Supplementary control method and device under fault of insufficient orbit control thrust during deep space maneuvering

Abstract

The invention provides a supplementary control method and device under a fault of insufficient thrust of orbit control during deep space maneuver, and the method comprises the steps: obtaining related parameters of a satellite and orbit control during normal orbit maneuver, and judging whether the fault of insufficient thrust occurs during orbit control; calculating the starting time length of the engine reaching the preset speed increment under different thrust efficiencies, and judging the lower limit of the thrust efficiency which does not need to be subjected to supplementary control; according to the supplementary control interval, calculating the speed increment and the startup duration of supplementary control; and judging whether the orbit control parameters of supplementary control meet the parameter requirements of the thruster or not, and if yes, completing the predetermined orbit control target. According to the method, supplementary control can be carried out in time when the fault of insufficient engine thrust occurs in deep space maneuvering orbit control, and the orbit control action is completed to reach a preset target.

Description

Technical Field

[0001] The present invention relates to the field of orbital maneuvers, and in particular to a method and device for supplementary control in the event of an orbital control thrust deficiency failure during deep space maneuvers. Background Art

[0002] When designing orbit transfer and orbit maneuvers, especially for deep space exploration spacecraft orbits, multiple and very important orbit maneuvers are often required. Since deep space maneuvers take a long time and the measurement and control time is short, the nodes suitable for maneuvers are few and important. If a failure occurs during orbit control, it will seriously affect the completion of the mission. Therefore, it is necessary to design a supplementary control strategy to achieve the purpose of orbit control by performing supplementary control when a thruster fails. In addition, Earth satellites are generally in circular orbits, and failures such as orbit changes can be controlled at the next orbit change opportunity. The orbit change opportunity for deep space maneuvers is specific, and supplementary control rescue is required immediately in the event of a failure. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a supplementary control method and device for the case of insufficient orbital control thrust failure during deep space maneuvers, which can perform supplementary control in time when insufficient engine thrust failure occurs in orbital control of deep space maneuvers to complete the orbital control action and reach the predetermined target.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A supplementary control method for a deep space maneuver under a fault of insufficient orbit control thrust, comprising the following steps:

[0006] Step 1: Obtain the relevant parameters of the satellite and orbit control during normal orbit maneuvers to determine whether there is a thrust shortage fault during orbit control; the relevant parameters include the velocity increment V0 during orbit maneuvers, the power-on time T0, the orbit control target, and the engine shutdown time T0. G , thruster thrust size, thruster maximum startup time T max ;

[0007] Step 2: Calculate the engine startup time to reach a predetermined speed increment under different thrust efficiencies, and determine the lower limit of thrust efficiency that does not require supplementary control;

[0008] Step 3: Calculate the speed increment and start-up time of the supplementary control according to the supplementary control interval ΔT;

[0009] Step 4: Determine whether the orbit control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbit control target is achieved.

[0010] The present invention also provides a supplementary control device for the case of insufficient orbit control thrust during deep space maneuvers, comprising the following modules:

[0011] The fault judgment module obtains the relevant parameters of the satellite and orbit control during normal orbit maneuvers, and judges whether there is a thrust shortage fault during orbit control; the relevant parameters include the speed increment V0 during orbit maneuvers, the startup time T0, the orbit control target, and the engine shutdown time T0. G , thruster thrust size, thruster maximum startup time T max ;

[0012] A lower limit judgment module calculates the engine startup time to reach a predetermined speed increment under different thrust efficiencies, and judges the lower limit of thrust efficiency that does not require supplementary control;

[0013] A calculation module, which calculates the speed increment and the start-up time of the supplementary control according to the supplementary control interval ΔT;

[0014] The judgment module is required to determine whether the orbit control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbit control target is completed.

[0015] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the supplementary control method for the case of insufficient orbital control thrust during deep space maneuvers are implemented.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the supplementary control method for the above-mentioned orbit control thrust deficiency failure during deep space maneuvers.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention provides a design method for a supplementary control strategy for the failure of insufficient thrust of the thruster during deep space maneuvers. The remedial measures for orbital control failures can be designed in advance before orbital control. If orbital control fails, supplementary control can be carried out in a timely manner to achieve the original goal of orbital control. Timely supplementary orbital control saves decision-making time and provides new guarantees for the successful implementation of space missions. That is, the present invention can design a supplementary control method in advance before orbital control, saving decision-making time, and can provide more guarantees for deep space maneuvers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is a flow chart of a supplementary control method for the case of insufficient orbit control thrust during deep space maneuvers. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] like Figure 1 As shown, a supplementary control method for a deep space maneuver under a fault of insufficient orbit control thrust of the present invention comprises the following steps:

[0022] Step 1: Obtain relevant parameters of the satellite and orbit control during normal orbit maneuvers to determine whether a thrust deficiency fault occurs during orbit control.

