CN109878763A - A kind of space Tum bling Target quality and inertia parameter discrimination method based on non-contact electromagnetic power - Google Patents
A kind of space Tum bling Target quality and inertia parameter discrimination method based on non-contact electromagnetic power Download PDFInfo
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Abstract
There are problems that risk of collision and visual recognition can not obtain inertia absolute value the identification of existing contact, the present invention provides a kind of space Tum bling Target quality and inertia parameter discrimination method based on non-contact electromagnetic power, belongs to noncooperative target parameter identification field.The present invention includes: to be interacted using revolving-field type magnetic field sources and passive space vehicle, and vertical electromagnetic force F is generated on passive space vehicle surfacee, which is repulsive force, while generating electromagnetic torque T identical with the direction of rotation of magnetic field sourcese；According to the attitude dynamic equations of pursuit spacecraft under inertial system and passive space vehicle relative track movement kinetics equation and passive space vehicle, quality of the Tum bling Target spacecraft under electromagnetic force and electromagnetic torque effect, inertia parameter identification equation are established；According to identification equation and passive space vehicle in Fe、TeAngular speed, angular acceleration, velocity and acceleration under effect, find out the quality and inertia parameter of passive space vehicle.
Description
Technical field
The present invention relates to a kind of non-collaborative space Tum bling Target quality and inertia parameter discrimination method, in particular to a kind of bases
In the space Tum bling Target quality and inertia parameter discrimination method of non-contact electromagnetic power, belong to noncooperative target parameter identification neck
Domain.
Background technique
Space junk quicklys increase, a large amount of inert satellites and rocket propulsion present on track, to outer space
Safety and development constitute grave danger.In order to effectively control the quantity of space junk, it has been proposed that various space junks
Actively remove and slow down technology.It is had been obtained in such a way that rope, net or mechanical arm arrest and remove space junk extensive
Research.
The matter of utmost importance removed to space junk is to obtain the various information of target, including motion information, quality are believed
Breath, inertia information etc., these information are the bases of operation of being controlled target or left the right or normal track after arresting.Existing discrimination method is big
It requires first to grab target, certain excitation then is applied to target in contact method with mechanical arm tail end, according to manipulator end
Holding force feedback and accelerator feedback to calculate target inertia information, (Chu Zhongyi etc., the space non-cooperative target based on touch perception are used
Measure parameter identification method research, Shanghai space flight, 2017,34 (2), 30-46).But for noncooperative target, this identification mode
There are certain risks.
It is well known that space junk usually floats several years or many decades in orbit, it is thus possible to due to orbit perturbation
Appearance rotates or tumbling motion.Crawl is carried out to this kind of target and has existed certain risk, if target is in high speed tumbling state,
The method recognized again after crawl is just difficult to carry out.Masschusetts, U.S.A science and engineering participate in Sphere project (T.P.Setterfield,
D.W.Miller,A.Saenz-Otero,E.Frazzoli,J.J.Leonard,Inertial Properties
Estimation of a Passive On-orbit Object Using Polhode Analysis,J.Guid.Control
Dynam. (2018) 1-18.) it proposes and recognizes target inertia information with the method for vision, this method belongs to non-contact identification, by
In the motion change in visual recognition principle being observed object, any active force cannot be applied in target, observational equation is not
Full rank, therefore be only capable of obtaining the ratio of inertias information of target, and it is unable to get absolute inertia value.
It, can be complete since the quality and inertia information parameter of noncooperative target are the subsequent bases arrested and controlled
At identification concerning subsequent clear operation, existing crawl Tum bling Target is there are risk of collision, visible sensation method identification information and not
Completely.
Summary of the invention
Acquisition ratio of inertias is only capable of there are risk of collision and visual recognition for the identification of existing contact and can not obtain inertia
The problem of absolute value, the present invention provide a kind of space Tum bling Target quality based on non-contact electromagnetic power and inertia parameter identification side
Method.
