Spacecraft formation maintenance control system and control method thereof

Abstract

This invention relates to the field of spacecraft control technology and discloses a spacecraft formation maintenance control system and its control method. The invention maintains the relative position between two spacecraft by setting a flexible connector between them and using a drive assembly to control the movement of a mass block slidably fitted onto the flexible connector. The return impulse of the mass block at both ends of the flexible connector generates opposing forces on the two control platforms to maintain the relative position between the two spacecraft. This eliminates the need for continuous consumption of propellant or working fluid, thus reducing resource consumption during formation maintenance. The invention enables control over the movement of the mass block, facilitating fine adjustment of the maintenance control force and improving the accuracy of maintaining the relative position of the formation. It is suitable for long-term, low-disturbance, and high-precision spacecraft formation maintenance control scenarios.

Description

Technical Field

[0001] This invention relates to the field of spacecraft control technology, specifically to a spacecraft formation maintenance control system and its control method. Background Technology

[0002] With the rapid development of aerospace technology, on-orbit servicing technology, and the demands of space infrastructure construction, application scenarios such as satellite formation flying, distributed payload collaborative work, large-scale space structure assembly, and the construction and maintenance of future space cities are placing increasingly higher demands on the accuracy, stability, and continuity of maintaining the relative positions of multiple spacecraft. Especially in missions such as high-precision distributed observation, space interferometry, formation radar imaging, and large space platform maintenance, multiple spacecraft typically need to maintain a stable formation configuration over long mission cycles and be able to flexibly adjust their configuration according to mission requirements. Therefore, providing continuous, controllable, and low-disturbance relative maneuverability for each spacecraft within a formation has become a crucial technical challenge in the field of space manipulation.

[0003] In existing technologies, satellite formation keeping and relative position control mainly rely on chemical propulsion or electric propulsion. Chemical propulsion generates thrust by injecting propellant. Although the system is mature and has a fast response, it consumes a large amount of propellant and requires continuous use of limited onboard resources during missions, severely limiting the lifespan and economic efficiency of formation flight missions. Furthermore, the minimum pulse quantity and thrust adjustment precision of chemical propulsion are usually limited by the propulsion system structure and operating conditions, making it difficult to meet the requirements for minute thrust and continuous fine-tuning in high-precision formation keeping scenarios.

[0004] Electric propulsion technology offers a higher specific impulse compared to chemical propulsion, reducing propellant consumption to some extent. However, it still fundamentally requires the ejection of working fluid to generate reaction thrust, and the limited working fluid reserves remain a concern. Furthermore, electric propulsion can generate adverse effects such as plume contamination, electromagnetic interference, and charged particle interference during operation, potentially disrupting sensitive payloads, precision optical components, detection equipment, and nearby spacecraft within the formation. Additionally, the relatively low and fluctuating thrust of electric propulsion limits its applicability in applications requiring high-precision, low-disturbance control, such as distributed optical formations, space interferometry formations, and highly stable radar formations.

[0005] To avoid the continuous consumption of propellant or working fluid, existing technologies have proposed several propellant-free formation maintenance methods. These include utilizing the gravity gradient effect to achieve relative formation stability, or using the centrifugal force generated by the overall rotation of the formation to achieve tensioning and configuration maintenance. While these methods avoid fuel and working fluid consumption to some extent, they are typically highly dependent on orbital conditions, formation size, connection methods, and system configuration. They are also significantly limited by orbital altitude and mission environment, making them suitable only for specific orbits and configurations. This makes it difficult to meet the needs of flexible formation deployment and general application in complex missions. Furthermore, these methods usually require overall formation rotation or reliance on a specific mechanical equilibrium state, resulting in limited system control degrees of freedom. This hinders active, rapid configuration reconfiguration and high-precision relative position adjustments. Their stability and control performance are also prone to degradation when affected by environmental disturbances, parameter drift, or configuration changes.

[0006] Therefore, some existing satellite formation control technologies require continuous consumption of fuel or propellant, resulting in limited mission lifespan, high operating costs, and difficulty in achieving both high precision and low disturbance control requirements. While some technologies can avoid propellant consumption, they rely on the overall rotation of the formation or specific orbital mechanics conditions, which significantly limits their application scenarios and makes it difficult to meet the future needs of large-scale, long-term, and flexible space formation control. Summary of the Invention

[0007] This invention provides a spacecraft formation maintenance control system and its control method to solve the problems of satellite formation maintenance in the prior art, which are heavily dependent on propellants or working fluids, have insufficient control accuracy, poor configuration adaptability, and limited application.

