A close-range plasma plume space control and guidance method and system

Abstract

The present invention discloses a method, system, equipment, medium, and program for space manipulation and guidance of a close-range plasma plume, belonging to the field of aerospace technology. The method includes establishing an attitude dynamics model of a target spacecraft; obtaining the operating status of the target spacecraft based on the attitude dynamics model of the target spacecraft; placing a service spacecraft on the envelope of the target spacecraft, and designing an optimal guidance law for close-range plume manipulation based on the operating status of the target spacecraft; and determining the plume direction of the service spacecraft on the envelope of the target spacecraft based on the optimal guidance law for close-range plume manipulation. This method allows the nozzle of the service spacecraft to enter the envelope of the target spacecraft, closer to the target sailboard, and avoid colliding with the inoperative target. The plume has a greater impact force, resulting in higher efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace technology, and in particular relates to a method, system, equipment, medium and program for space control and guidance of a close-range plasma plume. Background Art

[0002] Over the past half century, human space activities have had a profound impact on the space environment. Decommissioned satellites, rocket upper stages, and space debris remain in space, posing a serious threat to the safety of other spacecraft in orbit. As of April 2023, the number of satellites in orbit has exceeded 11,872, but only 7,807 of them are functioning properly. The remaining satellites have become inoperable due to fuel exhaustion and component damage. This not only consumes valuable orbital resources but also poses a greater risk of collisions in space, posing a more serious threat. To protect the orbital environment and achieve sustainable use of space resources, there is an urgent need to deal with inoperable spacecraft and remove space debris.

[0003] Maneuvering a disabled spacecraft out of orbit can reduce orbital resource usage or allow for on-orbit repairs to restore its functionality. However, the disabled spacecraft's attitude control system may not function properly for a long time. Under the influence of gravity gradient torque, solar pressure, and its residual angular momentum before failure, it may enter a spin state or even a complex tumble state. To overcome the difficulties posed by complex attitude motions on-orbit, it is necessary to use equipment on the service spacecraft to despin the disabled spacecraft, thereby improving on-orbit control safety and effectively reducing fuel consumption.

[0004] Derotation control methods are categorized into contact and non-contact methods. Non-contact derotation allows for control from a safe distance and offers advantages such as high safety, strong fault tolerance, minimal damage to target structures, and flexible control. This represents the future direction of spacecraft derotation. In recent years, electromagnetic thrusters, exemplified by Hall effect thrusters, have become increasingly widely used in aerospace. Plasma plume derotation utilizes the high-speed plasma plume generated by a Hall effect thruster to generate a derotation torque on the target spacecraft surface. Compared to traditional molecular plume derotation methods, this approach is more fuel-efficient.

[0005] The essence of spacecraft derotation is the process of using derotation external forces or torques to reduce the three-axis angular velocity of the target spacecraft and stabilize its attitude. The modeling objects of the derotation system dynamics include three parts: the failed target, the service spacecraft, and the derotation medium, such as electromagnetic fields and plume fields. The derotation mission process is basically the same as other on-orbit operations. When the mission begins, the service spacecraft approaches the target through orbital maneuvers. The onboard computer then performs the optimal configuration calculation for the derotation control to obtain the required derotation torque and application position. The control steps are then executed by the non-contact derotation mechanism.

[0006] like Figure 2As shown in the figure, in order to ensure safety, space operation research always places the service spacecraft outside the failed target rotation envelope during control and guidance planning. Although this ensures safety, it makes the nozzle position too far away from the target sailboard, resulting in a decrease in the plume impact force and affecting the de-rotation efficiency, because the magnitude of the plume impact force decays exponentially with distance. Summary of the Invention

[0007] In order to address the problem in the prior art that, during maneuvering and guidance planning, the service spacecraft is always positioned outside the rotation envelope of the inoperative target, resulting in the nozzle position being too far away from the target sailboard, reducing the plume impact force and affecting the derotation efficiency, the present invention provides a method for close-range plasma plume maneuvering and guidance in space. This method enables the nozzle of the service spacecraft to enter the envelope, closer to the target sailboard, and avoid collision with the inoperative target, thereby increasing the plume impact force and improving efficiency.

[0008] In order to achieve the above objectives, the present invention provides the following technical solutions.

[0009] In a first aspect, the present invention provides a method for controlling and guiding a close-range plasma plume in space, comprising:

[0010] Establish the attitude dynamics model of the target spacecraft;

[0011] Obtain the target spacecraft's operating status based on its attitude dynamics model;

[0012] The service spacecraft is placed on the envelope of the target spacecraft, and the optimal guidance law for close-range plume manipulation is designed based on the target spacecraft's operating conditions.

