Methods, devices, equipment, media, and products for controlling the optimal off-rail efficiency of electric power ropes

Abstract

This application discloses a method, device, equipment, medium, and product for optimal derailment efficiency control of an electric rope, relating to the field of electric ropes. The method includes obtaining the dynamic equations and parameters of an electric rope system; calculating the desired in-plane angle using Taylor expansion based on the dynamic equations, parameters, and average perturbation acceleration over one orbital period; determining the control current of the electric rope system using a controller based on the desired in-plane angle; the controller is determined based on the in-plane and out-of-plane angles in the dynamic equations of the electric rope system; and controlling the electric rope system to perform a derailment task based on the control current. This application can improve the derailment efficiency of the system while ensuring the stability of the electric rope's attitude.

Description

Technical Field

[0001] This application relates to the field of electric power ropes, and in particular to a method, device, equipment, medium, and product for controlling the optimal off-rail efficiency of an electric power rope. Background Technology

[0002] In recent years, with the launch and deployment of numerous large constellation satellites such as Starlink, the amount of space debris in orbit has increased dramatically. Since the total amount of space debris continues to rise, it is necessary to carry out mitigation or removal efforts for the safety of spacecraft in orbit and for future sustainable development.

[0003] Electro-powered ropes are a promising space debris removal and mitigation device. They utilize the Lorentz force generated by the electric current cutting through the Earth's magnetic field to accelerate the system off-track. Systems incorporating electro-powered ropes are collectively referred to as electro-powered rope systems. The motion of such systems can generally be divided into two parts: the system's attitude motion (i.e., the swaying of the rope relative to the track surface) and the system's orbital motion. Since system attitude stability is a crucial prerequisite for successful derailment, attitude control is paramount during the derailment process. Currently, the focus for electro-powered rope systems is primarily on stabilizing the system's attitude, neglecting methods to improve derailment efficiency. Therefore, methods are needed to improve system derailment efficiency while ensuring the stability of the electro-powered rope's attitude. Summary of the Invention

[0004] The purpose of this application is to provide a method, device, equipment, medium, and product for controlling the optimal derailment efficiency of an electric rope, which can improve the derailment efficiency of the system while ensuring the stability of the electric rope's attitude.

[0005] To achieve the above objectives, this application provides the following solution:

[0006] Firstly, this application provides a method for controlling the optimal off-rail efficiency of an electric rope, including:

[0007] Obtain the dynamic equations and parameters of the electro-rope system;

[0008] The desired in-plane angle is calculated using Taylor expansion based on the dynamic equations of the electro-rope system, the parameters of the electro-rope, and the average value of the perturbation acceleration over one orbital period.

[0009] The control current of the electro-dynamic rope system is determined by a controller based on the desired in-plane angles; the controller is determined based on the in-plane and out-of-plane angles in the dynamic equations of the electro-dynamic rope system.

[0010] The electric power rope system is controlled by the control current to perform the off-track task.

[0011] Secondly, this application provides an optimal derailment efficiency control device for an electric rope, comprising:

[0012] The acquisition module is used to acquire the dynamic equations and parameters of the electro-dynamic rope system;

[0013] The desired in-plane angle calculation module is used to calculate the desired in-plane angle based on the dynamic equations of the electro-dynamic rope system, the parameters of the electro-dynamic rope, and the average value of the perturbation acceleration over one orbital period using Taylor expansion.

[0014] A control current calculation module is used to determine the control current of the electro-dynamic rope system based on the desired in-plane angle using a controller; the controller is determined based on the in-plane and out-of-plane angles in the dynamic equation of the electro-dynamic rope system.

[0015] The off-track control module is used to control the electric power rope system to perform the off-track task according to the control current.

[0016] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the optimal off-rail efficiency control method for the electric power rope as described above.

[0017] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the optimal off-track efficiency control method for the electric power rope described above.

[0018] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the optimal off-rail efficiency control method for the electric power rope described above.