[0008] In a first aspect, the present invention provides a spacecraft formation maintenance control system, comprising: a control platform, a flexible connector, a mass block, and at least two drive components; at least two control platforms are provided, and the two control platforms are respectively disposed on two spacecraft; the flexible connector is connected between the two control platforms; the mass block is slidably sleeved on the flexible connector; at least two drive components are provided, and the two drive components are disposed opposite to each other on the control platform, one drive component is adapted to provide an acceleration driving force to the mass block, and the other drive component is adapted to provide a deceleration braking force to the mass block; the drive components control the mass block to slide on the flexible connector to maintain the relative position between the two spacecraft.

[0009] Beneficial effects: This invention maintains the relative position of two spacecraft by using a flexible connector between them and a drive assembly to control the movement of a mass block slidably fitted onto the connector. The recoil impulse of the mass block at both ends of the connector generates opposing forces on the two control platforms to maintain the relative position of the two spacecraft. This eliminates the need for continuous propellant or working fluid consumption, thus reducing resource consumption during formation maintenance. Furthermore, the invention allows for control of the mass block's movement, facilitating fine adjustment of the maintenance force and improving the accuracy of maintaining the relative position of the formation. It is suitable for long-term, low-disturbance, and high-precision spacecraft formation maintenance control scenarios.

[0010] According to a first aspect of the present invention, the flexible connector is a carbon fiber rope, and both ends of the flexible connector are respectively connected to the two control platforms. The initial bending radius of the flexible connector is greater than or equal to 100m.

[0011] Beneficial effects: Carbon fiber ropes, while meeting connection and load-bearing requirements, can reduce the mass of flexible connectors, thus improving the system's lightweight level. Simultaneously, carbon fiber ropes possess good load-bearing capacity, which helps improve the structural stability of the flexible connectors under the reciprocating motion of the mass block. By limiting the initial bending radius of the flexible connectors, they can more easily maintain a relatively straight working state in the space environment, thereby reducing the adverse effects of local bending of the flexible connectors on the sliding process of the mass block, and improving the smoothness of the mass block's motion and the stability of force transmission.

[0012] According to a first aspect of the present invention, the mass block is a magnetic rotating body, and the shape of the mass block is spherical, elliptical, or spindle-shaped.

[0013] Beneficial effects: The mass block is a magnetic rotating body, and its shape is spherical or ellipsoidal. The spherical, ellipsoidal, or spindle-shaped structure has a continuous and smooth outer surface, which helps to improve the stability of the mass block when moving along the flexible connector, reduce jamming, local wear, and uneven force distribution, thereby improving the stability of the force output and thus helping to improve the spacecraft formation maintenance and control effect.

[0014] According to a first aspect of the present invention, the drive assembly includes a drive base, a winch, and a drive coil disposed on the control platform; Both ends of the flexible connector are respectively connected to the winch components on the two control platforms, and the winch components are adapted to adjust the extension and retraction of the flexible connector; The flexible connector passes through the drive base and the drive coil. The drive base is adapted to control the operation of the drive coil. The mass block has an accelerating state when sliding on the flexible connector in one drive coil, a decelerating state when sliding on the flexible connector in another drive coil, and a constant speed state when sliding between the flexible connectors of the two drive coils.

[0015] Beneficial effects: The extension and retraction of the flexible connector can be adjusted via the winch, which facilitates the adjustment of the connector's length and tension, improving the system's adaptability to different formation spacing and operating conditions. The flexible connector passes through the drive base and drive coil, causing the mass block to be in an accelerating state in one drive coil, a decelerating state in another drive coil, and a uniform speed between the two drive coils. This facilitates zoned control of the mass block's movement, improving the stability and controllability of the mass block's sliding process. The relatively stable sliding of the mass block between the two drive coils also helps to reduce speed fluctuations and improve the smoothness of the force output, thereby enhancing the spacecraft formation maintenance control effect.

[0016] According to a first aspect of the present invention, the drive assembly further includes an energy recovery unit for recovering the kinetic energy of the mass block when the mass block is decelerated and braked.

[0017] Beneficial effects: The energy recovery unit is used to recover the kinetic energy of the mass block during deceleration and braking, thereby reducing system operating energy consumption and improving energy utilization efficiency. At the same time, it helps to alleviate the energy supply pressure during long-term on-orbit operation and improves the system's continuous working capability. The integration of the energy recovery unit with the drive components also helps to improve the coordination between drive, braking and energy management, thereby improving the engineering application performance of the spacecraft formation maintenance control system.

[0018] According to a first aspect of the present invention, a plurality of mass blocks are provided, and the plurality of mass blocks are spaced apart and sleeved on the flexible connector; and / or Multiple flexible connectors are provided, and the multiple flexible connectors are spaced apart between the two control platforms.

