CN113734469A - Method and system for distributing thrust for maintaining position of electric thruster - Google Patents

Method and system for distributing thrust for maintaining position of electric thruster Download PDF

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CN113734469A
CN113734469A CN202111006812.3A CN202111006812A CN113734469A CN 113734469 A CN113734469 A CN 113734469A CN 202111006812 A CN202111006812 A CN 202111006812A CN 113734469 A CN113734469 A CN 113734469A
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electric thruster
thruster
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thrust
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CN113734469B (en
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马雪
郭廷荣
韩冬
林波
耿洁
黎飞
王建花
周中泽
文闻
孙静
李巍
刘蕊
王玉峰
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Beijing Institute of Control Engineering
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/242—Orbits and trajectories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B64G1/245—Attitude control algorithms for spacecraft attitude control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
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Abstract

The invention discloses a method and a system for distributing thrust of position maintenance of an electric thruster, wherein the method comprises the following steps: determining normal pointing gears of the two electric thrusters according to the position holding drift rate control quantity; respectively calculating to obtain a target thrust direction [ X ] of the first electric thruster according to the determined normal pointing gears of the two electric thrustersn,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ ts(ii) a Calculating to obtain the rotating speed omega of the first theoretical vector adjusting mechanismnAnd a second theoretical vector adjusting mechanism rotating speed omegas(ii) a Will [ X ]n,Yn,Zn]And Δ tnIs distributed to the first electric thruster to drive [ Xs,Ys,Zs]And Δ tsIs distributed to the second electric thruster to drive omeganIs assigned to a first vector adjustment mechanismωsIs assigned to the second vector adjustment mechanism. The method adopts a complete analysis method to calculate the starting time length and the speed increment of the electric thruster, fully considers the practical engineering constraint and can meet the position maintenance task requirement of the geostationary orbit satellite.

Description

Method and system for distributing thrust for maintaining position of electric thruster
Technical Field
The invention belongs to the technical field of satellite attitude and orbit control, and particularly relates to a method and a system for distributing position keeping thrust of an electric thruster.
Background
At present, the electric propulsion satellite in orbit at home and abroad can be used for carrying out east-west and north-south combined position keeping control by using four electric thrusters or can be used for carrying out north-south position keeping control by using two electric thrusters, and if the above propulsion mode is directly applied to the simply-configured electric propulsion satellite with the layout of two mechanical arms and two thrusters, the following defects are achieved: the thruster is started more times, and the service life of the thruster and the actual constraint of a fuel consumption mechanical arm type vector adjusting mechanism are possible.
Therefore, a position maintaining thrust distribution method considering the starting times and the limitation of a vector adjusting mechanism for the electric propulsion satellite with a simple configuration needs to be designed, so that the service life of the electric propulsion satellite with the stationary orbit is prolonged, and the reliability is improved.
Disclosure of Invention
The technical problem of the invention is solved: the method and the system for distributing the position keeping thrust of the electric thruster overcome the defects of the prior art, calculate the starting time and the speed increment of the electric thruster by adopting a complete analysis method, fully consider the practical engineering constraints and meet the position keeping task requirement of a stationary orbit satellite.
In order to solve the technical problem, the invention discloses a thrust distribution method for maintaining the position of an electric thruster, which comprises the following steps:
determining normal pointing gears of the two electric thrusters according to the position holding drift rate control quantity;
respectively calculating to obtain a target thrust direction [ X ] of the first electric thruster according to the determined normal pointing gears of the two electric thrustersn,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ ts；
According to [ X ]n,Yn,Zn]And [ X ]s,Ys,Zs]And calculating to obtain the rotating speed omega of the first theoretical vector adjusting mechanismnAnd a second theoretical vector adjusting mechanism rotating speed omegas；
Will calculate the obtained [ Xn,Yn,Zn]And Δ tnDistributing the calculated [ X ] to the first electric thrusters,Ys,Zs]And Δ tsDistributing the calculated omega to a second electric thrusternAssigning the calculated ω to the first vector adjustment mechanismsIs assigned to the second vector adjustment mechanism.
