Method, device, equipment and medium for manipulating non-cooperative targets based on time-varying magnetic fields

Abstract

The present invention relates to a method, device, equipment and medium for manipulating non-cooperative targets based on a time-varying magnetic field. The method comprises: establishing a time-varying magnetic field array configuration and constructing a magnetic field action model, wherein a close-range spherical non-cooperative target is manipulated according to a multi-level magnetic field action model; generating a spherical mak confinement configuration compact plasma ring and performing magnetic freezing optimization on its configuration retention time; remotely sequentially delivering the magnetically frozen optimized spherical mak confinement configuration compact plasma ring to induce a long-range eddy current magnetic field, and then manipulating the long-range spherical non-cooperative target through a monopole magnetic field action model; designing an equivalent sphere for a heterogeneous non-cooperative target based on the skin effect of the current action and the action cross section of the time-varying magnetic field, and determining the maximum equivalent sphere and minimum equivalent sphere modes; and then manipulating the heterogeneous non-cooperative target through the magnetic field action model to obtain a manipulation envelope capability. The method of the present invention is highly flexible and effective, and has the capabilities of long-range intervention and close-range restriction.

Description

Technical Field

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

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

[0003] To counter this interference, a variety of intervention technologies have been developed, including long-range intervention techniques such as kinetic energy and directed energy, and short-range restraint mechanisms such as space nets and flying forks. While these technologies can provide a means of controlling non-cooperative targets to a certain extent, they also have significant shortcomings. For example, long-range intervention techniques such as kinetic energy and directed energy may generate secondary space debris, affecting the space environment and increasing potential risks. Short-range restraint mechanisms often require high-precision relative position measurement information, are complex to operate, and have slow control times. These factors have led to numerous challenges in the practical application of existing technologies.

[0004] It can be seen that while traditional technologies can intervene and restrict non-cooperative targets to a certain extent, they still have limitations in predicting their specific behavior patterns and potential risks. When spacecraft in orbit encounter unexpected situations, they often lack 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 in response to the above-mentioned technical problems.

[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 four magnetic dipole rotation direction;

[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. The magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model. The multi-level magnetic field action model is used to manipulate a close-range spherical non-cooperative target.

[0009] generating a compact plasma ring in a spheromak confinement configuration by a magnetized coaxial gun, and performing magnetic freezing optimization on a configuration holding time of the compact plasma ring in the spheromak confinement configuration;

[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-range eddy current magnetic fields, and then manipulating the long-range spherical non-cooperative target 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 is designed for heterogeneous non-cooperative targets, and the maximum equivalent sphere and minimum equivalent sphere modes are determined.

[0012] Based on the induced long-distance eddy current magnetic field, according to the maximum equivalent sphere and minimum equivalent sphere modes, heterogeneous non-cooperative targets are 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. It adopts the head-to-tail closed-loop mode of the four magnetic dipole rotation direction 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. 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 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 sequential delivery of the spherical Mark confinement configuration compact plasma ring after magnetic freezing optimization 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;

[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 fields, and to determine the maximum and minimum equivalent sphere modes;

[0019] The heterogeneous non-cooperative target manipulation module 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.

[0020] A computer device includes a memory and a processor, wherein the memory stores a computer program, and 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 are implemented.

[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 end-to-end 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 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; wherein, a close-range spherical non-cooperative target is manipulated by the multi-level magnetic field action model; a compact plasma ring of a spherical mark confinement configuration is generated by a magnetized coaxial gun, and a compact plasma ring of the spherical mark confinement configuration is tightly controlled. The configuration holding time of the compact plasma ring is magnetically frozen and optimized; the spherical mak 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, the equivalent sphere of the heterogeneous non-cooperative target is designed, 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 utilizes a time-varying magnetic field array configuration and magnetic field action model to flexibly control close-range spherical non-cooperative targets, regardless of whether they are magnetic or not. By optimizing the magnetic freeze of the compact plasma ring configuration holding time in the spherical mak constraint configuration, the configuration holding time can be extended, offering advantages such as long delivery distance, fast control time, and control of both magnetic and non-magnetic long-range non-cooperative targets. Furthermore, heterogeneous non-cooperative targets are treated as equivalent spheres and designed using the skin effect of current and the cross-section of the time-varying magnetic field to determine the maximum and minimum equivalent sphere modes, enabling robust control of heterogeneous non-cooperative targets. The proposed method, which utilizes a time-varying magnetic field for control, does not generate new secondary space debris, has low requirements for the configuration, size, and physical performance parameters of the non-cooperative target, and offers high flexibility and effectiveness in on-orbit control, with the ability to both intervene at long range and restrict at close range. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0025] Figure 1 This is a 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 Schematic diagram of the time-varying magnetic field array configuration provided in Example 1;