[0013] According to the optimal guidance law for close-range plume control, the plume direction of the service spacecraft is determined on the envelope of the target spacecraft.

[0014] As a further improvement of the present invention, the establishment of the attitude dynamics model of the target spacecraft is specifically expressed as follows:

[0015]

[0016] In the formula, [T x , T y , T z ] is the control torque received by the target spacecraft; [I x , I y , I z ] is the control torque received by the target spacecraft; [ω x ,ω y ,ω z ] is the target spacecraft attitude angular velocity.

[0017] As a further improvement of the present invention, obtaining the operating status of the target spacecraft based on the attitude dynamics model of the target spacecraft includes:

[0018] According to the attitude dynamics model of the target spacecraft, the nutation of the target spacecraft during its rotation is obtained;

[0019] According to the nutation of the target spacecraft during its rotation, the nutation derotation constraint of the target spacecraft is designed;

[0020] The nutation kinetic energy of the target spacecraft is obtained by constraining the nutation derotation of the target spacecraft;

[0021] Based on the nutation kinetic energy of the target spacecraft, the nutation kinetic energy change required for the tumbling suppression of the target spacecraft is obtained.

[0022] As a further improvement of the present invention, the service spacecraft is placed on the envelope of the target spacecraft, the robotic arm carrying the plasma thruster is extended into the target rotation envelope, and the optimal guidance law for close-range plume manipulation is designed based on the operating conditions of the target spacecraft. The specific expression is as follows:

[0023] U(r trust )=U rep (r trust )+U att-1 (r trust )+U att-2 (r trust );

[0024] Where, U(r trust ) is the sum of the attractive potential and the repulsive potential; r trust A random point in the operation of the service spacecraft; U rep (r trust ) is the repulsive force potential of random points in the service spacecraft operation; U att-1 (r trust ) is the gravitational potential when the service spacecraft nozzle approaches the corresponding aiming point; U att-2 (r trust ) is the gravitational potential energy when the racemization effect is enhanced.

[0025] As a further improvement of the present invention, when the nozzle of the service spacecraft approaches the corresponding aiming point, the gravitational potential U att-1 (r trust ), specifically expressed as follows:

[0026]

[0027] Where ζ is the gravitational gain, r aim is the aiming point vector;

[0028] When the racemization effect is enhanced, the gravitational potential energy U att-2(r trust ), specifically expressed as follows:

[0029] U att-2 (r trust )=λexp(ω x T x +ω y T y +ω z T z )

[0030] Where λ is the racemization effect coefficient; [T x , T y , T z ] is the control torque received by the target spacecraft; [ω x ,ω y ,ω z ] is the target spacecraft attitude angular velocity.

[0031] As a further improvement of the present invention, according to the optimal guidance law for close-range plume manipulation, the optimal service spacecraft nozzle position and the corresponding plume aiming point are obtained without colliding with the invalid target, thereby determining the plume direction of the service spacecraft on the envelope line of the target spacecraft during the derotation process.

[0032] In a second aspect, the present invention provides a close-range plasma plume space control and guidance system, comprising:

[0033] Attitude model building module: used to build the attitude dynamics model of the target spacecraft;

[0034] Target status acquisition module: used to obtain the target spacecraft's operating status based on its attitude and dynamics model;

[0035] Design Guidance Optimization Module: This module is used to place the service spacecraft on the envelope of the target spacecraft and design the optimal guidance law for close-range plume control based on the target spacecraft's operating conditions.

[0036] Plume pointing determination module: used to determine the plume pointing direction of the service spacecraft on the envelope of the target spacecraft based on the optimal guidance law for close-range plume control.

[0037] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for spatial manipulation and guidance of a close-range plasma plume when executing the computer program.

[0038] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for spatial manipulation and guidance of a close-range plasma plume.