In the above method for distributing position-maintaining thrust of an electric thruster, determining normal directional shift positions of two electric thrusters according to a position-maintaining drift rate control amount includes:
determining a unit vector [ X, Y, Z ] of a thrust direction under a track coordinate system; the origin of the orbit coordinate system is the center of mass of the satellite, the X axis points to the advancing direction of the satellite, the Z axis points to the ground, and the Y axis, the X axis and the Z axis meet the right-hand rule;
calculating to obtain the adjusting range C of the vector adjusting mechanismy＝Y/Z；
For the regulation range CyN are equally divided to obtain n normal direction gears C which are arranged from small to largeys：Cys＝Cy1、Cy2、…、Cyn(ii) a Wherein each normal direction is towards gear Cy1、Cy2、…、CynThe corresponding allowable ranges of the drift rate are as follows: [ Delta DL1,ΔDH1]、[ΔDL2,ΔDH2]、…、[ΔDLn,ΔDHn]；
Acquiring a position holding drift rate control quantity delta D;
if Δ D ∈ [ Δ DL ]1,ΔDH1]Then, the normal direction gear of the two electric thrusters is determined to be Cys＝Cy1；
If Δ D ∈ [ Δ DL ]2,ΔDH2]Then, the normal direction gear of the two electric thrusters is determined to be Cys＝Cy2；
And so on;
if Δ D ∈ [ Δ DL ]n,ΔDHn]Then, the normal direction gear of the two electric thrusters is determined to be Cys＝Cyn。
In the method for distributing the position maintaining thrust of the electric thrusters, the target thrust direction [ X ] of the first electric thruster is respectively calculated according to the determined normal directional gears of the two electric thrustersn,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ tsThe method comprises the following steps:
acquiring eccentricity control vectors delta e in the x direction and the y direction under a track coordinate systemxAnd Δ eyAnd tilt control vectors Δ i in the x-and y-directionsxAnd Δ iy；
According to Δ ex、Δey、ΔixAnd Δ iyCalculating to obtain the first electric pushVelocity delta VN in the direction of force multiplier xxAnd a speed increment VS in the x-direction of the second electric thrusterxAnd the radial distribution identification flagV of the two electric thrusterszAnd the radial distribution difference Vz0；
According to flagVzAnd Vz0And calculating to obtain a speed increment VN of the first electric thruster in the y directionyAnd velocity increment VN in the z-directionzAnd a speed increment VS in the y-direction of the second electric thrusteryAnd z-direction velocity increment VSz；
According to VNy、VNz、VSyAnd VSzAnd calculating to obtain a target thrust direction [ X ] of the first electric thrustern,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ ts。
In the above-described electric thruster position maintaining thrust force distributing method, VNxAnd VSxThe calculation flow of (2) is as follows:
according to the nominal orbital velocity V of the geostationary orbitsAnd the earth static orbit nominal orbit angular velocity omegaeAnd calculating to obtain a constant A, a constant B and an intermediate parameter aa:
Figure BDA0003237515310000031
Figure BDA0003237515310000032
Figure BDA0003237515310000033
then there are:
speed increment VN of first electric thruster in x directionxComprises the following steps:
Figure BDA0003237515310000034
speed increment VS of second electric thruster in x directionxComprises the following steps:
Figure BDA0003237515310000035
in the above-described electric thruster position holding thrust force distribution method, the flagVzAnd Vz0The calculation flow of (2) is as follows:
calculating to obtain an intermediate variable dVztemp：
Figure BDA0003237515310000036
According to dVztempDetermining flagVz：
If dVztempIf the value is less than or equal to 0, flagVz＝1
If dVztempIf > 0, flagVz＝-1
Calculating to obtain a radial distribution difference value Vz0：
Figure BDA0003237515310000041
Wherein, dVzIndicating the difference, dV, between the radial control quantities of the two electric thrustersz＝abs(dVztemp)，Vy0And the normal control quantity of the unilateral electric thruster is shown.