[0019] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0020] This application provides a method, device, equipment, medium, and product for optimal derailment efficiency control of an electro-powered rope. The method involves calculating the desired in-plane angle using Taylor expansion based on the dynamic equations of the electro-powered rope system, the rope parameters, and the average value of the perturbation acceleration over one orbital cycle. The control current of the electro-powered rope system is then determined using a controller based on the desired in-plane and out-of-plane angles in the dynamic equations of the electro-powered rope system. The control current is used to control the electro-powered rope system to perform the derailment task. This application utilizes the calculated desired in-plane angles to control the electro-powered rope system with the control current, thereby controlling the system to complete the derailment task. This not only stabilizes the system's attitude motion but also improves the system's derailment efficiency, enabling the system to derail as quickly as possible, reducing derailment time, and thus lowering the risk of collision with space debris during the derailment process. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart illustrating an embodiment of this application provides a method for controlling the optimal off-rail efficiency of an electro-powered rope;

[0023] Figure 2 A schematic diagram of the on-orbit motion of the electro-powered rope system;

[0024] Figure 3 A functional module schematic diagram of an optimal off-rail efficiency control device for an electric rope, provided in another embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] In one exemplary embodiment, such as Figure 1 As shown, an optimal derailment efficiency control method for an electric rope is provided. This method is executed by a computer device, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, it includes the following steps 201 to 204. Wherein:

[0029] Step 201: Obtain the dynamic equations and parameters of the electro-rope system. The electro-rope parameters specifically include: the magnitude of the exterior angle φ0, the magnitude of the external force, the phase angle related to the exterior angle magnitude, and the current I. m Integral I over one orbital period m,c Perturbation acceleration in orbital system y o Components on the axis The integral mean of the constant term in the orbital period

[0030] Step 202: Calculate the desired in-plane angle using Taylor expansion based on the dynamic equations of the electro-dynamic rope system, the parameters of the electro-dynamic rope, and the average value of the perturbation acceleration over one orbital period.

[0031] Step 203: Determine the control current of the electro-dynamic rope system using a controller based on the desired in-plane angle; the controller is determined based on the in-plane and out-of-plane angles in the dynamic equation of the electro-dynamic rope system.

[0032] Step 204: Control the electric power rope system to perform the off-rail task according to the control current.

[0033] By implementing steps 201 to 204 above, this application uses the calculated desired in-plane angle to control the control current of the electro-dynamic rope system, thereby controlling the electro-dynamic rope system to complete the derailment task. This not only stabilizes the attitude motion of the system, but also improves the derailment efficiency of the system, enabling the system to derail as quickly as possible. This helps to reduce the derailment time of the system, thereby reducing the risk of collision with space debris during the derailment process.

[0034] In an exemplary embodiment, the dynamic equations of the electro-powered rope system include the attitude dynamic equations of the electro-powered rope system and the orbital dynamic equations of the electro-powered rope system.

[0035] The expression for the attitude dynamics equation is:

[0036]

[0037] The expression for the orbital dynamics equations is:

[0038]

[0039]

[0040] Where θ is the in-plane angle of the tether relative to the track. Let be the first derivative of the in-plane angle of the tether relative to the orbit with respect to time. Let be the second derivative of the in-plane angle of the tether relative to the orbit with respect to time, and φ be the out-of-plane angle of the tether relative to the orbit. Let be the first derivative of the exterior angle of the tether relative to the orbit with respect to time. Let μ be the second derivative of the exterior angle of the tether relative to the orbit with respect to time, φ be the exterior angle of the tether relative to the orbit, and μ be the second derivative of the exterior angle of the tether relative to the orbit. g Let M be the Earth's gravitational constant, and λ be the mean anomaly M and the argument of perigee. the sum of Let λ be the first derivative of λ with respect to time, and ξ be the eccentricity e. The sum of η, where η is the eccentricity e and The sum of, r c Let I be the distance from the Earth's center to the system's center of mass. m μ is the equivalent current of the tether. m For magnetic dipole moment, m s For the mass of the sub-star, m m Main star mass, m sys Let m be the total mass of the system. * For equivalent quality, i o Let be the orbital inclination angle, 'a' be the semi-major axis of the orbit, 't' be time, and 'n' be the orbital time. orb Here, ω is the average orbital angular velocity, and e is the eccentricity. The perturbation acceleration acting on the system's center of mass in the orbital system x o Components on the axis, For perturbation acceleration in orbital system y o Components on the axis, For perturbation acceleration in orbital system z o The component on the axis, where v is the true anterior angle. Argument of latitude For the angle E of the perigee and the argument of the perigee The sum of Ω, where Ω is the right ascension of the ascending node and p is the semi-major diameter. For perturbation acceleration in orbital system z o Components on the axis.

