Method, device and equipment for controlling non-cooperative target based on time-varying magnetic field and medium

Abstract

The invention relates to a method, device and equipment for controlling a non-cooperative target based on a time-varying magnetic field and a medium. Comprising the steps that a time-varying magnetic field array configuration is established, a magnetic field action model is constructed, and a close-range spherical non-cooperative target is controlled according to the multi-stage magnetic field action model; generating a ball Mark constraint configuration compact plasma ring, and carrying out magnetic freezing optimization on the configuration retention time of the ball Mark constraint configuration compact plasma ring; the spherical Mark constraint configuration compact plasma ring after magnetic freezing optimization is remotely and sequentially delivered, a remote eddy current magnetic field is induced to be generated, and then a remote spherical non-cooperative target is controlled through a monopole magnetic field action model; performing equivalent sphere design on the heterogeneous non-cooperative target according to the skin effect of the current action and the action section of the time-varying magnetic field, and determining a maximum equivalent sphere mode and a minimum equivalent sphere mode; and controlling the heterogeneous non-cooperative target through the magnetic field action model to obtain the control envelope capability. The method disclosed by the invention is high in flexibility and effectiveness, and has the capabilities of long-distance intervention and short-distance limitation.

Description

Technical Field

[0001] The present invention relates to the technical field of non-cooperative target control, and in particular to a method, device, equipment and medium for controlling a non-cooperative target based on a time-varying magnetic field. Background Art

[0002] With the continuous development of aerospace technology, the number and complexity of spacecraft in orbit have increased significantly. Non-cooperative targets may actively or passively interfere with spacecraft in orbit, which will pose a serious threat to the safe operation of spacecraft and even cause damage or loss of control of spacecraft.

[0003] In order to deal with this interference, a variety of intervention technologies have been developed, including long-range intervention technologies such as kinetic energy / directed energy, and close-range restriction mechanisms such as space rope nets / flying forks. These technologies can provide control means for non-cooperative targets to a certain extent, however, they also have obvious shortcomings. For example, long-range intervention technologies such as kinetic energy / directed energy may produce secondary space debris, affect the space environment, and increase potential risks; close-range restriction mechanisms often require high-precision relative posture measurement information, with high operational complexity and slow control time. These factors have led to many challenges for existing technologies in practical applications.

[0004] It can be seen that although traditional technology can intervene and restrict non-cooperative targets to a certain extent, it still has limitations in predicting the specific behavior patterns and potential risks of non-cooperative targets. When an on-orbit spacecraft encounters an emergency, there is often a lack of effective response measures, which further threatens the safety of the spacecraft. Summary of the invention

[0005] Based on this, it is necessary to provide a method, device, equipment and medium for manipulating non-cooperative targets based on time-varying magnetic fields, which can respond to non-cooperative targets in real time, have high flexibility and effectiveness in on-orbit control, and can perform long-distance intervention and close-range restriction.

[0006] A method for manipulating a non-cooperative target based on a time-varying magnetic field, the method comprising:

[0007] Based on the magnetic control effect of non-cooperative targets, a time-varying magnetic field array configuration is established by adopting the head-to-tail closed-loop mode of the rotation direction of the four magnetic dipoles;

[0008] Based on the time-varying magnetic field array configuration, a magnetic field action model induced by the time-varying magnetic field on a spherical non-cooperative target is constructed, wherein the magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model; wherein the close-range spherical non-cooperative target is manipulated by the multi-level magnetic field action model;

[0009] A compact plasma ring in a spheromak confinement configuration is generated by a magnetized coaxial gun, and a configuration holding time of the compact plasma ring in the spheromak confinement configuration is magnetically frozen and optimized;

[0010] The spherical Mark confinement configuration compact plasma ring is delivered in sequence over long distances after magnetic freezing optimization, inducing the generation of long-distance eddy current magnetic field, and then the long-distance spherical non-cooperative target is manipulated through the monopole magnetic field action model;

[0011] According to the skin effect of electric current and the cross section of time-varying magnetic field, an equivalent sphere design is performed for heterogeneous non-cooperative targets to determine the maximum equivalent sphere and minimum equivalent sphere modes.

[0012] Based on the induced long-distance eddy current magnetic field, according to the maximum equivalent sphere mode and the minimum equivalent sphere mode, the heterogeneous non-cooperative target is manipulated through the magnetic field action model.

[0013] A device for manipulating a non-cooperative target based on a time-varying magnetic field, the device comprising:

[0014] The time-varying magnetic field array configuration module is used for magnetic control based on non-cooperative targets, and adopts the head-to-tail closed-loop mode of the four magnetic dipole rotation directions to establish the time-varying magnetic field array configuration;

[0015] A close-range spherical non-cooperative target manipulation module is used to construct a magnetic field action model induced by a time-varying magnetic field on a spherical non-cooperative target based on a time-varying magnetic field array configuration, wherein the magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model; wherein the close-range spherical non-cooperative target is manipulated by the multi-level magnetic field action model;

[0016] A magnetic freezing optimization module is used to generate a spheromak confinement configuration compact plasma ring by means of a magnetized coaxial gun, and to perform magnetic freezing optimization on the configuration holding time of the spheromak confinement configuration compact plasma ring;

[0017] A long-distance spherical non-cooperative target manipulation model is used for long-distance sequence delivery of the spherical Mark confinement configuration compact plasma ring after magnetic freezing optimization, inducing the generation of a long-distance eddy current magnetic field, and then manipulating the long-distance spherical non-cooperative target through a monopole magnetic field action model;

[0018] Heterogeneous non-cooperative target design module, used to design equivalent spheres for heterogeneous non-cooperative targets based on the skin effect of current and the cross section of time-varying magnetic field, and determine the maximum equivalent sphere and minimum equivalent sphere modes;

[0019] A heterogeneous non-cooperative target manipulation module is used to manipulate heterogeneous non-cooperative targets through the magnetic field action model based on the induced long-distance eddy current magnetic field and according to the maximum equivalent sphere and minimum equivalent sphere modes.