In the above-described electric thruster position maintaining thrust force distributing method, VNy、VNz、VSyAnd VSzThe calculation flow of (2) is as follows:
calculating to obtain an intermediate variable Vytemp：
Figure BDA0003237515310000042
When flagV is presentzWhen 1, there are:
VNy＝Vytemp
VNz＝Vz0+dVz
VSy＝Vy0-Vytemp
VSz＝Vz0
when flagV is presentzWhen-1, there is:
VNy＝Vy0-Vytemp
VNz＝Vz0
VSy＝Vytemp
VSz＝Vz0+dVz。
in the above-described electric thruster position holding thrust force distribution method, [ X [ X ] ]n,Yn,Zn]、Δtn、[Xs,Ys,Zs]And Δ tsThe calculation flow of (2) is as follows:
according to VNx、VNyAnd VNzCalculating to obtain [ X ]n,Yn,Zn]And Δ tn：
Figure BDA0003237515310000055
Figure BDA0003237515310000051
According to VSx、VSyAnd VSzCalculating to obtain [ X ]s,Ys,Zs]And Δ ts：
Figure BDA0003237515310000052
Figure BDA0003237515310000053
WhereinF represents the magnitude of the thrust of the electric thruster, VeRepresenting the electrical thruster specific impulse, mass representing the satellite mass.
In the above-described electric thruster position holding thrust force distribution method, the thrust force is distributed in accordance with [ X ]n,Yn,Zn]And [ X ]s,Ys,Zs]And calculating to obtain the rotating speed omega of the first theoretical vector adjusting mechanismnAnd a second theoretical vector adjusting mechanism rotating speed omegasThe method comprises the following steps:
determining a current heading [ X ] of a first electric thrustern0,Yn0,Zn0]And calculating to obtain [ X ]n,Yn,Zn]And [ X ]n0,Yn0,Zn0]Angle theta therebetweenn；
Determining a current heading [ X ] of a second electric thrusters0,Ys0,Zs0]And calculating to obtain [ X ]s,Ys,Zs]And [ X ]s0,Ys0,Zs0]Angle theta therebetweens；
Obtaining the rotating speed omega of the maximum theoretical vector adjusting mechanismmax；
When theta isn≥θsIn time, there are:
ωn＝ωmax
Figure BDA0003237515310000054
when theta isn＜θsIn time, there are:
Figure BDA0003237515310000061
ωs＝ωmax。
in the method for distributing the thrust for maintaining the position of the electric thruster, a first vector adjusting mechanism is arranged on the south side of a satellite and connected with the first electric thruster for realizing the adjustment of the thrust direction in the x direction, the y direction and the z direction; the second vector adjusting mechanism is arranged on the north side of the satellite and connected with the second electric thruster, and is used for adjusting thrust direction in the x direction, the y direction and the z direction.
Correspondingly, the invention also discloses a position maintaining thrust distribution system of the electric thruster, which comprises:
the gear determining module is used for determining normal pointing gears of the two electric thrusters according to the position holding drift rate control quantity;
a first calculation module, configured to calculate, according to the determined normal pointing gears of the two electric thrusters, a target thrust direction [ X ] of the first electric thrustern,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ ts；
A second calculation module for calculating according to [ Xn,Yn,Zn]And [ X ]s,Ys,Zs]And calculating to obtain the rotating speed omega of the first theoretical vector adjusting mechanismnAnd a second theoretical vector adjusting mechanism rotating speed omegas；
An allocation module for allocating the calculated [ Xn,Yn,Zn]And Δ tnDistributing the calculated [ X ] to the first electric thrusters,Ys,Zs]And Δ tsDistributing the calculated omega to a second electric thrusternAssigning the calculated ω to the first vector adjustment mechanismsIs assigned to the second vector adjustment mechanism.
The invention has the following advantages:
(1) the invention discloses a thrust distribution scheme for maintaining the position of an electric thruster, wherein each position protection control cycle of a south electric thruster and a north electric thruster is respectively started once, the starting time is short, and the service life of the electric thruster is prolonged.