[0027] Figure 3 Schematic diagram of the 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 architecture 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 architecture of the time-varying magnetic field induced magnetic force / torque of the cube. Figure 4 (c) is a schematic diagram of the finite element simulation architecture of the magnetic force / torque induced by the time-varying magnetic field of the cylinder. Figure 4 (d) Schematic diagram of the finite element simulation architecture for 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) Schematic diagram of the axial magnetic force induced by the time-varying magnetic field of the external sphere;

[0030] Figure 6 This is 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 speed 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] Figure 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: Figure 9 (a) is a schematic diagram of the induced magnetic force of the non-cooperative target 3. Figure 9 (b) is a schematic diagram of the equivalent acceleration of the non-cooperative target 3. Figure 9 (c) is a velocity diagram of non-cooperative target 3;

[0034] Figure 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: Figure 10 (a) is a schematic diagram of the induced magnetic force of the non-cooperative target 4. Figure 10 (b) is a schematic diagram of the equivalent acceleration of the non-cooperative target 4. Figure 10 (c) is a velocity diagram of non-cooperative target 4;

[0035] Figure 11 This is a schematic diagram of the verification of the autonomous collection and exclusion capabilities of non-cooperative targets provided in Example 1;

[0036] Figure 12 This is a schematic diagram of the change in magnetic field intensity at a non-cooperative target provided in Example 1;

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

[0038] Figure 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] Figure 15 This is a diagram of the internal structure of the computer device provided in Example 3.

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

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall 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 this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings.

[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 conductive 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 located in its action space, and the closed-loop eddy current will generate an eddy current magnetic field; the eddy current magnetic field and the time-varying magnetic field will generate magnetic force and torque, which can be used to control 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, regardless of whether they are magnetic or not, through the time-varying magnetic field array configuration and magnetic field action model; induce a long-range eddy current magnetic field through the spherical mak constraint configuration compact plasma ring, and perform magnetic freezing optimization on the configuration retention time of the spherical mak constraint configuration compact plasma ring, 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 current action and the action cross-section of the time-varying magnetic field to determine the maximum equivalent sphere and minimum equivalent sphere modes, 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 time-varying magnetic fields, 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 long distances and restrict at close ranges, can realize on-demand control of non-cooperative targets in space, and achieve the purpose of clearing obstacles in 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 includes 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 four magnetic dipole rotation directions.

[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: Generate a spheromak confinement configuration compact plasma ring by magnetizing the coaxial gun, and perform 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 a long-distance eddy current magnetic field, and then manipulate 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 and the minimum equivalent sphere modes.

[0053] Step 206 , 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 minimum equivalent sphere modes.

[0054] In the specific implementation process of 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 the four magnetic dipoles, 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, if Figure 2 The figure shows 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, represents the side length of the magnetic array, represents the magnetic moment amplitude of the time-varying magnetic field, represents the frequency of the time-varying magnetic field, and the arrow represents the direction of rotation of the time-varying magnetic field. 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 , determine the position coordinates and time-varying directions of the four sets of time-varying magnets, where the position coordinate expression is:

[0060] (1)

[0061] The time-varying direction expression is:

[0062] (2)

[0063] Where, express time-varying magnet position; Indicates 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 for: Located at the center of the time-varying magnetic field 1, and Consistent, and If consistent, and consistent; Located at the center of the time-varying magnetic field 2, and Consistent, and If consistent, and consistent; Located at the center of the time-varying magnetic field 3, and Consistent, and If consistent, and consistent; Located at the center of the time-varying magnetic field 4, and Consistent, and If consistent, and consistent.

