's motion state meets the deswirl termination condition, the deswirl task is completed.

[0042] The present invention will now be described in detail with reference to the accompanying drawings:

[0043] The plume pointing method for non-contact despinning coupled with self-suspending nutation of a failed satellite is as follows:

[0044]

[0045]

[0046] Among them, I i (i = x, y, z) represents the moment of inertia of the failed satellite; τ i (i = x, y, z) represents the despinning torque of the failed satellite; ω i (i = x, y, z) represents the current angular velocity along the three axes; ω 0i (i = x, y, z) represents the initial angular velocities of the three axes.

[0047] α and β are normalization parameters. The nutation angular velocity of the target is often less than the spin angular velocity. Therefore, in the design of the despin guidance law, the normalized angular velocity is used as the weight for the despin of spin and nutation, balancing the despin velocity despin rate. Here, k is the spin-nutation co-despin parameter, which is the maximum value among the minimum spin-nutation torque ratios under different relative positions.

[0048] The relative positions of the plume nozzle and the failed satellite solar panel are as follows: Figure 2 As shown.

[0049] like Figure 3 As shown in the figure, based on the above-mentioned spin-nutation coupled despinning plume pointing method, the spin-nutation coupled despinning method is designed relative to the set failed spacecraft and plume nozzle, as shown in the figure below. The spin-nutation coupled despinning plume pointing method consists of three parts: the first part is the ground calculation of spin-nutation coupled despinning parameters; the second part is the on-orbit identification and calculation of the target motion state; and the third part is the final calculation of the optimal plume pointing point based on the results of the above two parts.

[0050] The first part is the ground calculation part. Based on the shape and size of the solar panels of different targets, the minimum ratio of spin-nutation despinning torque is calculated when the pointing point changes under different relative positions. The torque ratios of different relative positions are statistically analyzed, and the maximum value among them is taken as the spin-nutation coupling despinning parameter, that is, the maximum ratio of spin despinning to nutation despinning torque that the solar panel can receive during the entire despinning process.

[0051] The second part is the on-orbit computation section. It uses motion sensors carried by the servicing spacecraft to identify the target's motion state and determine if it meets the despinning conditions. If the conditions are met, the target's moment of inertia and angular velocity data are recorded. The three-axis angular velocities are then normalized and stored.

[0052] In the third part, the optimal plume pointing point is calculated by substituting the spin-nutation coupling despinning parameters, the target's moment of inertia, and the normalized angular velocity obtained in the above two parts into formula (1). The pointing point is then substituted into the plume despinning dynamics system for despinning dynamics solution. After the despinning calculation, it is determined whether the target's motion state meets the despinning termination condition. If the termination condition is not met, the above despinning process is repeated; if the termination condition is met, the despinning process ends.

[0053] The present invention will be further described below with reference to specific embodiments:

[0054] like Figure 3 As shown, the moment of inertia of the target spacecraft is taken as J = [350 0 0; 0 410 0; 0 0 550] kg × m 2 The size of a single-sided sail is 8×4m, and the initial angular velocity is ω0=[1 0 8]° / s. After calculation, k is set to 3.12, and the simulation results of the angular velocity and the position of the pointing point are shown in the figure below. The magnitude of the nutation angular velocity decreases to 10° / s at around 5000s. -2 The magnitude of the spin angular velocity decreases to 10 at approximately 5602 s. -2 Below the order of magnitude.

[0055] like Figure 4 As shown, along the width of the sail, as the spin angular velocity and nutation angular velocity decrease, the plume pointing point moves from ±1.5m across the sail width towards the centerline, gradually increasing the proportion of the spin-de-spin torque. Furthermore, as the spin angular velocity changes, the relative position of the plume nozzle and the sail changes, causing the pointing point to fluctuate within 5.5-7m along the length of the sail. The optimal plume pointing point is sought at different relative positions.

[0056] like Figure 5 As shown, under the same conditions, the despinning method using the method of first eliminating nutation and then eliminating spin requires 5882 seconds to complete despinning, while this method only requires 5602 seconds, improving the despinning efficiency of the spin-nutation coupling. When using the traditional despinning method in plume despinning, the decay rate of the spin angular velocity is greater than the decay rate of the nutation angular velocity. The decay of the nutation angular velocity is not significant, and during the process of reducing the spin angular velocity, uncontrolled nutation can occur, leading to the failure of despinning in complex motion states, such as... Figure 6 As shown, this method can select the optimal pointing point based on different spin and nutation angular velocities and despin torque receiving capabilities, thus avoiding despin failure.

[0057] This invention proposes a spin-nutation coupled despin plume pointing method for failed spacecraft by considering the target's motion state, mass state, and the target's ability to generate despin torque. The target's motion state is introduced through the normalized angular velocity parameters α and β in formula (1), and the rotational inertia I... i (i = x, y, z) Introducing the target's mass state enables multi-axis motion adaptive optimization of the target despinning pointing point. By introducing k in α, the ability of the target solar panel to receive despinning torques along different axes is incorporated, allowing the method to adjust the calculation scale according to different despinning conditions. This achieves spin-nutation coupling despinning of failed spacecraft, improving the despinning efficiency of freely tumbling satellites. This method exhibits good adaptability and is applicable to all methods that generate despinning torques through the shape of space debris.