[0041] In an exemplary embodiment, the step of calculating the desired in-plane angle using Taylor expansion based on the dynamic equations of the electro-dynamic rope system, the electro-dynamic rope parameters, and the average value of the perturbation acceleration over one orbital period specifically includes:

[0042] The magnitude of the out-of-plane angle and the equivalent current of the tether of the electro-powered rope are determined based on the dynamic equations and parameters of the electro-powered rope system.

[0043] The desired in-plane angle is calculated using Taylor expansion based on the magnitude of the out-of-plane angle, the equivalent current of the tether, and the average value of the perturbation acceleration over one orbital period.

[0044] In an exemplary embodiment, the expression for the out-of-plane angle magnitude is:

[0045] If parameter D > 0, then

[0046]

[0047] If parameter D < 0, then

[0048]

[0049] Where φ0 is the magnitude of the out-of-plane angle, F φ Let ω be the amplitude of the external force. φ γ is the natural frequency of the out-of-plane attitude dynamics equation, D is the root of the steady-state solution of the Duffing equation corresponding to the out-of-plane attitude dynamics equation, and γ is the phase angle related to the out-of-plane angle amplitude.

[0050] In an exemplary embodiment, the expression for the tethered rope equivalent current is:

[0051]

[0052] Among them, I m,c For current I m The integral over one orbital period, where T is the orbital period and θ is the integral. d Let be the interior angle of the desired plane.

[0053] In an exemplary embodiment, the expression for the average value of the perturbation acceleration over one orbital period is:

[0054]

[0055] in For perturbation acceleration in orbital system y o Components on the axis The constant terms included for The average integral over one orbital period, where L is the length of the tether.

[0056] In another exemplary implementation, a specific process for the optimal off-rail efficiency control method of electric rope is provided in practical applications, including model building and formula derivation, comprising the following steps.

[0057] Step 1: Construct a system dynamics model

[0058] On-orbit motion of an electrodynamic tether (EDT) system, such as... Figure 2 As shown, the yellow ball represents the primary star (denoted by the letter A), the red ball represents the secondary star (denoted by the letter B), the black line segment represents the tether, and point P is the ascending node. To establish the system dynamics model, the following assumptions must first be made about the system:

[0059] 1. Assuming that the electro-powered rope system always moves in a circular or near-circular orbit on a non-equatorial plane, the eccentricity of the system can be considered to be 0.

[0060] 2. Treat the system's primary and secondary stars as point masses (ignore their attitude motion), and the tether as a rigid rod of constant length.

[0061] To facilitate the description of the system's motion, it is also necessary to define relevant coordinate systems:

[0062] 1. Earth's inertial coordinate system F I The origin O of (OXYZ) is located at the Earth's center of mass, the OX axis points to the vernal equinox, the OZ axis is aligned with the Earth's rotation axis, and the OY axis, together with the other two axes, forms a right-handed system.

[0063] 2. Orbital coordinate system F o (o m x o y o z o The origin and the system's center of mass o m overlap, o m x o The axis points from O to o m o m z o The axis is aligned with the direction of the orbital angular momentum. m y o The shaft and the other two shafts form a right-handed system;

[0064] 3. System body coordinate system F m (o m x m y m z m The origin is located at o m o m x m Axis from o m Pointing to the main star, o m z m Axis and o m y m The orientation of the axis is determined by the in-plane angle θ and the out-of-plane angle φ of the tether relative to the track surface.

[0065] For the above-mentioned electro-rope system, the following generalized coordinate system is selected to describe the system motion:

[0066]

[0067] Where θ is the in-plane angle of the tether relative to the orbit, φ is the out-of-plane angle of the tether relative to the orbit, a is the semi-major axis of the orbit, Ω is the right ascension of the ascending node, and i o For the track inclination angle, M is the angle of approach, and e is the eccentricity. θ is the argument of perigee. q is a column vector consisting of all generalized coordinates.