[0019] Beneficial effects: When multiple mass blocks are set, the continuity and stability of the force output can be improved by the sequential movement of multiple mass blocks, and the adjustment range of the formation maintenance control force can be expanded; when multiple flexible connectors are set, the connection stability and force transmission capability between the two control platforms can be improved.

[0020] According to a first aspect of the present invention, the control platform is provided with a control unit, which is electrically connected to the drive assembly and is used to control the drive assembly to accelerate, decelerate, stop and reverse drive the mass block.

[0021] Beneficial effects: The control platform is equipped with control units, which are electrically connected to the drive components to control the drive components to accelerate, decelerate, stop, and reverse drive the mass block. This approach enables unified control of the mass block's motion, improving the accuracy and coordination of switching between different motion phases. Simultaneously, it enhances the automation level of the system operation and the stability of the mass block's reciprocating motion, while reducing force output fluctuations, thereby improving the spacecraft formation maintenance control effect.

[0022] According to a first aspect of the present invention, the spacecraft formation maintenance control system further includes a detection component adapted to detect relative position deviation and / or relative velocity deviation between two of the spacecraft, and the control unit adjusts the sliding speed of the mass blocks, the driving time interval, and / or the number of mass blocks participating in the motion based on the relative position deviation and / or relative velocity deviation.

[0023] Beneficial effects: The detection component is used to detect the relative position deviation and / or relative velocity deviation between the two spacecraft. The control unit adjusts the sliding speed of the mass block, the driving time interval, and / or the number of mass blocks participating in the motion based on the relative position deviation and / or relative velocity deviation. The detection component enables the acquisition of relative motion deviation information between the two spacecraft and the adjustment of the mass block motion parameters accordingly, thereby forming a closed-loop control and improving the accuracy of formation maintenance control. Simultaneously, it enhances the system's adaptability to environmental disturbances and changes in operating state, improves the smoothness of force output and the flexibility of control strategies, and ultimately enhances the effectiveness of spacecraft formation maintenance control.

[0024] Secondly, the present invention also provides a spacecraft formation maintenance control method, applied to the spacecraft formation maintenance control system, comprising the following steps: Flexible connectors are installed on the two control platforms, and at least one mass block is fitted onto the flexible connectors. The drive assembly located at one end of the flexible connector is controlled to accelerate the mass block to a preset cruising speed, so that the mass block slides along the flexible connector to the other end of the flexible connector; After the mass block reaches the other end of the flexible connector, the drive assembly located at the other end of the flexible connector is controlled to decelerate, stop and accelerate in the opposite direction of the mass block, so that the mass block slides in the opposite direction along the flexible connector. After the mass block returns to one end of the flexible connector, the drive assembly located at one end of the flexible connector is controlled to decelerate, stop, and accelerate in the opposite direction of the mass block, so that the mass block slides back and forth repeatedly along the flexible connector. The return impulse of the mass block at both ends of the flexible connector generates opposite forces on the two control platforms to maintain the relative position between the two spacecraft.

[0025] Beneficial effects: The spacecraft formation maintenance control method provided by this invention involves setting a flexible connector between two control platforms and controlling a mass block fitted onto the flexible connector to slide back and forth along the connector. The return impulse of the mass block at both ends of the flexible connector generates opposing forces on the two control platforms, thereby maintaining the relative position between the two spacecraft. This control method eliminates the need for continuous propellant or working fluid consumption, reducing resource consumption. Simultaneously, it facilitates the adjustment of the formation maintenance control force, improving the stability of the force output and the accuracy of relative position maintenance, making it suitable for long-term, low-disturbance spacecraft formation maintenance control scenarios.

[0026] According to a second aspect of the present invention, there are multiple mass blocks, and the multiple mass blocks are controlled to accelerate, slide, decelerate, stop and reverse accelerate sequentially along the flexible connector at fixed time intervals, so that the multiple mass blocks circulate back and forth on the flexible connector.

[0027] Beneficial effects: Multiple mass blocks are configured, and these mass blocks are controlled to sequentially accelerate, glide, decelerate, stop, and accelerate in the opposite direction along the flexible connector at fixed time intervals, causing the mass blocks to circulate back and forth on the flexible connector. The sequential movement of multiple mass blocks improves the continuity of the formation maintenance control force output, reduces force fluctuations caused by the reversal of a single mass block, and improves the stability of the control process. Simultaneously, it allows for adjustments to the number of mass blocks and the movement rhythm to improve the adjustment accuracy of the formation maintenance control force and the system's control flexibility, and enhances the system's ability to compensate for continuous disturbances, thereby improving the spacecraft formation maintenance control effect. Attached Figure Description

[0028] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of a spacecraft formation maintenance control system provided in the first aspect embodiment of the present invention; Figure 2 This is a schematic diagram of a single cycle of the reciprocating motion of the mass block in some embodiments of the present invention.