Space Tum bling Target quality and inertia parameter discrimination method based on non-contact electromagnetic power of the invention, including it is following
Step:
S1, it is interacted using revolving-field type magnetic field sources and passive space vehicle, and is generated on passive space vehicle surface
Perpendicular to the electromagnetic force F on passive space vehicle surfacee, which is repulsive force, while being generated identical as the direction of rotation of magnetic field sources
Electromagnetic torque Te；
S2, according to pursuit spacecraft under inertial system and passive space vehicle relative track movement kinetics equation and target space flight
The attitude dynamic equations of device, establish Tum bling Target spacecraft electromagnetic force and electromagnetic torque effect under quality, inertia parameter
Recognize equation；
S3, according to identification equation and passive space vehicle in electromagnetic force Fe, electromagnetic torque TeAngular speed, angle under effect add
Speed, velocity and acceleration find out the quality m of passive space vehicletWith inertia parameter Iy。
Preferably,
The identification equation are as follows:
Wherein, A1=Fe, θ1=1/mt,
X indicate in the LVLH coordinate system of pursuit spacecraft passive space vehicle the direction x displacement,Indicate the single order of x
Derivative, y indicate in the LVLH coordinate system of pursuit spacecraft passive space vehicle the direction y displacement,Indicate that the second order of y is led
Number, μ indicate the gravitational constant of the earth, and n indicates mean orbit angular speed,Indicate the first derivative of n, r indicates pursuit spacecraft rail
Road radius, FcIndicate the control force from pursuit spacecraft,Indicate the angular acceleration of passive space vehicle.
Beneficial effects of the present invention, present invention effectively prevents contactless rolling noncooperative target quality, inertia to join
Risk of collision in number identification.The present invention is using electromagnetic force, electromagnetic torque as excitation, according to tracking spacecraft and passive space vehicle
Relative attitude and dynamics of orbits model and passive space vehicle under electromagnetic force and electromagnetic torque effect is by non-contact
Angular velocity omega after electromagnetic force, electromagnetic torque, angular accelerationSpeedAccelerationThe information reverse of change goes out mesh
Mark the quality of spacecraftInertia parameterWith vision side
Formula is compared, solution matrix full rank, can obtain the exact value of target inertia information, rather than ratio of inertias.
Detailed description of the invention
Fig. 1 is that the present invention uses revolving-field type magnetic field sources 1 to generate vortex power schematic diagram in target, and β indicates that β is indicated
Solve the integration variable of electromagnetic force and electromagnetic torque, rmIndicate the mean radius of revolving-field type magnetic field sources, dFnIndicate rotary magnetic
The electromagnetic force infinitesimal that field formula magnetic field sources angle is inducted by section at β；
Relative position, dynamics of orbits model schematic when Fig. 2 is the present invention targeted inertia parameter identification；
Fig. 3 is that quality of the present invention and inertia parameter identification result emulate schematic diagram；
Fig. 1 is into Fig. 3, and 1 indicates revolving-field type magnetic field sources, and 2 representation space Distribution of Magnetic Field, 3 indicate passive space vehicle table
Face conductor plate, 4 indicate passive space vehicle, and 5 indicate pursuit spacecraft.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
A kind of space Tum bling Target quality and inertia parameter discrimination method based on non-contact electromagnetic power of present embodiment,
The following steps are included:
S1: it is interacted using revolving-field type magnetic field sources 1 and passive space vehicle, when magnetic field sources are with ωsSpeed rotation
When, the electromagnetic force F perpendicular to passive space vehicle surface can be generated on passive space vehicle surfacee, which is repulsive force, simultaneously
Generate electromagnetic torque T identical with the direction of rotation of magnetic field sourcese, as shown in Figure 1；
S2: establish Tum bling Target spacecraft electromagnetic force and electromagnetic torque effect under quality, inertia parameter identification equation:
Assuming that having ignored perturbed force.The electromagnetic force and control force that pursuit spacecraft and passive space vehicle are subject under inertial system
When effect, as shown in Fig. 2, its motion dynamics equations may be expressed as: respectively
Wherein μ indicates the gravitational constant of the earth, rcAnd rtRefer respectively to earth centered inertial coordinate system (OI) in tracking boat
The position vector of the mass center of its device and passive space vehicle, mcAnd mtRespectively indicate the quality of pursuit spacecraft and passive space vehicle.