[0023] Step 2: Calculate the engine startup time to reach a predetermined speed increment under different thrust efficiencies, and determine the lower limit of thrust efficiency that does not require supplementary control.

[0024] Step 3: Calculate the speed increment and start-up time of the supplementary control according to the supplementary control interval ΔT.

[0025] Step 4: Determine whether the orbit control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbit control target is achieved.

[0026] Specifically, the step 1 includes the following steps:

[0027] Step 1.1: Define the inertial coordinate system, obtain the satellite mass and thruster parameters, obtain the orbit parameters and orbit control targets before orbit control, determine the velocity increment V0, power-on time T0, orbit control target, and determine the engine shutdown time T according to the time. G , the maximum time the thruster can be turned on is T max .

[0028] Step 1.2: During orbit control, if the thruster has not reached the required speed increment V0 after the startup time T0, it is judged that a thrust shortage fault has occurred.

[0029] Specifically, the step 2 includes the following steps:

[0030] Step 2.1: Calculate the startup time required for the speed increment to reach the nominal orbital control speed increment at different thrust efficiencies, until the startup time exceeds the maximum time T for the engine to be shut down according to the time G .

[0031] Determine the thrust of the thruster and set the thruster efficiency to decrease at intervals of Δ%; for each different thruster efficiency, calculate the startup time required for the thruster to provide a speed increment V0;

[0032] Step 2.2: Calculate the orbital parameters after orbital control and the impact on subsequent maneuvers under the above different thrust efficiencies, when the machine is turned on according to the nominal orbital control start-up time, and turned off after reaching the speed increment V0 during orbital maneuvers.

[0033] Step 2.3: Under different thrust efficiencies, if the thruster on time exceeds the maximum time T of the engine off time G , additional control is required, so the thruster startup time just does not exceed T G The thruster efficiency of is taken as the lower limit where supplementary control is not required. If the actual thrust efficiency is lower than this lower limit, supplementary control is required. In addition, if the actual thrust efficiency is higher than this lower limit, but the orbital parameters after orbital control make the subsequent maneuver orbital control timing and the required speed increment change greater than the threshold, supplementary control is also required.

[0034] Specifically, the step three includes the following steps:

[0035] Step 3.1: Use the orbit control front track to make the thruster start at different thruster efficiencies and the maximum time T of the engine shutdown according to the time G , recursively obtain the orbital parameters after the first control;

[0036] Step 3.2: Use the post-control orbit parameters to target the predetermined target orbit and calculate the required velocity increment, power-on time, and attitude parameters under different thruster efficiencies.

[0037] Specifically, the step 4 includes the following steps:

[0038] Step 4.1: Determine whether the startup time of the supplementary control is greater than the maximum startup time T of the thruster max If it is greater than the longest time the thruster can be turned on, then a single supplementary control under such insufficient thrust cannot reach the predetermined orbit, and further supplementary control or redesign of the mission orbit is required.

[0039] According to the start-up time T of the orbit control thruster and the start-up time T of the supplementary control thruster B The corresponding orbit control measures are as follows:

[0040] .

[0041] Example:

[0042] This embodiment discloses a supplementary control method for a deep space maneuver under a failure of insufficient orbit control thrust, comprising the following steps:

[0043] Step 1: Taking the lunar capture maneuver of a satellite during Earth-Moon transfer as an example, the orbital parameters before orbit control in the lunar J2000 coordinate system are R=[3.5895×10 3, -2.5136×10 4 , -1.3354×10 4 ] km; V = [-146.974, 812.66, -614.848] km / s; the orbital time is 24 Mar 2024 11:00:00.000 UTCG; the estimated velocity increment for this orbital control is 214.65 m / s, the startup time is 652 s, the orbital control target is the orbital semi-major axis of 21026.8 km, the maximum startup time of the thruster engine is 2000 s, the thrust of the thruster is 20 N, and the maximum shutdown time of the engine is 1304 s.

[0044] During orbit control, if the speed increment still does not reach 214.65m / s after the thrusters are turned on for 652s, it is judged that a thrust shortage fault has occurred.