(2) The invention discloses a thrust allocation scheme for maintaining the position of an electric thruster, which has less calculation amount and reduces the on-satellite calculation resource requirement.
(3) The invention discloses a thrust distribution scheme for maintaining the position of an electric thruster, which considers the moving range and the rotating speed bearing capacity of a vector adjusting mechanism and is safer and more reliable.
Drawings
FIG. 1 is a flow chart illustrating the steps of a method for distributing position maintaining thrust of an electric thruster in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a layout of an electric propulsion satellite thruster according to an embodiment of the present invention;
FIG. 3 is a graph of a simulation example-geographical latitude and longitude curves in an embodiment of the present invention;
fig. 4 is a block diagram of a position maintaining thrust force distribution system of an electric thruster in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The invention discloses a method for distributing position keeping thrust of an electric thruster, which is a simply configured method for distributing position keeping thrust of an electric propulsion satellite. Firstly, selecting a proper normal direction of the electric thruster according to the requirement of the position keeping drift rate control quantity; then, acquiring three-dimensional directions and starting-up time lengths of the two electric thrusters corresponding to the determined normal directions; and finally, distributing the theoretical rotating speeds of the two vector adjusting mechanisms according to the thrust distribution mode of the two electric thrusters. The invention adopts a complete analysis mode, solves the problem of the position maintaining control distribution of the electric thruster under the layout of the double mechanical arms and the electric thruster, reduces the fuel consumption and reduces the influence of the motion of the vector adjusting mechanism on the satellite.
As shown in fig. 1, in the present embodiment, the method for distributing position maintaining thrust of an electric thruster includes:
and step 101, determining normal pointing gears of the two electric thrusters according to the position holding drift rate control quantity.
In the present embodiment, the electric thruster position maintaining thrust force distribution method can be applied to, but is not limited to, a simple configuration of an electric propulsion satellite. As shown in fig. 2, the layout of the simple configuration electric propulsion satellite is as follows: two electric thrusters and two vector adjusting mechanisms. The first vector adjusting mechanism is arranged on the south side of the satellite, is connected with a first electric thruster and is used for realizing adjustment of thrust direction in the x direction, the y direction and the z direction; the second vector adjusting mechanism is arranged on the north side of the satellite and connected with the second electric thruster, and is used for adjusting thrust direction in the x direction, the y direction and the z direction. Namely, the first vector adjusting mechanism and the second vector adjusting mechanism are respectively and obliquely arranged on the north and south sides of the satellite back floor and are respectively used for realizing the adjustment of the three-dimensional direction of the first electric thruster and the second electric thruster. The method for distributing the position maintaining thrust of the electric thruster can be executed in one orbit control period, and ignition is successively carried out in the one position maintaining control period, so that the satellite can jointly adjust six orbits.
Preferably, a position hold drift rate control quantity, denoted as Δ D, may be determined. Wherein:
if Δ D ∈ [ Δ DL ]1,ΔDH1]Then, the normal direction gear of the two electric thrusters is determined to be Cys＝Cy1；
If Δ D ∈ [ Δ DL ]2,ΔDH2]Then, the normal direction gear of the two electric thrusters is determined to be Cys＝Cy2；
And so on;
if Δ D ∈ [ Δ DL ]n,ΔDHn]Then, the normal direction gear of the two electric thrusters is determined to be Cys＝Cyn。
Further, the allowable range of the drift rate corresponding to each normal directional gear is determined as follows: determining unit vectors [ X, Y, Z ] of thrust directions under a orbital coordinate system](ii) a Calculating to obtain the adjusting range C of the vector adjusting mechanismyY/Z; for the regulation range CyN are equally divided to obtain n normal direction gears C which are arranged from small to largeys：Cys＝Cy1、Cy2、…、Cyn(ii) a Each normal direction gear Cy1、Cy2、…、CynThe corresponding allowable ranges of the drift rate are as follows: [ Delta DL1,ΔDH1]、[ΔDL2,ΔDH2]、…、[ΔDLn,ΔDHn]. Wherein, the railThe origin of the orbit coordinate system is the center of mass of the satellite, the X axis points to the advancing direction of the satellite, the Z axis points to the ground, and the Y axis, the X axis and the Z axis meet the right-hand rule.