[0068] Based on the above assumptions, the dynamic equations of the tether's attitude relative to the orbital plane can be expressed as:

[0069]

[0070] in The expression r represents the derivative of the variable within the parentheses with respect to time. c μ is the distance from the Earth's center to the system's center of mass. m For magnetic dipole moment, μ g I is the Earth's gravitational constant. m Let m be the equivalent (average) current of the tether. s For the mass of the sub-star, m m Main star mass, m sys Let m be the total mass of the system. * For equivalent quality, it can be specifically expressed as:

[0071]

[0072] In the formula m t For the quality of the rope.

[0073] The orbital motion of the system can be described by the following six-element equations:

[0074]

[0075] Where n orb The average orbital angular velocity, The perturbation acceleration acting on the system's center of mass in the orbital system x o Components on the axis, For perturbation acceleration in orbital system y o Components on the axis, For perturbation acceleration in orbital system z o Components on the axis, Argument of latitude for:

[0076]

[0077] In the formula, E is the angle of near point. Argument of perigee.

[0078] Step 2: System controller design and optimal off-track efficiency calculation method

[0079] Step 2.1, System Controller Design

[0080] Step 1 derives the attitude and orbital dynamics equations of the electro-powered rope system as shown in equations (1)-(3). These dynamic equations provide a model basis for designing the controller for the system's attitude motion and calculating the off-track efficiency in step 2.

[0081] This scheme considers using a current-controlled sliding mode control strategy to control the tethered attitude motion. To facilitate controller design, the system's generalized coordinates are first rewritten as follows:

[0082]

[0083] Where x is the state vector, x1 is the first scalar of the state vector, x2 is the second scalar of the state vector, x1 = θ, x2 = φ. Meanwhile, the system attitude dynamics equations of equations (1) and (2) are rewritten in state-space form:

[0084]

[0085] in, and Let be the first and second derivatives of x1 with respect to time, respectively; g1(x) be the nonlinear term in the in-plane angle dynamics equation; and u1 be the control variable acting on the in-plane angle. and Let g1 be the first and second derivatives of x2 with respect to time, respectively; g2(x) be the nonlinear term in the exterior angle dynamic equation; and u2 be the control variable acting on the exterior angle.

[0086] In the formula

[0087]

[0088] Define the state error and its derivative:

[0089] e i =x i -x i,d

[0090] (5-a)

[0091]

[0092] Among them, e i Let x be the error between the current value and the expected value of the i-th scalar in the state vector. i Let x be the i-th scalar in the state vector. i,dLet i be the expected value of the i-th scalar in the state vector, where i is equal to 1 or 2.

[0093] Other relevant derivatives are

[0094]

[0095] e i x i x i,d The second derivative with respect to time, g i (x) is equal to g1(x) or g2(x).

[0096] Therefore, the sliding mode function s i It can be designed as:

[0097] s i =c i e i +e i ′ (7)

[0098] Where c i >0 indicates an adjustable control parameter. The derivative of the sliding mode function, s. i 'for:

[0099] s i ′=c i e i ′+g i (x)+u i (8)

[0100] Therefore, the desired control input u for the system's attitude motion i It can be designed as:

[0101] u i =-k i,1 f(s i )-k i,2 s i -c i (x i ′-x i,d ′)-g i (x) (9)

[0102] Where, k i,1 Let k be the first control parameter of the i-th scalar in the state vector. i,2 Δ is the second control parameter of the i-th scalar in the state vector. i Let f(s) be the boundary layer with the i-th scalar of the state vector. i Let ) be the saturation function of the i-th scalar in the state vector:

[0103]

[0104] This application considers using current as the actuator to implement the control strategy, and prioritizes satisfying the control input u1 of the in-plane angle. Therefore, the control current I1 required to achieve u1 can be expressed as:

[0105]

[0106] Under the condition of prioritizing control of the in-plane angles, the motion of the out-of-plane angles is essentially uncontrolled. Therefore, excessive current can easily cause instability in the out-of-plane angles, which in turn leads to instability in the in-plane angles. Therefore, from both a practical engineering and system stability perspective, it is necessary to constrain the tether current. The specific constraint conditions are as follows:

[0107] |I1|≤|I lim | (12)

[0109] Where I lim This is the upper limit of the current. In order to achieve optimal off-rail efficiency control of the electro-powered rope, this application only controls the inner angle of the face, and does not control the outer angle.