Oc- xy refers to partial vertical local horizontal coordinate system (the Local Vertical and Local being connected with pursuit spacecraft
Horizontal,LVLH).When whole system moves in orbit plane, rotating excitation field will be generated perpendicular to passive space vehicle
The electromagnetic force F on surfacee, which is repulsive force, while generating electromagnetic torque T identical with the direction of rotation of magnetic field sourcese。FcIt is
Control force from pursuit spacecraft.Passive space vehicle is represented by ρ under inertial system with respect to the position vector ρ of pursuit spacecraft
=rt-rc, combined by formula (1) and (2) available:
When formula (3) is expressed as component form in the LVLH coordinate system of pursuit spacecraft, the opposite rail of two spacecrafts
Road kinematics can be expressed as
Wherein n is mean orbit angular speedA indicates semi-major axis.Indicate the first derivative of n；X expression is chasing after
In the LVLH coordinate system of track spacecraft passive space vehicle the direction x displacement,Indicate the first derivative of x, y indicates to navigate in tracking
In the LVLH coordinate system of its device passive space vehicle the direction y displacement,Indicate the second dervative of y, r indicates pursuit spacecraft rail
Road radius；
As the control force F of pursuit spacecraftcEqual to electromagnetic force FeWhen, second equation in formula (4) can be transformed into
Lower form
A1θ1=b1 (5)
Wherein
The attitude dynamics of passive space vehicle can be expressed as Eulerian equation
Wherein passive space vehicle rotary inertia I=diag [Ix,Iy,Iz]。ωx,ωy,ωzPassive space vehicle is respectively indicated to exist
Angular velocity component in earth centered inertial coordinate system on three directions of x, y, z.Tx、Ty、TzPassive space vehicle is respectively indicated on ground
The external force being subject on three directions of x, y, z in ball center's inertial coodinate system.
Formula (7) can be expressed as following form
A2θ2=b2 (8)
Wherein,
θ2=[Ix Iy Iz]T, b2=[Tx Ty Tz]T (9)
For the movement in orbit plane, the electromagnetic torque acted on passive space vehicle can be expressed as [0 Te 0]T,
The inertia parameter to be identified of control system demand be passive space vehicle in earth centered inertial coordinate system y to inertia Iy,
At this time equation (8) can simplify for
Step 3: according to identification equation (5), (10) and passive space vehicle in electromagnetic force Fe, electromagnetic torque TeUnder effect
Angular velocity omega, angular accelerationSpeedAccelerationThe information reverse of change goes out the quality of passive space vehicleInertia parameter
Specific embodiment
It is 0.04m, radius 0.8m with width, with a thickness of 0.04m, number of pole-pairs 2, remanent magnetism is the Halbach formula of 1.42T
It combines permanent magnet and constitutes revolving-field type magnetic field sources 1, for passive space vehicle surface aluminium sheet 0.6mm thickness, initial air gap is 0.1m
In the case of, 1 revolving speed of revolving-field type magnetic field sources is 200Rpm, and pursuit spacecraft is with passive space vehicle preliminary orbit height
700km, orbit inclination angle are 90 °, and quality is 1000kg, and pursuit spacecraft is 600kgm along y-axis inertia2, passive space vehicle
It is 550kgm along y-axis inertia2, the initial relative velocity of the two, relative acceleration are 0.Emulate obtained passive space vehicle matter
It measures and inertia parameter identification result is as shown in Figure 3 along the y-axis direction.Matter is carried out to passive space vehicle using electromagnetic force and electromagnetic torque
Gap meets required precision less than 1% between amount and inertia parameter identification result and true value.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims
And range.It should be understood that different appurtenances can be combined by being different from mode described in original claim
Benefit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used
In other described embodiments.