[0020] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for manipulating a non-cooperative target based on a time-varying magnetic field when executing the computer program.

[0021] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for manipulating a non-cooperative target based on a time-varying magnetic field.

[0022] The above-mentioned method, device, equipment and medium for manipulating non-cooperative targets based on time-varying magnetic fields, based on the magnetic control effect of non-cooperative targets, adopt the head-to-tail closed-loop mode of the four magnetic dipole rotation directions to establish a time-varying magnetic field array configuration; based on the time-varying magnetic field array configuration, a magnetic field action model induced by the time-varying magnetic field on spherical non-cooperative targets is constructed, and the magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model; wherein, a close-range spherical non-cooperative target is manipulated by the multi-level magnetic field action model; a compact plasma ring in a spherical mak confinement configuration is generated by a magnetized coaxial gun, and the spherical mak confinement configuration is tightly controlled. The configuration holding time of the compact plasma ring is optimized by magnetic freezing; the spherical mark confinement configuration compact plasma ring after magnetic freezing optimization is delivered in a long-distance sequence to induce a long-distance eddy current magnetic field, and then the long-distance spherical non-cooperative target is manipulated through the magnetic field action model; according to the skin effect of the electric current and the action cross-section of the time-varying magnetic field, an equivalent sphere is designed for the heterogeneous non-cooperative target, and the maximum equivalent sphere and the minimum equivalent sphere modes are determined; based on the induced long-distance eddy current magnetic field, the heterogeneous non-cooperative target is manipulated through the magnetic field action model according to the maximum equivalent sphere and the minimum equivalent sphere modes.

[0023] The present invention can flexibly control the close-range spherical non-cooperative targets, whether magnetic or not, through the configuration of the time-varying magnetic field array and the magnetic field action model; by optimizing the magnetic freezing of the configuration holding time of the compact plasma ring of the spherical mark constraint configuration, the configuration holding time can be extended, and it has the advantages of long delivery distance, fast control time, and control of both magnetic and non-magnetic long-range non-cooperative targets; and for heterogeneous non-cooperative targets, it is regarded as an equivalent sphere, and the skin effect of the current action and the action cross-section of the time-varying magnetic field are designed to determine the maximum equivalent sphere and the minimum equivalent sphere mode, which can achieve good control of heterogeneous non-cooperative targets and has good robustness. The method proposed by the present invention controls through the time-varying magnetic field, does not generate new secondary space debris, has low requirements on the configuration, size, and physical performance parameters of the non-cooperative targets, has high flexibility and effectiveness in on-orbit control, and has the ability of long-distance intervention and close-range restriction. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0025] Figure 1 A schematic flow chart of the method for manipulating a non-cooperative target based on a time-varying magnetic field provided in Example 1;

[0026] Figure 2 A schematic diagram of the time-varying magnetic field array configuration provided in Example 1;

[0027] Figure 3 A schematic diagram of a reference coordinate system for modeling the induced magnetic force / torque provided in Example 1;

[0028] Figure 4 Schematic diagram of the finite element simulation architecture of the time-varying magnetic field induced magnetic force / torque provided in Example 1, wherein: Figure 4 (a) is a schematic diagram of the finite element simulation framework of the time-varying magnetic field induced magnetic force / torque of a rectangular parallelepiped. Figure 4 (b) is a schematic diagram of the finite element simulation framework of the time-varying magnetic field induced magnetic force / torque of a cube. Figure 4 (c) is a schematic diagram of the finite element simulation framework of the magnetic force / torque induced by the time-varying magnetic field of the cylinder. Figure 4 (d) is a schematic diagram of the finite element simulation framework of the magnetic force / torque induced by the time-varying magnetic field of the equivalent sphere;

[0029] Figure 5 Schematic diagram of the axial magnetic force induced by the time-varying magnetic field provided in Example 1, wherein: Figure 5 (a) is a schematic diagram of the axial magnetic force induced by the time-varying magnetic field of a rectangular parallelepiped. Figure 5 (b) is a schematic diagram of the axial magnetic force induced by the time-varying magnetic field of the cube. Figure 5 (c) is a schematic diagram of the axial magnetic force induced by the time-varying magnetic field of the cylinder. Figure 5 (d) is a schematic diagram of the axial magnetic force induced by the time-varying magnetic field of the inscribed sphere. Figure 5 (e) is a schematic diagram of the axial magnetic force induced by the time-varying magnetic field of the external sphere;

[0030] Figure 6 A schematic diagram of the relative motion of a non-cooperative target in space under the induced magnetic force provided in Example 1;

[0031] Figure 7 This is a schematic diagram of the induced magnetic force, equivalent acceleration and velocity of the non-cooperative target 1 provided in Example 1, wherein: Figure 7 (a) is a schematic diagram of the induced magnetic force of the non-cooperative target 1. Figure 7 (b) is a schematic diagram of the equivalent acceleration of the non-cooperative target 1. Figure 7 (c) is a velocity diagram of non-cooperative target 1;

[0032] Figure 8 This is a schematic diagram of the induced magnetic force, equivalent acceleration and velocity of the non-cooperative target 2 provided in Example 1, wherein: Figure 8 (a) is a schematic diagram of the induced magnetic force of the non-cooperative target 2. Figure 8 (b) is a schematic diagram of the equivalent acceleration of the non-cooperative target 2. Figure 8 (c) is a velocity diagram of non-cooperative target 2;

[0033] Fig. 9 This is a schematic diagram of the induced magnetic force, equivalent acceleration and velocity of the non-cooperative target 3 provided in Example 1, wherein: Fig. 9 (a) is a schematic diagram of the induced magnetic force of the non-cooperative target 3. Fig. 9 (b) is a schematic diagram of the equivalent acceleration of the non-cooperative target 3. Fig. 9 (c) is a velocity diagram of non-cooperative target 3;