[0110] Step 2.2, Calculation method for optimal off-track efficiency

[0111] Step 2.2 will calculate the optimal off-rail efficiency of the electric rope system under the control of the controller designed in Step 2.1. The controller designed in Step 2.1 includes equations (4)-(12).

[0112] Based on the analysis in step 2.1, the system derailment efficiency will be calculated when the interior angle stabilizes near its desired value. It is assumed that under the control of the controller in step 2.1, the interior angle can stabilize at its desired value θ. d In the vicinity, θ can be considered as θ d , Substituting this condition into the equations of exterior angle dynamics:

[0113]

[0114] The attitude dynamics equations include both in-plane and out-of-plane angles; this application only uses the dynamics equations for out-of-plane angles. Since it is assumed that the system always moves in a circular or near-circular orbit, at this time... and r c It can be considered a constant in a short time, so the above formula can be rewritten as:

[0115]

[0116] Where ω φ F is the natural frequency of the above equation. φ δ represents the amplitude of the external force, and δ represents the phase angle of the external force.

[0117]

[0118] If we expand sin2φ in the above equation using Taylor's formula to the second term, the equation can be rewritten as:

[0119]

[0120] The above equation represents a Duffing system with cubic nonlinear terms. The approximate analytical solution for the steady-state motion of this system is:

[0121] φ=φ0sin(λ+δ) (16)

[0123] The magnitude of the exterior angle φ0 in the above formula is determined by the following formula:

[0124]

[0125] The above equation is a cubic equation in one variable. The solution to this equation depends on the parameter D, where D is specifically expressed as:

[0126]

[0127] If D>0, then

[0128]

[0129] If D < 0, then

[0130]

[0131] From equation (14), we can know that F φ Depends on I m and θ d ω φ Depends on θ d Therefore, φ0 depends on I m and θ d .

[0132] When the interior angle of the face stabilizes at θ d When the angle is near zero, the acceleration and velocity of the interior angle approach zero, and the dynamic equation of the interior angle can be approximated as:

[0133]

[0134] The above formula can be rewritten as

[0135]

[0136] in, To and The relevant nonlinear terms, f2(λ), are nonlinear terms related to λ:

[0137]

[0138] f2(λ)=tanφ(2cosθ d sinλ-sinθ d cosλ)

[0139] Using Taylor's formula Expanding f2(λ), we get:

[0140]

[0141] Where ζ is θ d From the relevant perspectives:

[0142]

[0143] From equation (22), we can see that Both f2(λ) and f2(λ) are periodic functions with a period of π, therefore I m It is also a periodic function with a period of π. Substituting the above equation into equation (21), we get:

[0144]

[0145] in For terms related to λ:

[0146]

[0147] For a periodic function as shown in equation (23), if it is a bounded function within its domain, then equation (23) can be rewritten as follows:

[0148] I m =I m,c +f(t) (twenty four)

[0150] Where I m,c Since f(t) is a constant, and f(t) is a periodic function with period π, they have the following properties:

[0151]

[0152] From equation (3-a), it can be seen that if the perturbation acceleration on the right-hand side of the equation can always be at its maximum value at that moment, then the system's de-orbiting efficiency can reach its maximum. Since it is assumed that the system always moves in a circular or near-circular orbit, the orbital eccentricity will be considered as 0 in the following analysis. In this case, equation (3-a) can be rewritten as:

[0153]

[0154] Obviously, if it can be made The system achieves its highest deorbit efficiency when the force remains at its maximum achievable value. Since only the perturbation of the system's orbit by the Lorentz force is considered, neglecting atmospheric drag, higher-order gravitational forces of the Earth, etc., the component of the Lorentz force acting on the system's center of mass within the orbital system is... It can be represented as:

[0155]

[0156] therefore It can be represented as

[0157]

[0158] When the interior angle of the face stabilizes at the expected value θ d When the value is near, perform a Taylor expansion on sinφ and cosφ in the above equation, and rewrite the above equation in conjunction with equation (16) as follows:

[0159]