102, respectively calculating to obtain a target thrust direction [ X ] of the first electric thruster according to the determined normal pointing gears of the two electric thrustersn,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ ts。
In this embodiment, the step 102 may specifically include the following sub-steps:
substep 1021, obtaining eccentricity control vector delta e in x direction and y direction of track coordinate systemxAnd Δ eyAnd tilt control vectors Δ i in the x-and y-directionsxAnd Δ iy。
Substep 1022, based on Δ ex、Δey、ΔixAnd Δ iyAnd calculating to obtain a speed increment VN of the first electric thruster in the x directionxAnd a speed increment VS in the x-direction of the second electric thrusterxAnd the radial distribution identification flagV of the two electric thrusterszAnd the radial distribution difference Vz0。
In the present exemplary embodiment, the speed increment VN in the x direction of the first electric thrusterxAnd a speed increment VS in the x-direction of the second electric thrusterxThe solving formulas of (1) are respectively as follows:
Figure BDA0003237515310000091
Figure BDA0003237515310000092
preferably, the nominal orbital velocity V can be determined according to the earth's stationary orbitsAnd the earth static orbit nominal orbit angular velocity omegaeAnd calculating to obtain a constant A, a constant B and an intermediate parameter aa:
Figure BDA0003237515310000093
Figure BDA0003237515310000094
further, the flag V is allocated radiallyzAnd the radial distribution difference Vz0The solution flow of (a) may be as follows:
first, an intermediate variable dV is calculatedztemp：
Figure BDA0003237515310000095
Then, according to the intermediate variable dVztempDetermining flagVz：
If dVztempIf the value is less than or equal to 0, flagVz＝1
If dVztempIf > 0, flagVz＝-1
Finally, calculating to obtain a radial distribution difference value Vz0：
Figure BDA0003237515310000096
Wherein, dVzIndicating the difference, dV, between the radial control quantities of the two electric thrustersz＝abs(dVztemp)，Vy0And the normal control quantity of the unilateral electric thruster is shown.
Substep 1023, based on flagVzAnd Vz0And calculating to obtain a speed increment VN of the first electric thruster in the y directionyAnd velocity increment VN in the z-directionzAnd a speed increment VS in the y-direction of the second electric thrusteryAnd z-direction velocity increment VSz。
In this embodiment, when flagVzWhen 1, there are: VNy＝Vytemp、VNz＝Vz0+dVz、VSy＝Vy0-Vytemp、VSz＝Vz0(ii) a When flagV is presentzWhen-1, there is: VNy＝Vy0-Vytemp、VNz＝Vz0、VSy＝Vytemp、VSz＝Vz0+dVz。
Preferably, for the intermediate variable VytempThe method comprises the following steps:
Figure BDA0003237515310000101
substep 1024, based on VNy、VNz、VSyAnd VSzAnd calculating to obtain a target thrust direction [ X ] of the first electric thrustern,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ ts。
In this embodiment, VN may be first determinedx、VNyAnd VNzCalculating to obtain [ X ]n,Yn,Zn]And Δ tn：
Figure BDA0003237515310000102
Figure BDA0003237515310000103
Then according to VSx、VSyAnd VSzCalculating to obtain [ X ]s,Ys,Zs]And Δ ts：
Figure BDA0003237515310000104
Figure BDA0003237515310000105
Wherein F represents the thrust magnitude of the electric thruster, VeThe specific impulse of the electric thruster is shown,mass represents satellite quality.