[0030] Explanation of reference numerals in the attached figures: 1. Drive assembly; 11. Drive base; 12. Drive coil; 13. Winch assembly; 2. Flexible connector; 3. Mass block. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Reference Figure 1 As shown, in a first aspect, the present invention provides a spacecraft formation maintenance control system, comprising: a control platform, a flexible connector 2, a mass block 3, and at least two drive components 1; at least two control platforms are provided, and the two control platforms are respectively disposed on two spacecraft; the flexible connector 2 connects the two control platforms; the mass block 3 is slidably sleeved on the flexible connector 2; at least two drive components 1 are disposed opposite to each other on the control platform, one drive component 1 is adapted to provide an acceleration driving force for the mass block 3, and the other drive component 1 is adapted to provide a deceleration braking force for the mass block 3; the drive components 1 control the mass block 3 to slide on the flexible connector 2 to maintain the relative position between the two spacecraft.

[0033] Specifically, this invention maintains the relative position between two spacecraft by setting a flexible connector 2 between them and controlling a mass block 3, which is slidably fitted onto the flexible connector 2, to move along the flexible connector 2 under the action of a drive assembly 1. This eliminates the need for propellant or working fluid injection required by traditional chemical or electric propulsion, thus reducing reliance on fuel or working fluid during spacecraft formation maintenance, extending mission life, and lowering long-term on-orbit operating costs. The drive assembly 1 controls the acceleration, deceleration, stopping, and reverse movement of the mass block 3, allowing the maintenance control force acting between the two spacecraft to be adjusted according to control requirements, achieving smoother and more precise formation maintenance control, thereby improving the control accuracy of maintaining the relative position between spacecraft.

[0034] It should be noted that this invention achieves formation maintenance control by sliding the mass block 3 along the flexible connector 2, eliminating the need for external propellant or working fluid injection. This avoids contamination and interference issues caused by jet plumes, electromagnetic jet effects, or working fluid deposition, thus reducing adverse effects on precision optical payloads, sensitive detection equipment, and nearby spacecraft, thereby improving the system's applicability in high-precision space missions. The controlled movement of the mass block 3 on the flexible connector 2 achieves active maintenance of the relative position between two spacecraft. Formation maintenance is achieved without relying on overall formation rotation, gravity gradient balancing, or specific orbital environments. Therefore, compared to propellant-free formation solutions that are significantly limited by orbital altitude, configuration dimensions, and overall attitude, this invention offers better configuration adaptability and mission versatility.

[0035] In a first aspect of the present invention, the flexible connector 2 is a carbon fiber rope, and the two ends of the flexible connector 2 are respectively connected to two control platforms. The initial bending radius of the flexible connector 2 is greater than or equal to 100m.

[0036] Detailed explanation, Compared to conventional high-strength metal flexible connectors 2, carbon fiber ropes typically possess higher specific strength and lower mass. While meeting the connection and stress requirements between the two control platforms, this reduces the burden of the flexible connector 2's own mass on the entire spacecraft formation system, thereby lowering the system's added inertia and improving the lightweight level of the formation maintenance system. The mass block 3 slides repeatedly along the flexible connector 2, and the flexible connector 2 needs to withstand the connection tension and the dynamic loads generated by the movement of the mass block 3 during operation. Using carbon fiber rope as the flexible connector 2 helps maintain high axial load-bearing capacity under lower mass conditions, thus improving the structural reliability and operational stability of the flexible connector 2 under long-term reciprocating conditions.

[0037] Understandably, in the microgravity environment of space, the flexible connector 2 is more likely to naturally extend, thus reducing the impact of local bending, curling, or significant curvature changes of the flexible connector 2 on the sliding path of the mass block 3, which is beneficial for maintaining the stable reciprocating motion of the mass block 3 along the connection path. Since the mass block 3 is slidably fitted onto and moves along the flexible connector 2, if the local curvature of the flexible connector 2 is large, it may increase the risk of attitude changes, contact instability, or motion stagnation of the mass block 3 during the sliding process. By limiting the initial bending radius of the flexible connector 2 to greater than or equal to 100m, the motion path of the mass block 3 can be made smoother, which helps to reduce the additional mechanical disturbances caused by the bending of the flexible connector 2, thereby improving the stability and controllability of the sliding process of the mass block 3.

[0038] The reciprocating motion of mass block 3 on flexible connector 2 will exert a force on the two control platforms. If flexible connector 2 has good axial load-bearing capacity and maintains a relatively straight working shape, it will be more conducive to stably transmitting the force generated by the motion of mass block 3 to the two control platforms.