[0034] Fig.10 This is a schematic diagram of the induced magnetic force, equivalent acceleration and velocity of the non-cooperative target 4 provided in Example 1, wherein: Fig.10 (a) is a schematic diagram of the induced magnetic force of the non-cooperative target 4. Fig.10 (b) is a schematic diagram of the equivalent acceleration of non-cooperative target 4. Fig.10 (c) is a velocity diagram of non-cooperative target 4;

[0035] Fig.11 This is a schematic diagram of the autonomous collection and exclusion capability verification of the non-cooperative target provided in Example 1;

[0036] Fig.12 A schematic diagram of the change in magnetic field intensity at a non-cooperative target provided in Example 1;

[0037] Fig.13 This is a schematic diagram of the rotation speed change of the non-cooperative target provided in Example 1;

[0038] Fig.14 This is a structural block diagram of the device for manipulating a non-cooperative target based on a time-varying magnetic field provided in Example 2;

[0039] Fig.15 This is a diagram of the internal structure of the computer device provided in Example 3.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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 creative work are within the scope of protection of the present invention.

[0042] It should be noted that the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] The following will describe the implementation of the present invention in detail with reference to the accompanying drawings in the embodiment diagram of the present invention.

[0044] Example 1

[0045] It is understandable that non-cooperative targets in space are mainly generated by space missions, including but not limited to abandoned spacecraft, space debris, etc. Most of these materials have conductor properties. In addition, according to Faraday's law of electromagnetic induction, a time-varying magnetic field will generate a closed-loop eddy current distribution on the surface of a conductor in its action space, and an eddy current magnetic field will be generated through the closed-loop eddy current; the eddy current magnetic field and the time-varying magnetic field will generate magnetic force and torque, which can be used to manipulate the relative position of non-cooperative targets in space.

[0046] Based on this, the present invention can flexibly control close-range spherical non-cooperative targets, whether magnetic or not, through a time-varying magnetic field array configuration and a magnetic field action model; induce a long-range eddy current magnetic field through a compact plasma ring in a spherical mak constraint configuration, and perform magnetic freezing optimization on the configuration retention time of the compact plasma ring in the spherical mak constraint configuration, which can extend the configuration retention time, and has the advantages of long delivery distance, fast control time, and control of both magnetic and non-magnetic long-range spherical non-cooperative targets; and for heterogeneous non-cooperative targets, they are regarded as equivalent spheres, and are designed through the skin effect of electric current and the action cross-section of the time-varying magnetic field to determine the maximum equivalent sphere and the minimum equivalent sphere mode, and then the close-range heterogeneous non-cooperative targets are controlled through the magnetic field action model; and based on the induced long-range eddy current magnetic field, the long-range heterogeneous non-cooperative targets are controlled through the magnetic field action model, which can achieve good control of heterogeneous non-cooperative targets and has good robustness. The method proposed in the present invention is controlled through a time-varying magnetic field, will not generate new secondary space debris, has low requirements on the configuration, size, and physical performance parameters of non-cooperative targets, has high flexibility and effectiveness in on-orbit control, has the ability to intervene at a long distance and restrict at a close distance, and can achieve on-demand control of non-cooperative targets in space, thereby achieving the purpose of clearing obstacles on the path of on-orbit spacecraft and controlling the attitude and orbit of potential non-cooperative targets.

[0047] like Figure 1 As shown, the method provided for manipulating a non-cooperative target based on a time-varying magnetic field comprises the following steps:

[0048] Step 201, based on the magnetic control effect of the non-cooperative target, a time-varying magnetic field array configuration is established by adopting a head-to-tail closed-loop mode of the rotation direction of four magnetic dipoles.

[0049] Step 202, based on the time-varying magnetic field array configuration, construct a magnetic field action model induced by the time-varying magnetic field on the spherical non-cooperative target, the magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model; wherein the close-range spherical non-cooperative target is manipulated by the multi-level magnetic field action model.

[0050] Step 203, generating a spheromak confinement configuration compact plasma ring by magnetizing the coaxial gun, and performing magnetic freezing optimization on the configuration holding time of the spheromak confinement configuration compact plasma ring.

[0051] Step 204, long-distance sequence delivery of the magnetically frozen optimized spherical Mark confinement configuration compact plasma ring to induce the generation of long-distance eddy current magnetic field, and then control the long-distance spherical non-cooperative target through the monopole magnetic field action model.

[0052] Step 205 , based on the skin effect of the current and the cross section of the time-varying magnetic field, an equivalent sphere design is performed on the heterogeneous non-cooperative target to determine the maximum equivalent sphere mode and the minimum equivalent sphere mode.

[0053] Step 206 , based on the induced long-distance eddy current magnetic field, according to the maximum equivalent sphere mode and the minimum equivalent sphere mode, the heterogeneous non-cooperative target is manipulated through the magnetic field action model.

[0054] In the specific implementation process of step 201, based on the magnetic control effect of the non-cooperative target, a head-to-tail closed-loop mode of the rotation direction of the four magnetic dipoles is adopted to establish a time-varying magnetic field array configuration, including:

[0055] A first fixed coordinate system of the time-varying magnetic field array configuration is constructed, and the position coordinates and time-varying directions of the four sets of time-varying magnets are determined according to the first fixed coordinate system.

[0056] Based on the position coordinates and time-varying directions of the four sets of time-varying magnets, the second fixed coordinate systems of the four time-varying magnetic fields are defined respectively, and the rotation matrix from the second fixed coordinate system to the first fixed coordinate system is calculated;

[0057] The magnetic fields of four sets of time-varying magnets are superimposed based on the rotation matrix to obtain the time-varying magnetic field array configuration.

[0058] Specifically, Figure 2As shown in the figure, it is a schematic diagram of the time-varying magnetic field array configuration. In the figure, 'N' and 'S' represent the magnetic poles of the magnetic field, 2l represents the side length of the magnetic array, μ represents the magnetic moment amplitude of the time-varying magnetic field, ω represents the frequency of the time-varying magnetic field, and the arrow represents the rotation direction of the time-varying magnetic field. Then the coordinate system o cb x cb y cb z cb The fixed coordinate system of the time-varying magnetic field array configuration is recorded as the first fixed coordinate system.