[0039] In a fifth aspect, the present invention provides a computer program product, characterized in that it includes computer instructions, which, when executed by a processor, implement the steps of the method for spatial manipulation and guidance of a close-range plasma plume.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention performs de-rotation control within the envelope of the target spacecraft, bringing the thruster closer to the target sailboard, resulting in a greater impact force on the plume, thereby significantly improving the de-rotation efficiency. Compared with the traditional de-rotation method outside the envelope, this close-range control strategy can enable the target spacecraft to reach a stable state more quickly. Due to the improved de-rotation efficiency, the thrust and time required for the service spacecraft to perform de-rotation operations are reduced, thereby reducing the fuel consumption of the service spacecraft. This is of great significance for extending the service life of the service spacecraft and reducing mission costs. At the same time, the present invention not only ensures the movement of the robotic arm within the envelope, but also achieves coordinated suppression of the nutation and spin of the tumbling target. This coordinated suppression strategy can more effectively stabilize the attitude of the target spacecraft and improve the reliability and safety of the mission. In addition, the present invention is applicable to spacecraft of different shapes and sizes and has strong mission adaptability. Whether it is a large spacecraft or a small satellite, as long as an accurate attitude dynamics model can be established, this method can be used for de-rotation control. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In the drawings:

[0043] Figure 1 Schematic diagram of the traditional envelope racemization guidance method;

[0044] Figure 2 This is a schematic diagram of a specific process of a method for spatial manipulation and guidance of a close-range plasma plume according to the present invention;

[0045] Figure 3 Schematic diagram of the close-range plasma plume space manipulation and guidance method provided by the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. The embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0048] Aiming at the problem that in the prior art, the given service spacecraft is always outside the rotation envelope of the failed target during the control and guidance planning, which makes the nozzle position too far away from the target sailboard, resulting in reduced plume impact force and affecting the derotation efficiency. The present invention provides a close-range plasma plume space control and guidance method, such as Figure 2 As shown, the method is:

[0049] Establish the attitude dynamics model of the target spacecraft;

[0050] Obtain the target spacecraft's operating status based on its attitude dynamics model;

[0051] The service spacecraft is placed on the envelope of the target spacecraft, and the optimal guidance law for close-range plume manipulation is designed based on the target spacecraft's operating conditions.

[0052] According to the optimal guidance law for close-range plume control, the plume direction of the service spacecraft is determined on the envelope of the target spacecraft.

[0053] The present invention enables the nozzle of the service spacecraft to enter the envelope and be closer to the target sailboard without colliding with the failed target. The plume impact force is greater, thereby improving the efficiency.

[0054] The present invention is explained in detail below.

[0055] On-orbit control requires high real-time control. Therefore, the thruster is installed on the service spacecraft's robotic arm. During the nozzle pointing and position adjustment process, the robotic arm movement replaces the service spacecraft's body movement. During the derotation process, the service spacecraft's body position remains stationary and is located at a point on the target envelope. The range of motion of the service spacecraft's robotic arm is as follows: Figure 3 , which enters the target envelope to obtain greater control torque and improve despin efficiency.

[0056] Two right-handed coordinate systems, the orbital inertial system (O′-X′Y′Z′) and the target body coordinate system (O-XYZ), are established to assist in modeling.

[0057] The attitude dynamics equation of the target spacecraft in the orbital inertial system is:

[0058]

[0059] In the formula, [T x ,T y ,T z ] is the control torque received by the target spacecraft; [I x ,I y ,I z ] is the control torque received by the target spacecraft; [ω x ,ω y ,ω z ] is the target spacecraft attitude angular velocity.

[0060] During close-range derotation, a balance must be struck between safety and efficiency. The target spacecraft often nutates while spinning, complicating spacecraft manipulation. Traditional derotation methods often compromise one objective while simultaneously increasing the nutation angle when dealing with tumbling targets, while simultaneously eliminating the spin angular velocity. Furthermore, traditional derotation methods position the actuators of the service spacecraft outside the target's tumbling envelope, making it difficult to improve derotation efficiency. Therefore, this method transforms the derotation dynamics problem into a nonlinear optimization problem under multiple constraints.

[0061] First, the constraint equation is constructed to design the nutation derotation constraint and define the target spacecraft nutation kinetic energy (E nut )for:

[0062]

[0063] For , the target spacecraft nutation kinetic energy change rate is:

[0064]

[0065] For the plume impact at each moment, the change in nutation kinetic energy is:

[0066]

[0067] Through observation, it can be found that it consists of two parts, It is an inherent property of the target spacecraft and has nothing to do with the external torque received by the target. If the tumbling suppression of the nutation target spacecraft is to be achieved, the change in nutation kinetic energy caused by the external torque (ΔE nut-T ) is less than 0, that is:

[0068]

[0069] In addition, the nozzle of the servicing spacecraft should be located within the reach of the servicing spacecraft's robotic arm:

[0070] r trust ∈κ(6)

[0071] Where r trust is the thruster nozzle position vector, and κ is the reachable set of the manipulator end position vector.