[0045] Step 2: Set the thruster efficiency to decrease by 5% and calculate the startup time required for the speed increment to reach the nominal orbit control speed increment as shown in Table 1.

[0046] Table 1

[0047] In this embodiment, under different thrust efficiencies, the power is turned on according to the nominal orbit control start-up time, and the power is turned off after the speed increment reaches the nominal orbit control speed increment of 214.65 m / s, and the orbit parameters after control are calculated. Since this embodiment is a lunar capture maneuver in the Earth-Moon transfer orbit, the subsequent satellite needs to perform a far-moon maneuver and two near-moon maneuvers before reaching the mission orbit. At the same time, the impact of the orbit control on the subsequent maneuvers is calculated, as shown in Table 2 (Orbit Condition Table after Control under Different Thrust Efficiencies).

[0048] Table 2

[0049] When the thrust duration exceeds the maximum duration of the engine shutdown according to time, 1304s, it indicates that under this thrust efficiency, the engine cannot generate enough orbit control speed increment when it is shut down according to the maximum duration, and supplementary control is required. In this embodiment, supplementary control is required when the thrust efficiency is less than 50%. In addition, when the thrust efficiency is not less than 50%, the orbit control has little effect on the subsequent maneuvering situation, so the supplementary control situation when the thrust efficiency is less than 50% is calculated.

[0050] Step 3: When the thrust efficiency is less than 50%, the orbital parameters after the thruster is turned on for 1304s are shown in Table 3.

[0051] Table 3

[0052] When the thrust efficiency is calculated to be less than 50%, the startup time, velocity increment and velocity direction required for orbit control to an orbit with a semi-major axis of 21026.8 km after the thruster is started for 1304s are shown in Table 4 (Supplementary control parameter table under different thrust efficiencies).

[0053] Table 4

[0054] Step 4: Judging from the results of step 3, when the thrust coefficient of this embodiment is between 0.45 and 0.3, the supplementary control can be completed normally and the predetermined orbit can be entered; when the thrust coefficient is below 0.25, the supplementary control can still be completed and the predetermined orbit can be entered, but the required engine start-up time exceeds 2000 seconds, which exceeds the maximum engine start-up time in this example. In this case, the supplementary control cannot be completed.

[0055] According to the start-up time T of the orbit control thruster and the start-up time T of the supplementary control thruster B The corresponding orbit control measures are as follows:

[0056] .

[0057] The present invention also provides a supplementary control device for the case of insufficient orbit control thrust during deep space maneuvers, comprising the following modules:

[0058] The fault diagnosis module obtains the relevant parameters of the satellite and orbit control during normal orbit maneuvers, and determines whether a thrust deficiency fault occurs during orbit control.

[0059] The lower limit judgment module calculates the engine startup time to reach a predetermined speed increment under different thrust efficiencies, and judges the lower limit of thrust efficiency that does not require supplementary control.

[0060] The calculation module calculates the speed increment and the start-up time of the supplementary control according to the supplementary control interval ΔT.

[0061] The judgment module is required to determine whether the orbit control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbit control target is completed.

[0062] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the supplementary control method for the case of insufficient orbital control thrust during deep space maneuvers are implemented.

[0063] The present invention also provides a non-transitory 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 supplementary control method for the above-mentioned orbit control thrust deficiency failure during deep space maneuvers are implemented.

[0064] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The solutions in the embodiments of the present invention may be implemented in various computer languages, for example, object-oriented programming language Java and interpreted scripting language JavaScript, etc.

[0065] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0066] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0067] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0068] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0069] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A supplementary control method for the case of insufficient orbit control thrust failure during deep space maneuvers, characterized in that: The steps include: Step 1: Obtain the relevant parameters of the satellite and orbit control during normal orbit maneuvers to determine whether there is a thrust shortage fault during orbit control; the relevant parameters include the velocity increment V0 during orbit maneuvers, the power-on time T0, the orbit control target, and the engine shutdown time T0. G , thruster thrust size, thruster maximum startup time T max ; Step 2: Calculate the engine startup time to reach a predetermined speed increment under different thrust efficiencies, and determine the lower limit of thrust efficiency that does not require supplementary control; Step 3: Calculate the speed increment and start-up time of the supplementary control according to the supplementary control interval ΔT; Step 4: Determine whether the orbit control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbit control target is achieved.