[0059] According to the first fixed coordinate system o cb x cb y cb z cb , determine the position coordinates and time-varying directions of the four sets of time-varying magnets, where the position coordinate expression is:

[0060] P1=(0,0,-l),P2=(l,0,0),P3=(0,0,l),P4=(-l,0,0) (1)

[0061] The time-varying direction expression is:

[0062]

[0063] Where P i (i=1,2,3,4) represents the time-varying magnet position; l represents the array size; Represents time-varying frequency.

[0064] Define the fixed coordinate systems of time-varying magnetic field 1 to time-varying magnetic field 4, namely the second fixed coordinate system o i x i y i z i (i=1,2,3,4) means: o1 is located at the center of the time-varying magnetic field 1, o1z1 is consistent with ocbxcb, o1x1 is consistent with o cb z cb If o1y1 is consistent with -o cb y cb consistent; o2 is located at the center of the time-varying magnetic field 2, o2z2 and o cb z cb Consistent, o2x2 and -o cb x cb If o2y2 is the same as -o cb y cb consistent; o3 is located at the center of the time-varying magnetic field 3, o3z3 and -o cb x cb Consistent, o3x3 and -o cb z cb If o3y3 is consistent with -o cb ycb consistent; o4 is located at the center of the time-varying magnetic field 4, o4z4 and -o cb z cb Consistent, o4x4 and o cb x cb If o4y4 is consistent with -o cb y cb Consistent.

[0065] Therefore, from the second fixed coordinate system o i x i y i z i The calculation expression of the rotation matrix from (i=1,2,3,4) to the first fixed coordinate system ocbxcbycbzcb is:

[0066]

[0067]

[0068] In the formula, Indicates from o i x i y i z i (i=1,2,3,4) to ocbxcbycbzcb; M2 represents the basic matrix for rotation around the y-axis; M3 represents the basic matrix for rotation around the z-axis.

[0069] Based on the rotation matrix, the magnetic fields of four sets of time-varying magnets are superimposed, and the following is obtained: Figure 2 The time-varying magnetic field array configuration shown.

[0070] In the specific implementation process of step 202, based on the time-varying magnetic field array configuration, a magnetic field action model induced by the time-varying magnetic field on the spherical non-cooperative target is constructed, including:

[0071] Calculate the positive angles of the three coordinate axes of the non-cooperative target relative to the first fixed coordinate system.

[0072] According to the positive angles of the three coordinate axes and the time-varying directions of the four sets of time-varying magnets, the relative direction angles and relative distances are calculated.

[0073] According to the relative direction angle and relative distance, a model of the magnetic field effect induced by the time-varying magnetic field on the spherical non-cooperative target is constructed.

[0074] Specifically, let the non-cooperative target relative coordinate system o cb x cb y cb z cb The position coordinates are (x T ,y T ,z T), then its relative coordinate system o cb x cb y cb z cb The positive angle of the three coordinate axes (θ x ,θ y ,θ z )The calculation expression is:

[0075]

[0076] Furthermore, combining the time-varying direction expressions of the four sets of time-varying magnets in equation (2), the relative coordinate system o of the non-cooperative target is calculated. cb x cb y cb z cb The angle θ between the position vector and the time-varying direction of the four sets of time-varying magnets iT and the relative distance ρ iT . The relative direction angle expression is:

[0077] θ 1T =θ x ,θ 2T =θ z ,θ 3T =θ x +π,θ 4T =θ z +π (8)

[0078] The relative distance expression between the non-cooperative target and the time-varying magnetic field i is:

[0079]

[0080] based on Figure 2 The induced magnetic force / torque modeling reference coordinate system shown in the figure is used to construct the magnetic field action model induced by the time-varying magnetic field on the spherical non-cooperative target, where the calculation expression of the monopole magnetic field action model is:

[0081]

[0082] In the formula, F ρ (ρ,θ) represents the induced magnetic force in the ρ direction; F φ (ρ,θ) represents the induced magnetic force in the φ direction; τ ρ (ρ,θ) represents the induced magnetic moment in the ρ direction; τ θ (ρ,θ) represents the induced magnetic force in the θ direction; ρ represents the relative distance between the time-varying magnetic field and the non-cooperative target; θ represents the angle between ρ and the time-varying direction of the magnetic field; φ represents the direction perpendicular to ρ and θ.

[0083] Furthermore, the induced force is converted from the spherical coordinate system components to the rectangular coordinate system components, and the expression is:

[0084]

[0085] In the formula, F y F represents the induced force in the y direction; φ represents the induced force; F ρ represents the induced force; F θ represents the θ-induced force.

[0086] It is worth noting that the monopole magnetic field action model usually refers to the case where there is only one magnetic pole or a single magnetic field source, describing its magnetic field characteristics and influence. The multi-level magnetic field action model considers the interaction of multiple magnetic field sources and the complex magnetic field distribution they generate in space. Therefore, the superposition principle can be used to superimpose the effects of multiple monopole magnetic fields to obtain a multi-level magnetic field action model to analyze the overall magnetic field behavior at close range, thereby achieving the manipulation of spherical non-cooperative targets at a distance.

[0087] Based on this, combined with equations (3) to (11), the magnetic force and magnetic torque induced by the designed time-varying magnetic field array configuration on the non-cooperative target under the action of a multi-level magnetic field can be calculated, and the relative position of the close-range spherical non-cooperative target can be manipulated according to the magnetic force and magnetic torque to achieve on-demand control of the close-range spherical non-cooperative target.