Step 103, according to [ X ]n,Yn,Zn]And [ X ]s,Ys,Zs]And calculating to obtain the rotating speed omega of the first theoretical vector adjusting mechanismnAnd a second theoretical vector adjusting mechanism rotating speed omegas。
In this embodiment, the current orientation [ X ] of the first electric thruster may be determined firstn0,Yn0,Zn0]And current orientation [ X ] of second electric thrusters0,Ys0,Zs0](ii) a And calculating to obtain [ Xn,Yn,Zn]And [ X ]n0,Yn0,Zn0]Angle theta therebetweenn，[Xs,Ys,Zs]And [ X ]s0,Ys0,Zs0]Angle theta therebetweens。
Then, the maximum theoretical vector adjusting mechanism rotating speed is obtained and recorded as omegamax。
When theta isn≥θsIn time, there are:
ωn＝ωmax
Figure BDA0003237515310000111
when theta isn＜θsIn time, there are:
Figure BDA0003237515310000112
ωs＝ωmax
step 104, calculating the obtained [ X ]n,Yn,Zn]And Δ tnDistributing the calculated [ X ] to the first electric thrusters,Ys,Zs]And Δ tsDistributing the calculated omega to a second electric thrusternAssigning the calculated ω to the first vector adjustment mechanismsIs assigned to the second vector adjustment mechanism.
In conclusion, the method adopts a complete analysis method to calculate the starting time length and the speed increment of the electric thruster, fully considers the actual engineering constraint and can meet the requirement of the position maintenance task of the geostationary orbit satellite.
On the basis of the above embodiments, the following description will be made in conjunction with several specific examples.
For example, the thrust of a single electric thruster is 100mN, the mass of a satellite is 1380kg, and the fixed point longitude is 114E of east longitude; the position of the satellite keeps the control cycle to be 1 day; Δ D ═ 0.0043 °/day, Δ ex＝0，Δey＝-2.29e-5/day，Δix＝0，Δiy＝-0.0029°/day；Cy0.7. Then, a suitable normal pointing gear C can be selectedys＝[1.7,1.0,0.7]The corresponding allowable ranges of the drift rate are as follows: [ -0.001,0.001]、[-0.003,0.003]、[-0.010,0.010]。
Based on the above known quantities in combination with the above steps, one can calculate: VNz＝-0.237，VSx＝0.011，dVztemp＝-0.0014，dVz＝abs(dVztemp)＝0.0014，flagVz＝1，Vytemp＝0.079，Vz0＝0.112。
Further, there are: VNz＝0.114，VNy＝0.079，VSz＝0.112，VSy＝0.078。
Then the process of the first step is carried out,
Figure BDA0003237515310000113
Figure BDA0003237515310000121
Figure BDA0003237515310000122
Figure BDA0003237515310000123
finally, according to the current direction, omega can be calculatedn＝1°/s，ωs＝0.54°/s。
Further, based on the above conditions: the thrust of a single electric thruster is 100mN, the mass of a satellite is 1380kg, and the fixed point longitude is 114 degrees E of east longitude; the position holding control period of the satellite is 1 day. The simulation duration is taken as 1 year. Then the simulation result as shown in fig. 3 can be obtained, and the thruster allocation method provided by the invention can keep the satellite within the 'dead zone' range of the fixed point longitude and latitude ± 0.5 °. Through simulation verification, the method can realize position keeping control electric thruster distribution under the simple configuration electric propulsion layout, and can be used for geosynchronous orbit position keeping control.
In conclusion, the thrust distribution method for maintaining the position of the electric thruster can distribute the thrust according to the accessibility of the vector adjusting mechanism and the rotation speed constraint, and realize the position maintaining control of the geosynchronous orbit.
On the basis of the above embodiment, as shown in fig. 4, the present invention also discloses an electric thruster position maintaining thrust distribution system, including: and a gear determining module 401, configured to determine normal pointing gears of the two electric thrusters according to the position holding drift rate control amount. A first calculating module 402, configured to respectively calculate, according to the determined normal directional gears of the two electric thrusters, a target thrust direction [ X ] of the first electric thrustern,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ ts. A second calculation module 403 for calculating according to [ Xn,Yn,Zn]And [ X ]s,Ys,Zs]And calculating to obtain the rotating speed omega of the first theoretical vector adjusting mechanismnAnd a second theoretical vector adjusting mechanism rotating speed omegas. An assignment module 404 for assigning the calculated [ X ]n,Yn,Zn]And Δ tnDistributing the calculated [ X ] to the first electric thrusters,Ys,Zs]And Δ tsAssigned to a second electric thrusterWill calculate the resulting ωnAssigning the calculated ω to the first vector adjustment mechanismsIs assigned to the second vector adjustment mechanism.