[0072] The impact force of the plasma plume on the target sailboard decreases with distance, and the particle density in the plume is higher near the axis and decreases in the direction perpendicular to the axis. In order to generate a greater plume impact force under the same relative position conditions, the plume axis should be perpendicular to the target sailboard.

[0073] Then, the optimization objective function of close-range plume control guidance is designed, mainly considering three factors: safety, that is, the distance between the nozzle and the center of the target spacecraft; derotation efficiency, that is, the distance between the nozzle and the plume aiming point; and spin-nutation suppression ratio.

[0074] This application adopts a method for optimizing the plume aiming point and nozzle position using an artificial potential field, where the potential field includes two parts: gravitational potential and repulsive potential.

[0075] According to the service spacecraft operation, a certain point r trust The potential function expression U(r trust ) is the sum of the attractive potential and the repulsive potential. The potential field U is constructed as follows:

[0076] U(r trust )=U rep (r trust )+U att-1 (r trust )+U att-2 (r trust ) (7)

[0077] Among them, the repulsive potential U rep (r trust ) represents that when the nozzle enters the envelope, the collision risk gradually increases with the increase of the entry distance, and the repulsive potential is 0 when the nozzle is outside the envelope.

[0078]

[0079] Where η is the repulsion coefficient, and ρ0 is the farthest distance from the target center within the envelope, i.e., the rotation radius.

[0080] To improve control efficiency, the nozzle needs to be positioned as close to the sailboard as possible. However, too close a distance will increase the risk of collision. The following parabolic gravitational field is constructed, which indicates that the gravitational potential decreases when the nozzle approaches the corresponding aiming point.

[0081]

[0082] Where ζ is the gravitational gain, r aim is the aiming point vector.

[0083] At the same time, in order to achieve the coordinated suppression of spin and nutation, the following gravitational field is designed to express the gravitational potential energy U when the deracemization effect is enhanced: att-2 Reduce:

[0084] U att-2 (r trust )=λexp(ω x T x +ω y T y +ω z T z ) (10)

[0085] Where λ is the racemization effect coefficient.

[0086] In summary, the conductance of the close-range plasma plume space manipulation is transformed into the following multi-constraint nonlinear optimization model and solved to obtain the optimal service spacecraft nozzle position and the corresponding plume aiming point:

[0087]

[0088] During the derotation process, the nozzle position of the service spacecraft is selected and the plume direction is determined according to the guidance method of formula (11), and the thruster is made to always track the optimal desired position through the flexible control of the robotic arm.

[0089] A second object of the present invention is to provide a close-range plasma plume space control and guidance system, comprising:

[0090] Attitude model building module: used to build the attitude dynamics model of the target spacecraft;

[0091] Target status acquisition module: used to obtain the target spacecraft's operating status based on its attitude and dynamics model;

[0092] Design Guidance Optimization Module: This module is used to place the service spacecraft on the envelope of the target spacecraft and design the optimal guidance law for close-range plume control based on the target spacecraft's operating conditions.

[0093] Plume pointing determination module: used to determine the plume pointing direction of the service spacecraft on the envelope of the target spacecraft based on the optimal guidance law for close-range plume control.

[0094] A third object of the present invention is to provide an electronic device comprising: a processor, a memory, and a display screen. The memory and the display screen are both connected to the processor, such as via a bus. Optionally, the electronic device may further include a transceiver. It should be noted that in actual applications, the number of transceivers is not limited to one, and the structure of the electronic device does not constitute a limitation on the embodiments of this application.

[0095] The processor may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0096] A bus may include a path that transmits information between the components. Examples of buses include a PCI (Peripheral Component Interconnect) bus and an EISA (Extended Industry Standard Architecture) bus. Buses can be categorized as address buses, data buses, and control buses.

[0097] The memory may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0098] The memory is used to store the application code for executing the solution of this application, and the processor controls the execution. The processor is used to execute the application code stored in the memory to achieve Figure 2 The content shown.

[0099] The fourth object of the present invention is to provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program is stored thereon, and when the program is executed by a processor, the computer program is realized as described above. Figure 2 Each process of the method shown in the figure may include a memory including instructions, and the instructions may be executed by a processor of an electronic device to complete the method.

[0100] A computer-readable storage medium may be a tangible device that holds and stores instructions used by an instruction execution device. A computer-readable storage medium may be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, a computer-readable storage medium may be a portable computer disk, a hard disk, a USB flash drive, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a lectern random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, an optical disc, a magnetic disk, a mechanical encoding device, or any combination thereof.