[0088] In the specific implementation process of step 203, the spacecraft uses the magnetized coaxial gun carried to generate a compact plasma ring in a spheromak confinement configuration to perform magnetic control of a long-distance non-cooperative target. It can be understood that the compact plasma ring in a spheromak confinement configuration generated by the magnetized coaxial gun has the advantages of small mass (mg level), fast delivery speed (~100km / s level), strong frozen magnetic field (~0.1T level), etc., and has the technical potential to be delivered to a non-cooperative target position in space at the km level and to perform magnetic control. However, the compact plasma ring with a spheromak confinement configuration enters a self-sustaining delivery state after being accelerated and ejected by the magnetized coaxial gun. There is no subsequent energy supply during the delivery process and there are resistive losses (this loss is dominant), plasma magnetic reconnection and non-closed magnetic flux losses, etc., resulting in a limited life of the compact plasma ring. Therefore, how to improve the configuration retention time and efficient magnetic control utilization of the compact plasma ring in a spheromak confinement configuration has become a core technical issue.

[0089] Without considering the influence of factors such as plasma and geomagnetic field in the space environment, the configuration holding time of the compact plasma ring in the spherical mak confinement configuration can be estimated by formula (12):

[0090]

[0091] In the formula, τ CT represents the configuration retention time; Gun, η are intermediate variables; μ0 represents vacuum magnetic permeability; i represents plasma ring current; φ Bias The magnetic flux B represents the bias magnetic field bias multiplied by the axial cross-sectional area of ​​the magnetized coaxial gun; Z represents the number of ion charges in the plasma; e represents the unit charge; m CT represents the mass of the compact plasma ring; lnΛ represents the Coulomb logarithm; ε0 represents the vacuum dielectric constant; k B represents a constant; T e Represents the electron temperature in the plasma.

[0092] Based on formula (12), we consider how to improve the configuration holding time of the compact plasma ring in the spherical mak confinement configuration in the space environment. The magnetic freezing optimization strategy is used to optimize the configuration holding time, specifically including:

[0093] The first optimization strategy is to optimize the mass m of the compact plasma ring under the condition that the compact plasma ring satisfies the spherical Mark constraint configuration. CT Take the smaller value.

[0094] The second optimization strategy: Under the conditions of satisfying the mass, volume, and power consumption constraints, the magnetic flux B of the bias magnetic field is bias This is because the magnetic flux B of the bias magnetic field bias The toroidal and poloidal magnetic fields that affect the freezing of the plasma ring, the larger the B bias It can promote the maintenance of plasma ring configuration, so under the conditions of satisfying mass, volume and power consumption constraints, the magnetic flux B of the bias magnetic field bias Take the larger value.

[0095] The third optimization strategy: Under the premise of meeting the temperature and energy consumption requirements of the magnetized coaxial gun shielding material, the electron temperature T in the plasma is e Take a larger value. According to formula (12), it can be seen that the electron temperature T e The denominator of η increases T e It can reduce η and increase the configuration retention time τ CT Therefore, under the condition of meeting the temperature and energy consumption requirements of the magnetized coaxial gun shielding material, T e Take the larger value.

[0096] Fourth optimization strategy: Increase the radial dimensions of the inner and outer electrodes of the magnetizing coaxial gun to increase the magnetic flux of the bias magnetic field multiplied by the axial cross-sectional area φ of the magnetizing coaxial gun Bias , thereby increasing the configuration retention time τ CT This is because φ Bias is the bias flux B bias Multiply the axial cross-sectional area of ​​the magnetizing coaxial gun, so increasing the radial dimensions of the inner and outer electrodes of the magnetizing coaxial gun helps to increase φ Bias , thereby increasing the configuration retention time τCT .

[0097] Through the above four optimization strategies, the configuration holding time can be well optimized and improved, with the advantages of long delivery distance, fast control time, and control of both magnetic or non-magnetic targets; providing a basis for the subsequent efficient use of magnetic control technology.

[0098] Furthermore, considering the sequential compact ring delivery magnetic control action mode, the magnetized coaxial gun needs to be equipped with a servo gimbal module so that the launched and delivered compact plasma ring in the spherical mark constrained configuration is always aimed at the non-cooperative target in space.

[0099] In the specific implementation process of step 204, after the configuration holding time is magnetically frozen and optimized, the Mark constrained configuration compact plasma ring is delivered in a long-distance sequence to induce the generation of an eddy current magnetic field. The eddy current magnetic field and the designed time-varying magnetic field act to generate magnetic force and torque on the long-distance non-cooperative target, thereby manipulating the relative position of the long-distance non-cooperative target.

[0100] It is worth noting that the long-distance non-cooperative target includes a long-distance spherical non-cooperative target and a long-distance heterogeneous non-cooperative target. In step 204, the control of the long-distance spherical non-cooperative target is mainly described.

[0101] Specifically, the relationship between the induced long-distance eddy current magnetic field and the time-varying magnetic field is expressed as:

[0102]

[0103] In the formula, represents the Hamiltonian operator; B e represents the induced eddy current magnetic field; k represents the complex wave number, and the expression is: Where ω represents the magnetic dipole rotation speed, σ represents the conductivity; B i represents the time-varying magnetic field; J represents the eddy current distribution; μ0 represents the vacuum permeability. The relationship between the induced long-distance eddy current magnetic field and the time-varying magnetic field can also be regarded as the eddy current magnetic field action model induced by the time-varying magnetic field.

[0104] Then, the magnetic force and magnetic torque induced by the designed time-varying magnetic field on the long-distance spherical non-cooperative target are calculated through the monopole magnetic field action model. The relative position of the long-distance spherical non-cooperative target is manipulated according to the magnetic force and magnetic torque to achieve on-demand control of the long-distance spherical non-cooperative target.

[0105] In step 201 to step 204, the main purpose is to perform long-distance intervention and short-distance restriction on spherical non-cooperative targets. For heterogeneous non-cooperative targets of other shapes except spherical non-cooperative targets, it is difficult to analytically calculate their induced magnetic force / torque models, and the analytical models are not general; similarly, the models obtained based on finite element analysis and fitting are not general.