[0065] Therefore, from the second fixed coordinate system To the first fixed coordinate system The calculation expression of the rotation matrix is:

[0066] (3)

[0067] (4)

[0068] (5)

[0069] (6)

[0070] Where, Indicates from arrive The rotation matrix of Indicates winding Fundamental matrix for axis rotation; Indicates winding Fundamental matrix for axis rotation.

[0071] 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 is shown.

[0072] 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:

[0073] Calculate the positive angles of the three coordinate axes of the non-cooperative target relative to the first fixed coordinate system.

[0074] 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.

[0075] According to the relative direction angle and relative distance, a magnetic field effect model induced by a time-varying magnetic field on a spherical non-cooperative target is constructed.

[0076] Specifically, let the relative coordinate system of the non-cooperative target be The position coordinates are , then its relative coordinate system The positive angle of the three coordinate axes The calculation expression is:

[0077] (7)

[0078] Furthermore, the time-varying direction expressions of the four sets of time-varying magnets in formula (2) are combined to calculate the relative coordinate system of the non-cooperative target. The angle between the position vector and the time-varying direction of the four sets of time-varying magnets and relative distance . The relative direction angle expression is:

[0079] (8)

[0080] Non-cooperative targets and time-varying magnetic fields The relative distance expression is:

[0081] (9)

[0082] based on Figure 2 The induced magnetic force / torque modeling reference coordinate system is shown in the figure, and a magnetic field action model induced by a time-varying magnetic field on a spherical non-cooperative target is constructed. The calculation expression of the monopole magnetic field action model is:

[0083] (10)

[0084] Where, express Towards induced magnetic force; express Towards induced magnetic force; express Towards induced magnetic torque; express Towards induced magnetic force; represents the relative distance between the time-varying magnetic field and the non-cooperative target; express The angle with the time-varying direction of the magnetic field; Represents 、 Vertical direction.

[0085] Furthermore, the induced force is converted from the spherical coordinate system to the rectangular coordinate system, and the expression is:

[0086] (11)

[0087] Where, express Inductive force; express Inductive force; express Inductive force; express Inductive force.

[0088] It's worth noting that the monopolar magnetic field interaction model typically describes the magnetic field characteristics and effects of a single magnetic pole or source. The multipolar magnetic field interaction model, on the other hand, considers the interaction of multiple magnetic field sources and the resulting complex magnetic field distribution in space. Therefore, the superposition principle can be used to combine the effects of multiple monopolar magnetic fields, resulting in a multipolar magnetic field interaction model. This allows for analysis of the overall magnetic field behavior at close range, enabling manipulation of spherical, non-cooperative targets at close range.

[0089] 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. 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 manipulation of the close-range spherical non-cooperative target.

[0090] During the specific implementation of step 203, the spacecraft uses its onboard magnetized coaxial gun to generate a compact plasma ring in a spheromak confinement configuration for magnetic control of a remote non-cooperative target. It is understood that the compact plasma ring in a spheromak confinement configuration generated by the magnetized coaxial gun has advantages such as low mass (on the order of mg), high delivery speed (on the order of ~100 km / s), and strong frozen magnetic field (on the order of ~0.1 T). This has the technical potential to be delivered to non-cooperative targets in space at distances of kilometers and magnetically controlled. However, after being accelerated and ejected by the magnetized coaxial gun, the compact plasma ring in a spheromak confinement configuration enters a self-sustaining delivery state. During this delivery process, there is no subsequent energy supply and resistive losses (which dominate), plasma magnetic reconnection, and non-closed magnetic flux losses, resulting in a limited lifetime for the compact plasma ring. Therefore, improving the configuration retention time and efficient magnetic control of the compact plasma ring in a spheromak confinement configuration has become a core technical challenge.

[0091] 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):

[0092] (12)

[0093] Where, Indicates the configuration holding time; 、 is an intermediate variable; represents the vacuum permeability; represents the plasma ring current; Indicates the magnetic flux of the bias magnetic field Multiply by the axial cross-sectional area of ​​the magnetizing coaxial gun; Indicates the number of ion charges in the plasma; represents the unit charge; represents the mass of the compact plasma ring; represents the Coulomb logarithm; represents the dielectric constant of vacuum; represents a constant; represents the electron temperature in the plasma.