[0039] According to a first aspect of the present invention, the mass block 3 is a magnetic rotating body, and the shape of the mass block 3 is spherical or elliptical.

[0040] Specifically, by defining the mass block 3 as a magnetic rotating body, the mass block 3 can better respond to the electromagnetic effect generated by the electromagnetic drive component 1, thereby facilitating the drive component 1 to accelerate, decelerate and reverse drive the mass block 3.

[0041] It is understandable that, since the mass block 3 is slidably fitted onto the flexible connector 2 and needs to reciprocate along the flexible connector 2, if the mass block 3 has sharp corners, edges, or irregular outer contours, problems such as local jamming, abrupt changes in posture, or unstable contact may easily occur during the movement. By designing the mass block 3 as a spherical or ellipsoidal body of revolution, making its outer surface continuous and smooth with a smooth contour transition, it is beneficial to improve the motion stability of the mass block 3 when sliding along the flexible connector 2. Spherical or ellipsoidal mass blocks 3 usually have good symmetry and continuous curved surface characteristics, and are less likely to form obvious edge interference and local stress concentration when in contact with or relative to the flexible connector 2.

[0042] According to a first aspect of the present invention, the drive assembly 1 includes a drive base 11, a winch component 13, and a drive coil 12 disposed on a control platform; The two ends of the flexible connector 2 are respectively connected to the winch components 13 on the two control platforms, and the winch components 13 are adapted to adjust the extension and retraction of the flexible connector 2; The flexible connector 2 passes through the drive base 11 and the drive coil 12. The drive base 11 is adapted to control the operation of the drive coil 12. The mass block 3 has an acceleration state when sliding on the flexible connector 2 in one drive coil 12, a deceleration state when sliding on the flexible connector 2 in another drive coil 12, and a constant speed state when sliding between the flexible connectors 2 of the two drive coils 12.

[0043] Specifically, the two ends of the flexible connector 2 are connected to winch components 13 on two control platforms, respectively. The winch components 13 are adapted to adjust the extension and retraction of the flexible connector 2. Therefore, during system deployment, initial tensioning, on-orbit adjustment, or changes in formation spacing, the length and tension of the flexible connector 2 can be adjusted via the winch components 13, thereby improving the system's adaptability to different formation spacings and operating conditions. When the mass block 3 slides along the flexible connector 2, if the flexible connector 2 is too loose or has significant local shape changes, it can easily cause fluctuations in the mass block 3's trajectory, unstable contact, or even jamming. Adjusting the extension and retraction of the flexible connector 2 via the winch components 13 helps maintain the flexible connector 2 at a suitable tension during operation, thereby improving the path stability and smoothness of the mass block 3 when sliding along the flexible connector 2.

[0044] Understandably, referring to Figure 2 As shown, mass block 3 corresponds to an acceleration state within one drive coil 12, a deceleration state within another drive coil 12, and a constant speed state between the two drive coils 12. This zoned control method divides the entire motion process of mass block 3 into acceleration, constant speed, and deceleration zones. When mass block 3 is in the acceleration zone, the spacecraft closer to the acceleration zone experiences a force opposite to the direction of mass block 3's motion, causing the two spacecraft to move away from each other. When mass block 3 enters the constant speed zone, the forces on the two spacecraft are balanced, and the distance between the spacecraft is maintained. When mass block 3 enters the deceleration zone, the spacecraft closer to the deceleration zone experiences a force opposite to the direction of mass block 3's motion, causing the two spacecraft to move closer to each other. The functions of each stage are more clearly defined, which is conducive to the control system implementing targeted drive strategies according to different stages, thereby improving the controllability and repeatability of the motion process of mass block 3.

[0045] In a first aspect of the present invention, the drive assembly 1 further includes an energy recovery unit for recovering the kinetic energy of the mass block 3 when decelerating and braking it.

[0046] Specifically, an energy recovery unit is incorporated into drive assembly 1, enabling the recovery of some of the kinetic energy possessed by mass block 3 during the deceleration and braking phases, rather than its dissipation as ineffective energy loss. Compared to schemes that rely solely on external power for each acceleration and deceleration control cycle, this design reduces the continuous consumption of additional electrical energy during system operation, thereby lowering the energy burden on the entire spacecraft formation maintenance control system. Since mass block 3 reciprocates on flexible connector 2, its motion is inherently periodic; the energy recovered during deceleration can be further utilized in subsequent acceleration processes, thus achieving energy reuse within the system. This design converts some of the mechanical energy lost during braking into reusable energy, improving the overall energy utilization efficiency of drive assembly 1.