For the system embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for the relevant points, refer to the description of the method embodiment section.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (10)

1. A method of distributing position maintaining thrust of an electric thruster, comprising:
determining normal pointing gears of the two electric thrusters according to the position holding drift rate control quantity;
respectively calculating to obtain a target thrust direction [ X ] of the first electric thruster according to the determined normal pointing gears of the two electric thrustersn,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ ts；
According to [ X ]n,Yn,Zn]And [ X ]s,Ys,Zs]And calculating to obtain the rotating speed omega of the first theoretical vector adjusting mechanismnAnd a second theoretical vector adjusting mechanism rotating speed omegas；
Will calculate the obtained [ Xn,Yn,Zn]And Δ tnDistributing the calculated [ X ] to the first electric thrusters,Ys,Zs]And Δ tsDistributing the calculated omega to a second electric thrusternAssigning the calculated ω to the first vector adjustment mechanismsIs assigned to the second vector adjustment mechanism.
2. The method of claim 1, wherein determining the normally-oriented gears of the two electric thrusters based on the position hold drift rate control comprises:
determining a unit vector [ X, Y, Z ] of a thrust direction under a track coordinate system; the origin of the orbit coordinate system is the center of mass of the satellite, the X axis points to the advancing direction of the satellite, the Z axis points to the ground, and the Y axis, the X axis and the Z axis meet the right-hand rule;
calculating to obtain the adjusting range C of the vector adjusting mechanismy＝Y/Z；
For the regulation range CyN are equally divided to obtain n normal direction gears C which are arranged from small to largeys：Cys＝Cy1、Cy2、…、Cyn(ii) a Wherein each normal direction is towards gear Cy1、Cy2、…、CynThe corresponding allowable ranges of the drift rate are as follows: [ Delta DL1,ΔDH1]、[ΔDL2,ΔDH2]、…、[ΔDLn,ΔDHn]；
Acquiring a position holding drift rate control quantity delta D;
if Δ D ∈ [ Δ DL ]1,ΔDH1]Then, the normal direction gear of the two electric thrusters is determined to be Cys＝Cy1；
If Δ D ∈ [ Δ DL ]2,ΔDH2]Then, the normal direction gear of the two electric thrusters is determined to be Cys＝Cy2；
And so on;
if Δ D ∈ [ Δ DL ]n,ΔDHn]Then, the normal direction gear of the two electric thrusters is determined to be Cys＝Cyn。
3. The electrical thruster position of claim 2The method for distributing the maintained thrust is characterized in that a target thrust direction [ X ] of the first electric thruster is obtained through calculation according to the determined normal pointing gears of the two electric thrustersn,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ tsThe method comprises the following steps:
acquiring eccentricity control vectors delta e in the x direction and the y direction under a track coordinate systemxAnd Δ eyAnd tilt control vectors Δ i in the x-and y-directionsxAnd Δ iy；
According to Δ ex、Δey、ΔixAnd Δ iyAnd calculating to obtain a speed increment VN of the first electric thruster in the x directionxAnd a speed increment VS in the x-direction of the second electric thrusterxAnd the radial distribution identification flagV of the two electric thrusterszAnd the radial distribution difference Vz0；
According to flagVzAnd Vz0And calculating to obtain a speed increment VN of the first electric thruster in the y directionyAnd velocity increment VN in the z-directionzAnd a speed increment VS in the y-direction of the second electric thrusteryAnd z-direction velocity increment VSz；