[0094] Based on formula (12), we consider how to improve the configuration holding time of the spherical mak confined compact plasma ring in the space environment. The magnetic freezing optimization strategy is used to optimize the configuration holding time, specifically including:

[0095] The first optimization strategy is to optimize the mass of the compact plasma ring under the condition that the compact plasma ring satisfies the spherical Mark constraint configuration. Take the smaller value.

[0096] The second optimization strategy is to optimize the magnetic flux of the bias magnetic field while satisfying the constraints of mass, volume, and power consumption. Take a larger value. This is because the magnetic flux of the bias magnetic field The toroidal and poloidal magnetic fields that affect the freezing of the plasma ring are larger. It can promote the maintenance of plasma ring configuration, so under the conditions of satisfying mass, volume and power consumption constraints, the magnetic flux of the bias magnetic field is Take the larger value.

[0097] The third optimization strategy: Under the premise of meeting the temperature and energy consumption requirements of the shielding material of the magnetized coaxial gun, the electron temperature in the plasma is Take a larger value. According to formula (12), it can be seen that the electron temperature lie in The denominator of Can be reduced Increase the configuration retention time Therefore, under the condition of meeting the temperature and energy consumption requirements of the magnetized coaxial gun shielding material, Take the larger value.

[0098] 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 of ​​the magnetizing coaxial gun , thereby increasing the configuration retention time This is because is the bias flux Multiply by 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 , thereby improving the configuration retention time .

[0099] 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 the ability to control both magnetic and non-magnetic targets; providing a basis for the subsequent efficient use of magnetic control technology.

[0100] 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.

[0101] 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 through 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.

[0102] It is worth noting that the long-distance non-cooperative targets include long-distance spherical non-cooperative targets and long-distance heterogeneous non-cooperative targets. In step 204 , the control of the long-distance spherical non-cooperative targets is mainly described.

[0103] Specifically, the relationship between the induced long-distance eddy current magnetic field and the time-varying magnetic field is expressed as follows:

[0104] (13)

[0105] Where, represents the Hamiltonian operator; represents the induced eddy current magnetic field; represents the complex wave number, and the expression is: ,in, represents the magnetic dipole speed, represents conductivity; represents the time-varying magnetic field; represents the eddy current distribution; The relationship between the induced long-distance eddy current magnetic field and the time-varying magnetic field can also be regarded as a model of the eddy current magnetic field induced by the time-varying magnetic field.

[0106] 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.

[0107] In steps 201 to 204, long-range intervention and close-range restriction are primarily performed on spherical non-cooperative targets. For heterogeneous non-cooperative targets of other shapes, the analytical calculation of the induced magnetic force / torque model is more difficult and not general. Similarly, models derived from finite element analysis and fitting are also not general.

[0108] Therefore, during the specific implementation of step 205, the heterogeneous non-cooperative target can be treated as an equivalent sphere for calculation. By considering the skin effect of the current and the cross-section of the time-varying magnetic field, the long-range eddy current magnetic field induced by the time-varying magnetic field can be equivalent to a conducting sphere (crown) of a specific radius.

[0109] Specifically, let represents the depth from the surface of the non-cooperative target along the direction of the magnetic field line, the current density With depth The increase of decays exponentially, satisfying:

[0110] (14)

[0111] Where, It represents the current density on the surface of the conductor; Indicates skin depth.

[0112] Among them, the skin depth The current density from Reduce to of The depth at time , is calculated as:

[0113] (15)

[0114] Where, Represents the time-varying magnetic field frequency, in Hz; represents the relative magnetic permeability of the non-cooperative target material; represents the conductivity of the non-cooperative target material; Represents time-varying frequency.

[0115] It can be seen that the skin depth is first calculated by formula (15): , then based on formula (14) Take the value and calculate the corresponding current density , when the corresponding accuracy requirements are met, the corresponding As the equivalent configuration thickness.

[0116] 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 eddy current induced, and the larger the corresponding induced magnetic force / torque. Based on this, the 1 / 2 transverse size is compared with the axial thickness, The relationship between and is used to determine the radius of the final equivalent sphere.

[0117] For example, for copper materials, , . Take the time-varying frequency , according to formula (15), we can get: .