Claims (4)
1. a kind of space Tum bling Target quality and inertia parameter discrimination method based on non-contact electromagnetic power, it is characterised in that including
Following steps:
S1, it is interacted using revolving-field type magnetic field sources and passive space vehicle, and is generated vertically on passive space vehicle surface
Electromagnetic force F in passive space vehicle surfacee, which is repulsive force, while generating electricity identical with the direction of rotation of magnetic field sources
Magnetic torque Te；
S2, according to pursuit spacecraft under inertial system and passive space vehicle relative track movement kinetics equation and passive space vehicle
Attitude dynamic equations, establish Tum bling Target spacecraft electromagnetic force and electromagnetic torque effect under quality, inertia parameter identification
Equation；
S3, according to identification equation and passive space vehicle in electromagnetic force Fe, electromagnetic torque TeEffect under angular speed, angular acceleration,
Velocity and acceleration finds out the quality m of passive space vehicletWith inertia parameter Iy。
2. the space Tum bling Target quality and inertia parameter identification side according to claim 1 based on non-contact electromagnetic power
Method, which is characterized in that in the S2, the motion dynamics equations of pursuit spacecraft and passive space vehicle under inertial system:
When the electromagnetic force and control force that pursuit spacecraft and passive space vehicle are subject under inertial system act on, motion dynamics equations
Are as follows:
μ indicates the gravitational constant of the earth, rcAnd rtRespectively indicate pursuit spacecraft and target space flight in earth centered inertial coordinate system
The position vector of the mass center of device, mcAnd mtRespectively indicate the quality of pursuit spacecraft and passive space vehicle；FcIt indicates from tracking boat
The control force of its device,Indicate rtSecond dervative,Indicate rcSecond dervative；
Passive space vehicle is represented by ρ=r under inertial system with respect to the position vector ρ of pursuit spacecraftt-rc, by formula one and public affairs
The joint of formula two is available:
When formula three is expressed as component form in the LVLH coordinate system of pursuit spacecraft, pursuit spacecraft and passive space vehicle
Relative track movement dynamics indicate are as follows:
Wherein, n is mean orbit angular speed,A indicates semi-major axis,Indicate the first derivative of n；X expression is being tracked
In the LVLH coordinate system of spacecraft passive space vehicle the direction x displacement,Indicate the first derivative of x, y is indicated in tracking space flight
In the LVLH coordinate system of device passive space vehicle the direction y displacement,Indicate the second dervative of y, r indicates pursuit spacecraft track
Radius；
Second equation in formula four can be transformed into following form:
A1θ1=b1Formula five
Wherein, A1=Fe, θ1=1/mt,
3. the space Tum bling Target quality and inertia parameter identification according to claim 1 or 2 based on non-contact electromagnetic power
Method, which is characterized in that in the S2, the attitude dynamic equations of the passive space vehicle are as follows:
Wherein, target rotational inertia I=diag [Ix,Iy,Iz], ωx,ωy,ωzPassive space vehicle is respectively indicated in earth center
Angular velocity component in inertial coodinate system on three directions of x, y, z, Tx、Ty、TzIt is used in earth center to respectively indicate passive space vehicle
The external force being subject on three directions of x, y, z in property coordinate system；
Formula six is indicated are as follows:
A2θ2=b2Formula seven
Wherein,θ2=
[Ix Iy Iz]T, b2=[Tx Ty Tz]T；Indicate that the angular acceleration matrix of passive space vehicle, ω indicate the angle of passive space vehicle
Rate matrices；
For the movement in orbit plane, the electromagnetic torque acted on passive space vehicle is expressed as [0 Te 0]T, target space flight
The inertia parameter of device be passive space vehicle in earth centered inertial coordinate system y to inertia Iy, formula seven simplifies at this time are as follows:
Wherein,Indicate the angular acceleration of passive space vehicle.
4. the space Tum bling Target quality and inertia parameter identification side according to claim 1 based on non-contact electromagnetic power
Method, which is characterized in that the identification equation are as follows:
Wherein, A1=Fe, θ1=1/mt
X indicate in the LVLH coordinate system of pursuit spacecraft passive space vehicle the direction x displacement,Indicate the first derivative of x, y
Indicate in the LVLH coordinate system of pursuit spacecraft passive space vehicle the direction y displacement,Indicate the second dervative of y, μ is indicated
The gravitational constant of the earth, n indicate mean orbit angular speed,Indicating the first derivative of n, r indicates pursuit spacecraft orbit radius,
FcIndicate the control force from pursuit spacecraft,Indicate the angular acceleration of passive space vehicle.
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