[0106] Therefore, in the specific implementation process of step 205, for heterogeneous non-cooperative targets, they can be regarded as equivalent spheres for calculation. By considering the skin effect of the current and the cross section of the time-varying magnetic field, the long-distance eddy current magnetic field induced by the time-varying magnetic field can be equivalent to a conductor sphere (crown) with a specific radius.

[0107] Specifically, let d represent the depth from the non-cooperative target surface along the magnetic field line direction, and the current density j decays exponentially with the increase of depth d, satisfying:

[0108]

[0109] Where j0 represents the current density on the conductor surface; d s Indicates skin depth.

[0110] Where, the skin depth d s represents the depth at which the current density decreases from j to 1*e≈37% of j0, calculated as:

[0111]

[0112] Where d represents the time-varying magnetic field frequency, in Hz; u represents the relative magnetic permeability of the non-cooperative target material; σ represents the electrical conductivity of the non-cooperative target material; and f represents the time-varying frequency.

[0113] It can be seen that the skin depth d is first calculated by formula (15): s Then, based on formula (14), d is taken as the value and the corresponding current density j is calculated. When the corresponding accuracy requirements are met, the corresponding d is taken as the equivalent configuration thickness.

[0114] Then, based on theoretical derivation and simulation analysis, the larger the area of ​​the non-cooperative target perpendicular to the time-varying magnetic field lines, the more obvious the induced eddy currents are, and the larger the corresponding induced magnetic force / torque is. Based on this, the 1 / 2 lateral size is compared with the axial thickness and 3d s The relationship between and determines the radius of the final equivalent sphere.

[0115] For example, for copper materials, u≈1,σ≈5.9×10 7 (Ω·m) -1 Taking the time-varying frequency f = 2.5 Hz, we can calculate according to formula (15):s ≈46.3(mm).

[0116] Based on the analysis of formula (14), when the depth d is 2d s , the induced current is about 13.5% of the surface current; when the depth d is 3d s , the induced current is about 5% of the surface current. Therefore, when the thickness of the equivalent configuration is 3d s The values ​​within can meet the corresponding accuracy requirements.

[0117] Then determine the radius of the equivalent sphere. Based on theoretical derivation and simulation analysis, it can be seen that the larger the area perpendicular to the time-varying magnetic field lines, the more obvious the induced eddy currents, and the greater the corresponding induced magnetic force / torque. Therefore, comparing the 1 / 2 lateral size with the axial thickness and 3d s Relationship: If 1 / 2 of the transverse dimension is smaller than the axial thickness and 3d s , the final equivalent radius is taken as 1 / 2 of the transverse dimension. If 1 / 2 of the transverse dimension is less than the axial thickness but greater than 3d s , then the final equivalent radius is taken as the side length 3d s The circumradius of the cube is calculated as If the 1 / 2 transverse dimension is greater than the axial thickness and 3d s , and the axial thickness is greater than 3d s , then the final equivalent radius is taken as the side length 3d s The circumradius of the cube is calculated as If the lateral dimension is greater than the axial thickness and 3d s , and the axial thickness is less than 3d s , then the final equivalent radius is taken as the radius of the circumscribed sphere of a cube with axial thickness l, calculated as

[0118] See also Figure 4 and Figure 5 , a finite element simulation framework of the magnetic force / torque induced by the time-varying magnetic field was carried out on the cuboid, cube, cylinder and equivalent sphere, and the axial magnetic force induced by the time-varying magnetic field was calculated. It can be seen that the magnetic force induced by the angular target body is smaller. At the same time, by comparing the simulation results of the cuboid and the cube, it can be seen that since the thickness of the cube is greater than the skin depth, the increased thickness of the cube actually reduces the induced magnetic force value due to the increase in resistance value; the magnetic force induced by the target bodies with circular cross-sections along the direction of the time-varying magnetic field, such as spheres and cylinders, is larger, much larger than that of cuboids and cubes; the magnetic force induced by the equivalent sphere is larger than that of the inscribed sphere, indicating that the geometric shape of the equivalent sphere can more effectively utilize the external magnetic field and increase the area and intensity of the induced current.

[0119] After determining the equivalent spherical size of heterogeneous non-cooperative targets, the concepts of maximum equivalent sphere and minimum equivalent sphere are introduced, and the envelope of the manipulation capability is studied based on this, thereby exploring appropriate non-cooperative target magnetic control methods.

[0120] Specifically, for heterogeneous non-cooperative targets, their equivalent configurations can be set in the maximum equivalent sphere and minimum equivalent sphere modes according to three parameters, namely, the maximum lateral size, the maximum axial thickness, and the skin depth. The maximum equivalent sphere is set as the circumscribed sphere of a cube with the maximum lateral or axial size as its side length, and the minimum equivalent sphere is set as the minimum lateral or axial size or 3d s Based on this, the multi-level magnetic field action model in step 202 is used to control the close-range heterogeneous non-cooperative target.

[0121] Through simulation verification, the collection and rejection control of typical non-cooperative targets in space (space debris) are considered. Figures 6 to 10 The magnetic control effects of four close-range targets are given, among which, Figure 6 Given the overall motion profile of the 4 non-cooperative targets, Figures 7 to 10 The induced magnetic force, acceleration and velocity of the four targets are given. Fig.11 Given the autonomous collection and rejection capabilities of space targets in the magnetic control mode, it can be seen that the magnetic control array has a good control capability over non-cooperative targets in close space.

[0122] When manipulating long-distance heterogeneous non-cooperative targets, the magnetically frozen optimized spherical Mark confinement configuration compact plasma ring is mainly delivered in sequence over long distances to induce the generation of long-distance eddy current magnetic fields. Based on the monopole magnetic field action model, the eddy current magnetic field and the designed time-varying magnetic field act to generate magnetic forces and torques, and the long-distance heterogeneous non-cooperative targets that are equivalent to a sphere are relatively manipulated by magnetic forces and torques.