[0118] Based on the analysis of formula (14), when the depth The value is , the induced current is about 13.5% of the surface current; when the depth The value is , the induced current is about 5% of the surface current. Therefore, when the thickness of the equivalent configuration is The values ​​within can meet the corresponding accuracy requirements.

[0119] 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 eddy currents induced, and the greater the corresponding induced magnetic force / torque. Therefore, comparing the 1 / 2 transverse size with the axial thickness, Relationship: If 1 / 2 of the transverse dimension is less than the axial thickness and , 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 , then the final equivalent radius is taken as the side length The circumradius of the cube is calculated as If 1 / 2 of the transverse dimension is greater than the axial thickness and , and the axial thickness is greater than , then the final equivalent radius is taken as the side length The circumradius of the cube is calculated as If the transverse dimension is greater than the axial thickness and , and the axial thickness is less than , then the final equivalent radius is taken as the circumscribed sphere radius of the cube with axial thickness l, calculated as .

[0120] See Figure 4 and Figure 5The finite element simulation framework of the magnetic force / torque induced by the time-varying magnetic field was carried out on the rectangular parallelepiped, 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 rectangular parallelepiped 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 body with a circular cross-section along the direction of the time-varying magnetic field, such as the sphere and cylinder, is larger, much larger than that of the rectangular parallelepiped and the cube; 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.

[0121] After determining the equivalent spherical size of heterogeneous non-cooperative targets, the concepts of maximum equivalent sphere and minimum equivalent sphere are introduced, based on which the envelope of control capability is studied, and then the appropriate non-cooperative target magnetic control method is explored.

[0122] Specifically, for heterogeneous non-cooperative targets, their equivalent configurations can be set in the maximum equivalent sphere and minimum equivalent sphere modes based on 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 Based on this, the multi-level magnetic field action model in step 202 is used to control the close-range heterogeneous non-cooperative target.

[0123] Through simulation verification, the collection and repulsion 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 four non-cooperative targets, Figures 7 to 10 The induced magnetic force, acceleration and velocity of the four targets are given. Figure 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 for non-cooperative targets in close space.

[0124] When manipulating long-distance heterogeneous non-cooperative targets, the method mainly involves long-distance sequence delivery of magnetically frozen optimized spherical Mark confinement configuration compact plasma rings 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 interact to generate magnetic force and torque, and the magnetic force and torque are used to perform relative posture manipulation on the long-distance heterogeneous non-cooperative targets that are equivalent to a sphere.

[0125] For example, a non-cooperative target in space is 100m away, and its rotation state is magnetically controlled by compact ring delivery to reduce its derotation state. The simulation results are as follows Figure 12 and Figure 13As 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.

[0126] The present invention divides non-cooperative targets into spherical non-cooperative targets and heterogeneous non-cooperative targets according to their configuration. Different magnetic control methods are adopted according to the structures of the two non-cooperative targets and the distance of the non-cooperative targets, thereby realizing on-demand control of non-cooperative targets in space. There is no requirement for whether the non-cooperative targets are magnetic, and the magnetic control performance has good robustness.

[0127] Although this embodiment Figure 1 The steps in the diagram are shown in the order indicated by the arrows, but these 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 these steps, and these steps can be executed in other orders. In addition, 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.

[0128] Example 2

[0129] Based on the method for manipulating a non-cooperative target based on a time-varying magnetic field in Example 1, this embodiment discloses a device for manipulating a non-cooperative target based on a time-varying magnetic field, such as Figure 14 As shown, the device for manipulating non-cooperative targets based on a time-varying magnetic field 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:

[0130] The time-varying magnetic field array configuration module 401 is used to establish a time-varying magnetic field array configuration based on the magnetic control effect of a non-cooperative target and adopts a head-to-tail closed-loop mode of the rotation direction of four magnetic dipoles.

[0131] 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. 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.

[0132] The magnetic freezing optimization module 403 is used to generate a spheromak confinement configuration compact plasma ring by magnetizing the coaxial gun, and to perform magnetic freezing optimization on the configuration holding time of the spheromak confinement configuration compact plasma ring.

[0133] The long-distance spherical non-cooperative target manipulation model 404 is used for long-distance sequential 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.