2. The method for supplementary control in the case of insufficient orbit control thrust failure during deep space maneuvers according to claim 1, characterized in that: The step 1 comprises the following steps: Step 1.1: Define the inertial coordinate system, obtain the satellite mass and thruster parameters, obtain the orbit parameters and orbit control targets before orbit control, determine the velocity increment V0, power-on time T0, orbit control target, and determine the engine shutdown time T according to the time. G , the maximum time the thruster can be turned on is T max ; Step 1.2: During orbit control, if the thruster has not reached the required speed increment V0 after the startup time T0, it is judged that a thrust shortage fault has occurred.

3. The method for supplementary control in the case of insufficient orbit control thrust failure during deep space maneuvers according to claim 1, characterized in that: The step 2 comprises the following steps: Step 2.1: Calculate the startup time required for the speed increment to reach the nominal orbital control speed increment at different thrust efficiencies, until the startup time exceeds the maximum time T for the engine to be shut down according to the time G ; Step 2.2: Calculate the orbital parameters after orbital control and the impact on subsequent maneuvers under the above different thrust efficiencies, when the machine is turned on according to the nominal orbital control start-up time, and turned off after reaching the speed increment V0 during orbital maneuvers.

4. The method for supplementary control in the case of insufficient orbit control thrust failure during deep space maneuvers according to claim 3, characterized in that: The step 2 also includes: Step 2.3: Under different thrust efficiencies, if the thruster on time exceeds the maximum time T of the engine off time G , additional control is required, so the thruster startup time is T G The thruster efficiency at that time is taken as the lower limit where supplementary control is not required. If the actual thrust efficiency is lower than this lower limit, supplementary control is required.

5. The method for supplementary control in the case of insufficient orbit control thrust failure during deep space maneuvers according to claim 3, characterized in that: The step 2.1 comprises: determining the thrust of the thruster, setting the thruster efficiency to decrease at intervals of Δ%; for each different thruster efficiency, calculating the startup time required for the thruster to provide a velocity increment V0 during orbital maneuvers.

6. The method for supplementary control in the case of insufficient orbit control thrust failure during deep space maneuvers according to claim 4, characterized in that: In step 2.3, if the actual thrust efficiency is higher than the lower limit, and the orbital parameters after orbital control make the changes in the timing of subsequent maneuver orbital control and the required speed increment greater than the threshold, supplementary control is also performed.

7. The method for supplementary control in the case of insufficient orbit control thrust failure during deep space maneuvers according to claim 1, characterized in that: The step three comprises the following steps: Step 3.1: Use the orbit control front track to start the thruster at different thruster efficiencies T G Duration, i.e. the maximum duration of the engine shutdown according to time, is used to recursively obtain the orbit parameters after the first control; Step 3.2: Use the post-control orbit parameters to target the predetermined target orbit and calculate the required velocity increment, power-on time, and attitude parameters under different thruster efficiencies.

8. The method for supplementary control in the case of insufficient orbit control thrust failure during deep space maneuvers according to claim 1, characterized in that: The step 4 comprises the following steps: Step 4.1: Determine whether the startup time of the supplementary control is greater than the maximum startup time T of the thruster max , if it is greater than the maximum time the thruster can be turned on T max , then a single supplementary control cannot reach the predetermined orbit under such insufficient thrust conditions, and further supplementary control or redesign of the mission orbit is required; According to the start-up time T of the orbit control thruster and the start-up time T of the supplementary control thruster B The corresponding orbit control measures are as follows: 。 9. A supplementary control device for the case of insufficient orbit control thrust during deep space maneuvers, characterized in that: Includes the following modules: The fault judgment module obtains the relevant parameters of the satellite and orbit control during normal orbit maneuvers, and judges whether there is a thrust shortage fault during orbit control; the relevant parameters include the speed increment V0 during orbit maneuvers, the startup time T0, the orbit control target, and the engine shutdown time T0. G , thruster thrust size, thruster maximum startup time T max ; A lower limit judgment module calculates the engine startup time to reach a predetermined speed increment under different thrust efficiencies, and judges the lower limit of thrust efficiency that does not require supplementary control; A calculation module, which calculates the speed increment and the start-up time of the supplementary control according to the supplementary control interval ΔT; The judgment module is required to determine whether the orbit control parameters of the supplementary control meet the thruster parameter requirements. If they do, the predetermined orbit control target is completed.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the supplementary control method for the case of insufficient orbit control thrust failure during deep space maneuvers as described in one of claims 1-8 are implemented.

11. A non-transitory 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 supplementary control method for the case of insufficient orbit control thrust failure during deep space maneuvers as described in any one of claims 1-8 are implemented.

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