[0058] like Figure 7 As shown, the second objective of this invention is to propose a spin-nutation coupled despinning plume pointing system based on plume despinning, comprising:

[0059] Acquisition module: Used to acquire the rotational inertia and angular velocity data of the target in its motion state;

[0060] Statistics module: used to statistically analyze the spin-nutation despin torque parameters that the target solar panel can receive during the despin process;

[0061] First input module: used to input spin-nutation despin torque parameters, moment of inertia and angular velocity data into the coupled despin plume pointing model to obtain the optimal plume pointing point;

[0062] The second input module is used to input the optimal plume pointing point into the plume deswirl dynamics model to perform deswirl calculations and obtain the deswirl termination condition. If the target's motion state meets the deswirl termination condition, the deswirl task is completed.

[0063] like Figure 8 As shown, a third objective of this invention is to provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the spin nutation coupling despinning plume pointing method based on plume despinning.

[0064] The spin-nutation coupling despinning plume pointing method based on plume despinning includes the following steps:

[0065] Collect data on the moment of inertia and angular velocity of the target during its motion.

[0066] The parameters of the spin-nutation despin torque that the target solar panel can receive during the despin process are statistically analyzed.

[0067] Input the spin-nutation despinning torque parameters, moment of inertia and angular velocity data into the coupled despinning plume pointing model to obtain the optimal plume pointing point;

[0068] The optimal plume pointing point is input into the plume deswirl dynamics model to perform deswirl calculations and obtain the deswirl termination condition. If the target's motion state meets the deswirl termination condition, the deswirl task is completed.

[0069] A fourth objective of this invention is to provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the spin-nutation coupling despinning plume pointing method based on plume despinning.

[0070] Collect data on the moment of inertia and angular velocity of the target during its motion.

[0071] The parameters of the spin-nutation despin torque that the target solar panel can receive during the despin process are statistically analyzed.

[0072] Input the spin-nutation despinning torque parameters, moment of inertia and angular velocity data into the coupled despinning plume pointing model to obtain the optimal plume pointing point;

[0073] The optimal plume pointing point is input into the plume deswirl dynamics model to perform deswirl calculations and obtain the deswirl termination condition. If the target's motion state meets the deswirl termination condition, the deswirl task is completed.

[0074] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0075] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for pointing a despinning plume based on spin-nutation coupling, characterized in that, include; Collect data on the moment of inertia and angular velocity of the target during its motion. The parameters of the spin-nutation despin torque that the target solar panel can receive during the despin process are statistically analyzed. Input the spin-nutation despinning torque parameters, moment of inertia and angular velocity data into the coupled despinning plume pointing model to obtain the optimal plume pointing point; The optimal plume pointing point is input into the plume deswirl dynamics model to perform deswirl calculations and obtain the deswirl termination condition. If the target's motion state meets the deswirl termination condition, the deswirl task is completed. The optimal plume pointing point includes: in, The moment of inertia of the failed satellite; The despinning torque of the failed satellite; The current angular velocity of the three axes; The initial angular velocities of the three axes; 、 ； in, and These are normalization parameters; The parameters are for spin-nutation co-derotation.

2. The method for pointing a spin-nutation coupled despinning plume based on plume despinning according to claim 1, characterized in that, The motion state of the target is identified by motion state sensors carried by the service spacecraft.

3. The method for pointing a spin-nutation coupled despinning plume based on plume despinning according to claim 1, characterized in that, If the target's motion state satisfies the derotation condition, then the rotational inertia and angular velocity data of the target's motion state are collected.

4. The method for pointing a spin-nutation coupled despinning plume based on plume despinning according to claim 1, characterized in that, If the motion state of the target does not meet the derotation condition, the motion state of the target is re-identified until the motion state of the target meets the derotation condition.

5. The method for pointing a spin-nutation coupled despinning plume based on plume despinning according to claim 1, characterized in that, The angular velocity data of the target's motion state needs to be normalized.

6. The method for pointing a spin-nutation coupled despinning plume based on plume despinning according to claim 1, characterized in that, The spin-nutation despin torque parameters are obtained by considering the target solar panel size and the target's relative position during the despin process.

7. The method for pointing a spin-nutation coupled despinning plume based on plume despinning according to claim 1, characterized in that, The optimal plume pointing point is input into the plume deswirl dynamics model to perform deswirl calculations and obtain the deswirl termination condition. If the target's motion state does not meet the deswirl termination condition, the target's motion state is re-identified.

8. A spin-nutation coupled despinning plume pointing system based on plume despinning, comprising the spin-nutation coupled despinning plume pointing method based on any one of claims 1-7, characterized in that, include: Acquisition module: Used to acquire the rotational inertia and angular velocity data of the target in its motion state; Statistics module: used to statistically analyze the spin-nutation despin torque parameters that the target solar panel can receive during the despin process; First input module: used to input spin-nutation despin torque parameters, moment of inertia and angular velocity data into the coupled despin plume pointing model to obtain the optimal plume pointing point; The second input module is used to input the optimal plume pointing point into the plume deswirl dynamics model to perform deswirl calculations and obtain the deswirl termination condition. If the target's motion state meets the deswirl termination condition, the deswirl task is completed.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the spin-nutation coupling despinning plume pointing method based on plume despinning as described in any one of claims 1-7.

10. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the spin-nutation coupling despinning plume pointing method based on plume despinning as described in any one of claims 1-7.

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