[0047] It is understandable that spacecraft formation maintenance control is typically characterized by long durations and numerous operating cycles. If each cycle relies entirely on external power, the energy pressure on the system during long-term operation would be substantial. This invention recovers the kinetic energy of mass block 3 during deceleration and braking through an energy recovery unit, which helps alleviate the energy supply pressure during long-term on-orbit operation, thereby improving the system's continuous working capability in long-term formation maintenance missions.

[0048] By directly integrating the energy recovery function into the drive component 1, the drive component 1 can not only accelerate and decelerate the mass block 3, but also simultaneously complete energy recovery during the deceleration phase. This enhances the synergy between drive, braking, and energy management, improves the functional integration of the drive component 1, and facilitates the formation of a more complete closed-loop control and energy management mechanism.

[0049] In a first aspect of the present invention, multiple mass blocks 3 are provided, and the multiple mass blocks 3 are spaced apart and sleeved on the flexible connector 2; and / or Multiple flexible connectors 2 are provided, and the multiple flexible connectors 2 are spaced apart between the two control platforms.

[0050] Specifically, when multiple mass blocks 3 are arranged at intervals along the flexible connector 2, the discrete action processes formed by the reciprocating motion of a single mass block 3 can be sequentially accelerated, glided, decelerated, and turned back by controlling the multiple mass blocks 3. This helps to reduce the intermittent fluctuations in force caused by the periodic motion of a single mass block 3, and improves the continuity and stability of the system when maintaining the relative position between two spacecraft. After multiple mass blocks 3 are spaced on the flexible connector 2, the magnitude and rhythm of the system's output force can be multidimensionally adjusted by regulating the number of mass blocks 3 involved in the motion and the launch rhythm or motion state between different mass blocks 3.

[0051] It is understandable that when multiple flexible connectors 2 are set between two control platforms, different flexible connectors 2 can form a parallel connection structure in space. Compared with a single flexible connector 2 scheme, multiple flexible connectors 2 can jointly undertake the functions of connection and force transmission, which is beneficial to improving the connection stability between the two control platforms and improving the overall force balance of the system during long-distance formation maintenance. After multiple flexible connectors 2 are set at intervals between the two control platforms, even if the performance of one flexible connector 2 deteriorates or a local anomaly occurs, the remaining flexible connectors 2 can still maintain the connection and force transmission relationship between the two control platforms to a certain extent.

[0052] In a first aspect of the present invention, a control unit is provided on the control platform. The control unit is electrically connected to the drive assembly 1 and is used to control the drive assembly 1 to accelerate, decelerate, stop and reverse drive the mass block 3.

[0053] Specifically, by setting up control units on the control platform and electrically connecting them to drive assembly 1, the acceleration, deceleration, stopping, and reverse driving processes of mass block 3 by drive assembly 1 can be implemented under unified control. Since the control units can send control commands to drive assembly 1 according to preset control logic, the motion process of mass block 3 can be programmed, enabling mass block 3 to sequentially complete acceleration, gliding, deceleration, stopping, and reverse motion. This helps reduce the need for manual intervention, improves the automation level of system operation, and thus enhances the stability and repeatability of the spacecraft formation maintenance control process.

[0054] In this invention, the mass block 3 needs to decelerate, stop, and reverse drive at both ends of the flexible connector 2. This turnaround process is one of the key links in achieving formation maintenance control of the entire system. By setting up a control unit, the working state of the drive component 1 during the turnaround phase can be uniformly coordinated, which helps to reduce control deviations and inconsistent actions during the turnaround process and improve the stability of the turnaround motion of the mass block 3.

[0055] It is understandable that placing the control unit on the control platform and establishing an electrical connection with the drive component 1 can create a clear correspondence between the control function and the execution function in the system architecture. This facilitates the sending of control commands and the coordinated management of the execution status, improves the system's functional integration, and makes engineering implementation, debugging, and operation and maintenance easier.

[0056] In a first aspect of the present invention, the spacecraft formation maintenance control system further includes a detection component adapted to detect relative position deviation and / or relative velocity deviation between two spacecraft, and the control unit adjusts the sliding speed of the mass block 3, the driving time interval, and / or the number of mass blocks 3 participating in the motion based on the relative position deviation and / or relative velocity deviation.

[0057] Specifically, by setting up a detection component, the relative position deviation and / or relative velocity deviation between two spacecraft can be obtained, thereby accurately reflecting the relative motion state between the spacecraft and providing a basis for subsequent control adjustments. The detection component provides the detected relative position deviation and / or relative velocity deviation to the control unit, which then adjusts the sliding speed of mass block 3, the driving time interval, and / or the number of mass blocks 3 involved in the motion accordingly, thus forming a closed-loop control process to reduce the relative position error between spacecraft and improve the accuracy of formation maintenance control.