[0160] The first term in the above equation is a periodic function, and its integral over one orbital period is 0. This means that this perturbation acceleration does no work on the system's deorbiting. For ease of analysis, let the constant term in the second term of the above equation be:

[0161]

[0162] Integrating the above equation over one orbital period and taking the mean of the integral, we can obtain... Average value over one orbital period:

[0163]

[0164] like If the maximum value can be achieved under the current conditions, it means that the system's deorbiting efficiency is optimal. Combining the above equation with equation (19) (or equation (20)) and equation (25-a), the corresponding interior angles of different desired planes can be calculated. This allows us to determine the optimal interior angle of the desired plane. Different interior angles of the desired plane correspond to different derailment efficiencies, and the interior angle of the desired plane that maximizes the derailment efficiency can be calculated using the derived formula.

[0165] In practical engineering, the derived formulas (19) (or (20)) and (25-a) are used to calculate the left-hand side of formula (31). To achieve the minimum desired interior angle θ d The desired in-plane angle is used as the control target for the in-plane angle of the electric power rope system. The attitude motion of the electric power rope system is controlled by the controller designed in step 2.1. In this way, the electric power rope system can complete the derailment task with the optimal derailment efficiency while maintaining attitude stability.

[0166] This application delves into the problem of optimizing the derailment efficiency of an electro-dynamic rope system under a current regulation strategy, and presents a method for calculating the desired in-plane angle that brings the derailment efficiency close to the optimum under controllable conditions. Using the method proposed in this application, not only can the system's attitude motion be stabilized, but the system's derailment efficiency can also be improved, enabling the system to derail as quickly as possible. This helps to reduce the system's derailment time, thereby reducing the risk of collision with space debris during the derailment process.

[0167] Based on the same inventive concept, this application also provides an electric rope optimal derailment efficiency control device for implementing the above-mentioned electric rope optimal derailment efficiency control method. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more embodiments of the electric rope optimal derailment efficiency control device provided below can be found in the limitations of the electric rope optimal derailment efficiency control method described above, and will not be repeated here.

[0168] like Figure 3 As shown, in one exemplary embodiment, an optimal off-rail efficiency control device for an electric power rope is provided, comprising:

[0169] The acquisition module 301 is used to acquire the dynamic equations and parameters of the electro-powered rope system.

[0170] The desired in-plane angle calculation module 302 is used to calculate the desired in-plane angle using Taylor expansion based on the dynamic equations of the electro-dynamic rope system, the parameters of the electro-dynamic rope, and the average value of the perturbation acceleration over one orbital period.

[0171] The control current calculation module 303 is used to determine the control current of the electro-dynamic rope system based on the desired in-plane angle using a controller; the controller is determined based on the in-plane angle and out-of-plane angle in the dynamic equation of the electro-dynamic rope system.

[0172] The off-track control module 304 is used to control the electro-powered rope system to perform the off-track task according to the control current.

[0173] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 4As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores optimal derailment efficiency control data for the electric rope. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements an optimal derailment efficiency control method for the electric rope.

[0174] Those skilled in the art will understand that Figure 4 The structures shown are merely block diagrams of some structures related to the present application and do not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method embodiments.

[0175] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the above-described method embodiments.

[0176] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the above-described method embodiments.

[0177] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0178] In this application, all actions to acquire signals, information, or data are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with the authorization granted by the owner of the relevant device.

[0179] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0180] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0181] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0182] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for controlling the optimal off-rail efficiency of an electric rope, characterized in that, The optimal derailment efficiency control method for the electric power rope includes: Obtain the dynamic equations and parameters of the electro-rope system; The desired in-plane angle is calculated using Taylor expansion based on the dynamic equations of the electro-rope system, the electro-rope parameters, and the average value of the perturbation acceleration over one orbital period. Specifically, this includes: determining the out-of-plane angle magnitude and the equivalent current of the tether of the electro-rope based on the dynamic equations of the electro-rope system and the electro-rope parameters; and calculating the desired in-plane angle using Taylor expansion based on the out-of-plane angle magnitude, the equivalent current of the tether, and the average value of the perturbation acceleration over one orbital period. The control current of the electro-dynamic rope system is determined by a controller based on the desired in-plane angles; the controller is determined based on the in-plane and out-of-plane angles in the dynamic equations of the electro-dynamic rope system. The electric power rope system is controlled by the control current to perform the off-track task.