[0123] For example, a non-cooperative target in space is 100m away, and a compact ring delivery is used to magnetically control its rotation state and reduce its de-racination state. The simulation results are as follows Fig.12 and Fig.13 As shown in the figure, it can be seen that the initial rotation speed of the space target is 100 rad / s. Under the action of magnetic control for more than 300 seconds, its rotation speed is reduced to 0, meeting the control requirements.

[0124] The present invention divides non-cooperative targets into spherical non-cooperative targets and heterogeneous non-cooperative targets according to their configurations. Different magnetic control methods are adopted according to the structures of the two non-cooperative targets and the distances of the non-cooperative targets, thereby realizing on-demand control of non-cooperative targets in space. There is no requirement on whether the non-cooperative targets are magnetic, and the magnetic control performance has good robustness.

[0125] Although this embodiment Figure 1The steps in the process are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps can be executed in other orders. Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0126] Example 2

[0127] Based on the method for controlling a non-cooperative target based on a time-varying magnetic field in Example 1, this embodiment discloses a device for controlling a non-cooperative target based on a time-varying magnetic field, such as Fig.14 As shown, the device for manipulating non-cooperative targets based on time-varying magnetic fields includes: a time-varying magnetic field array configuration module 401, a close-range spherical non-cooperative target manipulation module 402, a magnetic freezing optimization module 403, a long-range spherical non-cooperative target manipulation model 404, a heterogeneous non-cooperative target design module 405 and a heterogeneous non-cooperative target manipulation module 406, wherein:

[0128] The time-varying magnetic field array configuration module 401 is used for establishing a time-varying magnetic field array configuration based on the magnetic control effect of a non-cooperative target and adopting a head-to-tail closed-loop mode of the rotation direction of four magnetic dipoles.

[0129] The close-range spherical non-cooperative target manipulation module 402 is used to construct a magnetic field action model induced by a time-varying magnetic field on a spherical non-cooperative target based on a time-varying magnetic field array configuration, wherein the magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model; wherein the close-range spherical non-cooperative target is manipulated by the multi-level magnetic field action model.

[0130] The magnetic freezing optimization module 403 is used to generate a spheromak confinement configuration compact plasma ring by means of a magnetized coaxial gun, and to perform magnetic freezing optimization on the configuration holding time of the spheromak confinement configuration compact plasma ring.

[0131] The long-distance spherical non-cooperative target manipulation model 404 is used for long-distance sequence delivery of a magnetically frozen optimized spherical mak confinement configuration compact plasma ring to induce the generation of a long-distance eddy current magnetic field, and then manipulate the long-distance spherical non-cooperative target through a monopole magnetic field action model.

[0132] The heterogeneous non-cooperative target design module 405 is used to perform equivalent sphere design on the heterogeneous non-cooperative target according to the skin effect of the current and the action cross section of the time-varying magnetic field, and determine the maximum equivalent sphere and the minimum equivalent sphere modes.

[0133] The heterogeneous non-cooperative target manipulation module 406 is used to manipulate the heterogeneous non-cooperative target through the magnetic field action model based on the induced long-distance eddy current magnetic field and the maximum equivalent sphere and minimum equivalent sphere modes.

[0134] In this embodiment, the specific working process and working principle of the time-varying magnetic field array configuration module 401, the close-range spherical non-cooperative target manipulation module 402, the magnetic freezing optimization module 403, the long-range spherical non-cooperative target manipulation model 404, the heterogeneous non-cooperative target design module 405 and the heterogeneous non-cooperative target manipulation module 406 are the same as those in Example 1, so they are not repeated in this embodiment. Each unit module can be implemented in whole or in part by software, hardware and a combination thereof, and each unit module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above unit modules.

[0135] Example 3

[0136] like Fig.15 The terminal device disclosed in this embodiment includes a transmitter, a receiver, a memory, and a processor. The transmitter is used to send instructions and data, the receiver is used to receive instructions and data, the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions stored in the memory to implement the method in the above-mentioned embodiment 1.

[0137] It should be noted that the above memory can be independent or integrated with the processor. When the memory is independently provided, the terminal device further includes a bus for connecting the memory and the processor.

[0138] Example 4

[0139] This embodiment discloses a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method in the above-mentioned embodiment 1 is implemented.

[0140] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0141] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A method for manipulating a non-cooperative target based on a time-varying magnetic field, characterized in that: The method comprises: Based on the magnetic control effect of non-cooperative targets, a time-varying magnetic field array configuration is established by adopting the head-to-tail closed-loop mode of the rotation direction of the four magnetic dipoles; Based on the time-varying magnetic field array configuration, a magnetic field action model induced by the time-varying magnetic field on a spherical non-cooperative target is constructed, wherein the magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model; wherein the close-range spherical non-cooperative target is manipulated by the multi-level magnetic field action model; A compact plasma ring in a spheromak confinement configuration is generated by a magnetized coaxial gun, and a configuration holding time of the compact plasma ring in the spheromak confinement configuration is magnetically frozen and optimized; The spherical Mark confinement configuration compact plasma ring is delivered in sequence over long distances after magnetic freezing optimization, inducing the generation of long-distance eddy current magnetic field, and then the long-distance spherical non-cooperative target is manipulated through the monopole magnetic field action model; According to the skin effect of electric current and the cross section of time-varying magnetic field, an equivalent sphere design is performed for heterogeneous non-cooperative targets to determine the maximum equivalent sphere and minimum equivalent sphere modes. Based on the induced long-distance eddy current magnetic field, according to the maximum equivalent sphere mode and the minimum equivalent sphere mode, the heterogeneous non-cooperative target is manipulated through the magnetic field action model.

2. The method for manipulating a non-cooperative target based on a time-varying magnetic field according to claim 1, characterized in that: Based on the magnetic control of non-cooperative targets, the head-to-tail closed-loop mode of the four magnetic dipole rotation direction is adopted to establish a time-varying magnetic field array configuration, including: Constructing a first fixed coordinate system of a time-varying magnetic field array configuration, and determining position coordinates and time-varying directions of four sets of time-varying magnets according to the first fixed coordinate system; Based on the position coordinates and time-varying directions of the four sets of time-varying magnets, the second fixed coordinate systems of the four time-varying magnetic fields are defined respectively, and the rotation matrix from the second fixed coordinate system to the first fixed coordinate system is calculated; The magnetic fields of four sets of time-varying magnets are superimposed based on the rotation matrix to obtain a time-varying magnetic field array configuration.