[0058] Understandably, during spacecraft formation flight, factors such as orbital perturbations, attitude coupling, and changes in structural parameters can cause deviations in the relative position and velocity between two spacecraft. By acquiring deviation information in real-time or near real-time through detection components and enabling targeted adjustments by the control unit, the system's adaptability to external disturbances and internal parameter changes is enhanced, thereby improving operational stability. Adjustable parameters of the control unit include the sliding speed of mass block 3, the driving time interval, and the number of mass blocks 3 involved in the motion. The system can adjust the formation-maintaining control force from multiple dimensions, including velocity, time, and execution quantity parameters, thereby increasing the flexibility of the control strategy and enabling the system to adopt more suitable adjustment methods for different deviation states.

[0059] It should be noted that when multiple mass blocks 3 are set in the system, the control unit can select the number of mass blocks 3 to participate in the motion based on the deviation information obtained by the detection component. This allows the system to reasonably allocate execution resources while meeting control requirements, improve the utilization efficiency of multiple mass blocks 3 working together, and avoid unnecessary energy consumption or disturbances caused by all mass blocks 3 participating in control at the same time under low demand conditions.

[0060] Secondly, the present invention also provides a spacecraft formation maintenance control method, applied to a spacecraft formation maintenance control system, comprising the following steps: Flexible connectors 2 are set on two control platforms, and at least one mass block 3 is fitted onto the flexible connectors 2. The drive assembly 1 located at one end of the flexible connector 2 is controlled to accelerate the mass block 3 to a preset cruising speed, so that the mass block 3 slides along the flexible connector 2 to the other end of the flexible connector 2. After the mass block 3 reaches the other end of the flexible connector 2, the drive assembly 1 located at the other end of the flexible connector 2 is controlled to decelerate, stop and accelerate in the opposite direction of the mass block 3, so that the mass block 3 slides in the opposite direction along the flexible connector 2. After the mass block 3 returns to one end of the flexible connector 2, the drive component 1 located at one end of the flexible connector 2 is controlled to decelerate, stop and accelerate in the opposite direction of the mass block 3 so that the mass block 3 slides back and forth repeatedly along the flexible connector 2. The return impulse of mass block 3 at both ends of flexible connector 2 generates opposite forces on the two control platforms to maintain the relative position between the two spacecraft.

[0061] Specifically, this method involves setting up a flexible connector 2 between two control platforms and controlling a mass block 3, fitted onto the flexible connector 2, to slide back and forth along the connector 2. The impulse generated when the mass block 3 folds back at both ends of the flexible connector 2 applies opposing forces to the two control platforms, thereby maintaining the relative position of the two spacecraft. Compared to existing methods that rely on chemical or electric propulsion to inject propellant or working fluid to obtain thrust, this method does not require continuous consumption of propellant or working fluid, which helps reduce the dependence of spacecraft formation maintenance missions on onboard resources and improves the continuous operational capability of long-term on-orbit missions.

[0062] The acceleration, gliding, deceleration, stopping, and reverse acceleration of mass block 3 are all controlled by drive component 1. Therefore, the movement speed, drive cycle, and reciprocating frequency of mass block 3 can be adjusted according to mission requirements. As a result, the formation maintenance control force output by the system can be allocated as needed. Compared with the problem of difficulty in balancing minimum pulse quantity and thrust fluctuation in traditional propulsion methods, this method is conducive to achieving more flexible control force adjustment.

[0063] In a second aspect of the present invention, there are multiple mass blocks 3, and the multiple mass blocks 3 are controlled to accelerate, slide, decelerate, stop and reverse accelerate sequentially along the flexible connector 2 at fixed time intervals, so that the multiple mass blocks 3 circulate back and forth on the flexible connector 2.

[0064] Specifically, when only a single mass block 3 is used, the system output force typically exhibits a significant temporal variation with the motion cycle of that single mass block 3. By using multiple mass blocks 3 and controlling their sequential movement at fixed time intervals, the motion processes of adjacent mass blocks 3 are made sequential in time, thus transforming the discrete action process caused by the retraction of a single mass block 3 into a more continuous overall action process. This improves the continuity of the formation's control force output. When multiple mass blocks 3 sequentially accelerate, glide, decelerate, stop, and reverse accelerate, different mass blocks 3 are in different motion stages, thereby dispersing the impulse changes corresponding to the retraction of a single mass block 3 in the time dimension and avoiding force concentration. Compared to the large fluctuations caused by the periodic retraction of a single mass block 3, this improves the stability of the relative position maintenance control process between the two spacecraft.