[0134] The heterogeneous non-cooperative target design module 405 is used to perform equivalent sphere design on the heterogeneous non-cooperative target based on the skin effect of the current and the cross section of the time-varying magnetic field, and determine the maximum equivalent sphere and minimum equivalent sphere modes.

[0135] The heterogeneous non-cooperative target manipulation module 406 is used to manipulate the heterogeneous non-cooperative target through a 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.

[0136] 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, and therefore will not be described in detail in this embodiment. Each unit module can be implemented in whole or in part by software, hardware, or a combination thereof. 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.

[0137] Example 3

[0138] like Figure 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.

[0139] 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.

[0140] Example 4

[0141] 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.

[0142] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of 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 DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0143] The technical features of the above embodiments can 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.

[0144] The above-described embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that a person skilled in the art would be able to make numerous modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended 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 four magnetic dipole rotation direction; 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. The magnetic field action model includes a monopole magnetic field action model and a multi-level magnetic field action model. The multi-level magnetic field action model is used to manipulate a close-range spherical non-cooperative target. generating a compact plasma ring in a spheromak confinement configuration by a magnetized coaxial gun, and performing magnetic freezing optimization on a configuration holding time of the compact plasma ring in the spheromak confinement configuration; The spherical Mark confinement configuration compact plasma ring is delivered in sequence over long distances after magnetic freezing optimization, inducing the generation of long-range eddy current magnetic fields, and then manipulating the long-range spherical non-cooperative target 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 is designed for heterogeneous non-cooperative targets, and the maximum equivalent sphere and minimum equivalent sphere modes are determined. Based on the induced long-distance eddy current magnetic field, according to the maximum equivalent sphere and minimum equivalent sphere modes, heterogeneous non-cooperative targets are 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 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 four magnetic dipole rotation direction, including: Constructing a first fixed coordinate system of the time-varying magnetic field array configuration, and determining the position coordinates and time-varying directions of the 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; Calculating relative direction angles and relative distances based on the positive angles 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 a time-varying magnetic field on a spherical non-cooperative target is constructed. 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: ； Where, express Towards induced magnetic force; express Towards induced magnetic force; express Towards induced magnetic torque; express Towards induced magnetic force; represents the relative distance between the time-varying magnetic field and the non-cooperative target; express The angle with the time-varying direction of the magnetic field; Represents 、 Vertical direction.

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 spherical mak confinement configuration is: ； Where, Indicates the configuration holding time; 、 is an intermediate variable; represents the vacuum permeability; represents the plasma ring current; Indicates the magnetic flux of the bias magnetic field Multiply by the axial cross-sectional area of ​​the magnetizing coaxial gun; Indicates the number of ion charges in the plasma; represents the unit charge; represents the mass of the compact plasma ring; represents the Coulomb logarithm; represents the dielectric constant of vacuum; represents a constant; 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 spherical mak confinement configuration is subjected to magnetic freezing optimization, including: performing magnetic freezing optimization through four optimization strategies, wherein: The first optimization strategy is to optimize the mass of the compact plasma ring under the condition that the compact plasma ring satisfies the spherical Mark constraint configuration. Take the smaller value; The second optimization strategy is to optimize the magnetic flux of the bias magnetic field while satisfying the constraints of mass, volume, and power consumption. Take the larger value; The third optimization strategy is to optimize the electron temperature in the plasma while meeting the temperature and energy consumption requirements of the magnetized coaxial gun shielding material. 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 of ​​the magnetizing coaxial gun. , thereby increasing the configuration retention time .

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 after long-distance sequence delivery magnetic freezing optimization 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: ； Where, represents the Hamiltonian operator; represents the induced eddy current magnetic field; represents the complex wave number; represents the time-varying magnetic field; represents the eddy current distribution; represents the magnetic permeability of vacuum.

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. It adopts the head-to-tail closed-loop mode of the four magnetic dipole rotation direction 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. 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 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 sequential delivery of the spherical Mark confinement configuration compact plasma ring after magnetic freezing optimization 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; 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 fields, and to determine the maximum and minimum equivalent sphere modes; The heterogeneous non-cooperative target manipulation module 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.

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 according to 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 according to any one of claims 1 to 7 are implemented.

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