2. The method for controlling the optimal off-rail efficiency of an electric power rope according to claim 1, characterized in that, The dynamic equations of the electro-powered rope system include the attitude dynamic equations of the electro-powered rope system and the orbital dynamic equations of the electro-powered rope system. The expression for the attitude dynamics equation is: ； ； The expression for the orbital dynamics equations is: ； ； ； ； ； ； in, Let be the in-plane angle between the tethered rope and the track. Let be the first derivative of the in-plane angle of the tether relative to the orbit with respect to time. Let be the second derivative of the in-plane angle of the tether relative to the orbit with respect to time. The angle between the tether and the plane of the track is the exterior angle. Let be the first derivative of the exterior angle of the tether relative to the orbit with respect to time. Let be the second derivative of the exterior angle of the tether relative to the orbit with respect to time. The gravitational constant of Earth, For the near point angle and perigee argument the sum of for The first derivative with respect to time, Eccentricity and the sum of Eccentricity and the sum of The distance from the Earth's center to the system's center of mass. The equivalent current of the tether is... It is a magnetic dipole moment. For the mass of the sub-star, The mass of the main star For the total mass of the system, For equivalent quality, For the track inclination angle, For the semi-major axis of the track, For time, The average orbital angular velocity, For eccentricity, The perturbation acceleration acting on the system's center of mass in the orbital system Components on the axis, For perturbation acceleration in the orbital system Components on the axis, For perturbation acceleration in the orbital system Components on the axis, For true near point angle, Argument of latitude For the near point angle Argument of perigee the sum of Right ascension of the ascending node, It is the semi-nominal diameter. For perturbation acceleration in the orbital system Components on the axis.

3. The method for controlling the optimal off-rail efficiency of an electric power rope according to claim 1, characterized in that, The expression for the magnitude of the out-of-plane angle is: If parameter D >0, then ； If parameter D <0, then ； ； in, The magnitude of the exterior angle. The magnitude of the external force. Let be the natural frequency of the exterior angle attitude dynamics equation. The root of the steady-state solution of the Duffing equation corresponding to the exterior angle attitude dynamics equation is... The phase angle is related to the magnitude of the out-of-plane angle.

4. The method for controlling the optimal off-rail efficiency of an electric rope according to claim 1, characterized in that, The expression for the equivalent current of the tether is: ； in, For current Integral over one orbital period For orbital period, Let be the interior angle of the desired plane.

5. The method for controlling the optimal off-rail efficiency of an electric power rope according to claim 4, characterized in that, The expression for the average value of the perturbation acceleration over one orbital period is: ； in, For perturbation acceleration in the orbital system Components on the axis The constant terms included for The integral mean over one orbital period This refers to the length of the rope.

6. A device for controlling the optimal off-rail efficiency of an electric power rope, characterized in that, The optimal off-rail efficiency control device for the electric power rope includes: The acquisition module is used to acquire the dynamic equations and parameters of the electro-dynamic rope system; The desired interior angle calculation module is used to calculate the desired interior angle using Taylor expansion based on the dynamic equations of the electro-hydroelectric rope system, the parameters of the electro-hydroelectric rope, and the average value of the perturbation acceleration over one orbital period. Specifically, it includes: determining the magnitude of the exterior angle and the equivalent current of the tether of the electro-hydroelectric rope based on the dynamic equations of the electro-hydroelectric rope system and the parameters of the electro-hydroelectric rope; and calculating the desired interior angle using Taylor expansion based on the magnitude of the exterior angle, the equivalent current of the tether, and the average value of the perturbation acceleration over one orbital period. A control current calculation module is used to determine the control current of the electro-dynamic rope system based on the desired in-plane angle using a controller; the controller is determined based on the in-plane and out-of-plane angles in the dynamic equation of the electro-dynamic rope system. The off-track control module is used to control the electric power rope system to perform the off-track task according to the control current.

7. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the optimal off-track efficiency control method for an electric rope according to any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the optimal off-rail efficiency control method for electric power ropes as described in any one of claims 1-5.

9. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the optimal off-rail efficiency control method for electric power ropes as described in any one of claims 1-5.

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