[0101] The fifth object of the present invention is to provide a computer program product comprising computer instructions, which, when executed by a processor, implement the above Figure 2 The various processes of the method shown can achieve the same technical effect, and to avoid repetition, they will not be described here.

[0102] Many embodiments and applications beyond the examples provided will be apparent to those skilled in the art upon reading the foregoing description. Therefore, the scope of the present teachings should be determined not with reference to the foregoing description, but rather with reference to the preceding claims, along with the full scope of equivalents to which such claims are entitled. For the purpose of completeness, all articles and references, including the disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein from the preceding claims is not a disclaimer of such subject matter, nor should it be interpreted that the applicants did not consider such subject matter to be part of the disclosed inventive subject matter.

[0103] The above content is a further detailed description of the present invention, and it cannot be considered that the specific implementation methods of the present invention are limited to these. For ordinary technicians in the technical field to which the present invention belongs, they can make several simple deductions or substitutions without departing from the concept of the present invention, which should be regarded as belonging to the scope of protection of the present invention determined by the submitted claims.

Claims

1. A method for spatial manipulation and guidance of a close-range plasma plume, characterized in that: include: Establish the attitude dynamics model of the target spacecraft; Obtain the target spacecraft's operating status based on its attitude dynamics model; The service spacecraft is placed on the envelope of the target spacecraft, and the optimal guidance law for close-range plume manipulation is designed based on the target spacecraft's operating conditions. Determine the plume direction of the service spacecraft on the envelope of the target spacecraft based on the optimal guidance law for close-range plume manipulation; The establishment of the attitude dynamics model of the target spacecraft is specifically expressed as follows: Where, is the control torque received by the target spacecraft; is the control torque received by the target spacecraft; is the target spacecraft attitude angular velocity; The obtaining of the operating status of the target spacecraft according to the attitude dynamics model of the target spacecraft includes: According to the attitude dynamics model of the target spacecraft, the nutation of the target spacecraft during its rotation is obtained; According to the nutation of the target spacecraft during its rotation, the nutation derotation constraint of the target spacecraft is designed; The nutation kinetic energy of the target spacecraft is obtained by constraining the nutation derotation of the target spacecraft; Based on the nutation kinetic energy of the target spacecraft, the nutation kinetic energy change required for the tumbling suppression of the target spacecraft is obtained; The service spacecraft is placed on the envelope of the target spacecraft, the robotic arm carrying the plasma thruster is extended into the target rotation envelope, and the optimal guidance law for close-range plume control is designed based on the operating conditions of the target spacecraft. The specific expression is as follows: ； Where, is the sum of the attractive potential and the repulsive potential; To serve random points in spacecraft operation; To serve the random point repulsive potential in the operation of spacecraft; To serve the gravitational potential when the spacecraft nozzle approaches the corresponding aiming point; The gravitational potential energy when the racemization effect is enhanced; According to the optimal guidance law for close-range plume control, the optimal service spacecraft nozzle position and the corresponding plume aiming point are obtained without colliding with the ineffective target, thereby determining the plume direction of the service spacecraft on the envelope line of the target spacecraft during the derotation process.

2. A method for spatial manipulation and guidance of a close-range plasma plume according to claim 1, characterized in that: The gravitational potential when the nozzle of the service spacecraft approaches the corresponding aiming point , specifically expressed as follows: Where, is the gravitational gain, is the aiming point vector; The gravitational potential energy increases when the racemization effect is enhanced , specifically expressed as follows: Where, is the racemization effect coefficient; is the control torque received by the target spacecraft; is the target spacecraft attitude angular velocity.

3. A close-range plasma plume space control and guidance system, characterized in that: The close-range plasma plume space control and guidance system is used to implement the close-range plasma plume space control and guidance method according to any one of claims 1 to 2, comprising: Attitude model building module: used to build the attitude dynamics model of the target spacecraft; Target status acquisition module: used to obtain the target spacecraft's operating status based on its attitude and dynamics model; Design Guidance Optimization Module: This module is used to place the service spacecraft on the envelope of the target spacecraft and design the optimal guidance law for close-range plume control based on the target spacecraft's operating conditions. Plume pointing determination module: used to determine the plume pointing direction of the service spacecraft on the envelope of the target spacecraft based on the optimal guidance law for close-range plume control.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for spatial manipulation and guidance of a close-range plasma plume as claimed in any one of claims 1 to 2 are implemented.

5. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for spatial manipulation and guidance of a close-range plasma plume according to any one of claims 1 to 2.

6. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of a method for spatial manipulation and guidance of a close-range plasma plume as claimed in any one of claims 1 to 2.

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