3. The method for manipulating a non-cooperative target based on a time-varying magnetic field according to claim 2, characterized in that: Based on the time-varying magnetic field array configuration, a magnetic field action model induced by the time-varying magnetic field on a spherical non-cooperative target is constructed, including: Calculate the positive angles of the three coordinate axes of the non-cooperative target relative to the first fixed coordinate system; Calculate the relative direction angle and relative distance according to the positive angle of the three coordinate axes and the time-varying directions of the four sets of time-varying magnets; According to the relative direction angle and the relative distance, a magnetic field action model induced by the time-varying magnetic field on the spherical non-cooperative target is constructed, and the magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model.

4. The method for manipulating a non-cooperative target based on a time-varying magnetic field according to claim 3, characterized in that: The calculation expression of the monopole magnetic field action model is: In the formula, F ρ (ρ,θ) represents the induced magnetic force in the ρ direction; F φ (ρ,θ) represents the induced magnetic force in the φ direction; τ ρ (ρ,θ) represents the induced magnetic moment in the ρ direction; τ θ (ρ,θ) represents the induced magnetic force in the direction of θ; ρ represents the relative distance between the time-varying magnetic field and the non-cooperative target; θ represents the angle between ρ and the time-varying direction of the magnetic field; φ represents the direction perpendicular to ρ and θ.

5. The method for manipulating a non-cooperative target based on a time-varying magnetic field according to any one of claims 1 to 4, characterized in that: The calculation expression for the configuration holding time of the compact plasma ring in the spheromac confinement configuration is: In the formula, τ CT represents the configuration retention time; Gun , η is an intermediate variable; μ0 represents the vacuum permeability; i represents the plasma ring current; φ Bias The magnetic flux B represents the bias magnetic field bias multiplied by the axial cross-sectional area of ​​the magnetized coaxial gun; Z represents the number of ion charges in the plasma; e represents the unit charge; m CT represents the mass of the compact plasma ring; lnΛ represents the Coulomb logarithm; ε0 represents the vacuum dielectric constant; k B represents a constant; T e Represents the electron temperature in the plasma.

6. The method for manipulating a non-cooperative target based on a time-varying magnetic field according to claim 5, characterized in that: The configuration holding time of the compact plasma ring in the spheromak confinement configuration is subjected to magnetic freezing optimization, including: performing magnetic freezing optimization through four optimization strategies, wherein: The first optimization strategy is: under the condition that the compact plasma ring satisfies the spherical Mark constraint configuration, the mass m of the compact plasma ring is CT Take the smaller value; The second optimization strategy is: Under the conditions of satisfying the mass, volume, and power consumption constraints, the magnetic flux B of the bias magnetic field is bias Take the larger value; The third optimization strategy is to optimize the electron temperature T in the plasma while meeting the temperature and energy consumption requirements of the magnetized coaxial gun shielding material. e Take the larger value; The fourth optimization strategy is to increase the radial dimensions of the inner and outer electrodes of the magnetizing coaxial gun to increase the magnetic flux of the bias magnetic field multiplied by the axial cross-sectional area φ of the magnetizing coaxial gun. Bias , thereby increasing the configuration retention time τ CT .

7. The method for manipulating a non-cooperative target based on a time-varying magnetic field according to any one of claims 1 to 4, characterized in that: The spherical Mark confinement configuration compact plasma ring optimized by long-distance sequence delivery magnetic freezing induces the generation of long-distance eddy current magnetic field. The relationship between the induced long-distance eddy current magnetic field and the time-varying magnetic field is expressed as follows: In the formula, represents the Hamiltonian operator; B e represents the induced eddy current magnetic field; k represents the complex wave number; B i represents the time-varying magnetic field; J represents the eddy current distribution; μ0 represents the vacuum magnetic permeability.

8. A device for manipulating a non-cooperative target based on a time-varying magnetic field, characterized in that: The device comprises: The time-varying magnetic field array configuration module is used for magnetic control based on non-cooperative targets, and adopts the head-to-tail closed-loop mode of the four magnetic dipole rotation directions to establish the time-varying magnetic field array configuration; A close-range spherical non-cooperative target manipulation module is used to construct a magnetic field action model induced by a time-varying magnetic field on a spherical non-cooperative target based on a time-varying magnetic field array configuration, wherein the magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model; wherein the close-range spherical non-cooperative target is manipulated by the multi-level magnetic field action model; A magnetic freezing optimization module is used to generate a spheromak confinement configuration compact plasma ring by means of a magnetized coaxial gun, and to perform magnetic freezing optimization on the configuration holding time of the spheromak confinement configuration compact plasma ring; A long-distance spherical non-cooperative target manipulation model is used for long-distance sequence delivery of the spherical Mark confinement configuration compact plasma ring after magnetic freezing optimization, inducing the generation of a long-distance eddy current magnetic field, and then manipulating the long-distance spherical non-cooperative target through a monopole magnetic field action model; Heterogeneous non-cooperative target design module, used to design equivalent spheres for heterogeneous non-cooperative targets based on the skin effect of current and the cross section of time-varying magnetic field, and determine the maximum equivalent sphere and minimum equivalent sphere modes; A heterogeneous non-cooperative target manipulation module is used to manipulate heterogeneous non-cooperative targets through the magnetic field action model based on the induced long-distance eddy current magnetic field and according to the maximum equivalent sphere and minimum equivalent sphere modes.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for manipulating a non-cooperative target based on a time-varying magnetic field as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for manipulating a non-cooperative target based on a time-varying magnetic field as claimed in any one of claims 1 to 7 are implemented.

Images