[0065] Understandably, since multiple mass blocks 3 move sequentially at fixed time intervals, the system can more precisely adjust the overall output force by setting appropriate time intervals, the number of mass blocks 3, and the movement rhythm. This helps reduce the abrupt impact of a single turnaround impulse on the system, making formation maintenance control more refined and uniform, thereby improving the control accuracy of maintaining the relative position between the two spacecraft.

[0066] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A spacecraft formation maintenance control system, characterized in that, include: The control platform is provided at least twice, and the two control platforms are located on two different spacecraft. A flexible connector (2) is connected between the two control platforms; The mass block (3) is slidably sleeved on the flexible connector (2); At least two drive components (1) are disposed opposite to each other on the control platform. One drive component (1) is adapted to provide an acceleration driving force to the mass block (3), and the other drive component (1) is adapted to provide a deceleration braking force to the mass block (3). The drive component (1) controls the mass block (3) to slide on the flexible connector (2) to maintain the relative position between the two spacecraft.

2. The spacecraft formation maintenance control system according to claim 1, characterized in that, The flexible connector (2) is a carbon fiber rope, and its two ends are respectively connected to the two control platforms.

3. The spacecraft formation maintenance control system according to claim 1, characterized in that, The mass block (3) is a magnetic rotating body, and the shape of the mass block (3) is spherical, elliptical or spindle-shaped.

4. The spacecraft formation maintenance control system according to claim 1, characterized in that, The drive assembly (1) includes a drive base (11), a winch (13), and a drive coil (12) disposed on the control platform. The two ends of the flexible connector (2) are respectively connected to the winch components (13) on the two control platforms, and the winch components (13) are adapted to adjust the extension and retraction of the flexible connector (2); The flexible connector (2) passes through the drive base (11) and the drive coil (12). The drive base (11) is adapted to control the operation of the drive coil (12). The mass block (3) has an acceleration state when sliding on the flexible connector (2) in one drive coil (12), a deceleration state when sliding on the flexible connector (2) in another drive coil (12), and a uniform speed state when sliding between the flexible connectors (2) of the two drive coils (12).

5. The spacecraft formation maintenance control system according to claim 4, characterized in that, The drive assembly (1) further includes an energy recovery unit, which is used to recover the kinetic energy of the mass block (3) when the mass block (3) is decelerated and braked.

6. The spacecraft formation maintenance control system according to any one of claims 1-5, characterized in that, The mass blocks (3) are provided in multiple quantities, and the multiple mass blocks (3) are spaced apart and sleeved on the flexible connector (2); and / or Multiple flexible connectors (2) are provided, and the multiple flexible connectors (2) are spaced apart between the two control platforms.

7. The spacecraft formation maintenance control system according to any one of claims 1-5, characterized in that, The control platform is equipped with a control unit, which is electrically connected to the drive component (1) and is used to control the drive component (1) to accelerate, decelerate, stop and reverse drive the mass block (3).

8. The spacecraft formation maintenance control system according to claim 7, characterized in that, It also includes a detection component adapted to detect the relative position deviation and / or relative velocity deviation between the two spacecraft, and the control unit adjusts the sliding speed of the mass block (3), the driving time interval and / or the number of mass blocks (3) participating in the motion according to the relative position deviation and / or relative velocity deviation.

9. A spacecraft formation maintenance and control method, characterized in that, The spacecraft formation maintenance control system according to any one of claims 1 to 8 includes the following steps: Flexible connectors (2) are set on two control platforms, and at least one mass block (3) is fitted onto the flexible connectors (2); The drive assembly (1) located at one end of the flexible connector (2) is controlled to accelerate the mass block (3) to a preset cruising speed, so that the mass block (3) slides along the flexible connector (2) to the other end of the flexible connector (2); After the mass block (3) reaches the other end of the flexible connector (2), the drive assembly (1) located at the other end of the flexible connector (2) is controlled to decelerate, stop and accelerate in the opposite direction of the mass block (3), so that the mass block (3) slides in the opposite direction along the flexible connector (2); After the mass block (3) returns to one end of the flexible connector (2), the drive assembly (1) located at one end of the flexible connector (2) is controlled to decelerate, stop and reverse accelerate the mass block (3) so that the mass block (3) slides back and forth repeatedly along the flexible connector (2); The mass block (3) generates opposing forces on the two control platforms through the return impulse at both ends of the flexible connector (2) to maintain the relative position between the two spacecraft.

10. The spacecraft formation maintenance and control method according to claim 9, characterized in that, There are multiple mass blocks (3). The multiple mass blocks (3) are controlled to accelerate, slide, decelerate, stop and reverse accelerate sequentially along the flexible connector (2) at fixed time intervals, so that the multiple mass blocks (3) move back and forth on the flexible connector (2).

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