According to VNy、VNz、VSyAnd VSzAnd calculating to obtain a target thrust direction [ X ] of the first electric thrustern,Yn,Zn]And a boot time period Δ tnAnd a target thrust direction [ X ] of the second electric thrusters,Ys,Zs]And a boot time period Δ ts。
4. The electric thruster position maintaining thrust force distribution method of claim 3, wherein VNxAnd VSxThe calculation flow of (2) is as follows:
according to the nominal orbital velocity V of the geostationary orbitsAnd the earth static orbit nominal orbit angular velocity omegaeAnd calculating to obtain a constant A, a constant B and an intermediate parameter aa:
Figure FDA0003237515300000021
Figure FDA0003237515300000022
Figure FDA0003237515300000023
then there are:
speed increment VN of first electric thruster in x directionxComprises the following steps:
Figure FDA0003237515300000031
speed increment VS of second electric thruster in x directionxComprises the following steps:
Figure FDA0003237515300000032
5. the electric thruster position holding thrust force distribution method as claimed in claim 4, wherein the flagV is a flag VzAnd Vz0The calculation flow of (2) is as follows:
calculating to obtain an intermediate variable dVztemp：
Figure FDA0003237515300000033
According to dVztempDetermining flagVz：
If dVztempIf the value is less than or equal to 0, flagVz＝1
If dVztempIf > 0, flagVz＝-1
Calculating to obtain a radial scoreMatch difference value Vz0：
Figure FDA0003237515300000034
Wherein, dVzIndicating the difference, dV, between the radial control quantities of the two electric thrustersz＝abs(dVztemp)，Vy0And the normal control quantity of the unilateral electric thruster is shown.
6. The electric thruster position maintaining thrust force distribution method of claim 5, wherein VNy、VNz、VSyAnd VSzThe calculation flow of (2) is as follows:
calculating to obtain an intermediate variable Vytemp：
Figure FDA0003237515300000035
When flagV is presentzWhen 1, there are:
VNy＝Vytemp
VNz＝Vz0+dVz
VSy＝Vy0-Vytemp
VSz＝Vz0
when flagV is presentzWhen-1, there is:
VNy＝Vy0-Vytemp
VNz＝Vz0
VSy＝Vytemp
VSz＝Vz0+dVz。
7. the electric thruster position holding thrust force distribution method of claim 6, wherein [ X [ ]n,Yn,Zn]、Δtn、[Xs,Ys,Zs]And Δ tsThe calculation process is as followsThe following:
according to VNx、VNyAnd VNzCalculating to obtain [ X ]n,Yn,Zn]And Δ tn：
Figure FDA0003237515300000041
Figure FDA0003237515300000042
According to VSx、VSyAnd VSzCalculating to obtain [ X ]s,Ys,Zs]And Δ ts：
Figure FDA0003237515300000043
Figure FDA0003237515300000044
Wherein F represents the thrust magnitude of the electric thruster, VeRepresenting the electrical thruster specific impulse, mass representing the satellite mass.
8. The method of claim 7, wherein the method of assigning thrust force to position holding of an electrical thruster is based on [ X ]n,Yn,Zn]And [ X ]s,Ys,Zs]And calculating to obtain the rotating speed omega of the first theoretical vector adjusting mechanismnAnd a second theoretical vector adjusting mechanism rotating speed omegasThe method comprises the following steps:
determining a current heading [ X ] of a first electric thrustern0,Yn0,Zn0]And calculating to obtain [ X ]n,Yn,Zn]And [ X ]n0,Yn0,Zn0]Angle theta therebetweenn；
Determining a current finger of a second electric thrusterTo [ X ]s0,Ys0,Zs0]And calculating to obtain [ X ]s,Ys,Zs]And [ X ]s0,Ys0,Zs0]Angle theta therebetweens；
Obtaining the rotating speed omega of the maximum theoretical vector adjusting mechanismmax；
When theta isn≥θsIn time, there are:
ωn＝ωmax
Figure FDA0003237515300000051
when theta isn＜θsIn time, there are:
Figure FDA0003237515300000052
ωs＝ωmax。
9. the method for distributing the position maintaining thrust of the electric thruster as claimed in claim 1, wherein the first vector adjusting mechanism is installed on the south side of the satellite and connected with the first electric thruster for realizing the adjustment of the thrust direction in the three directions of x, y and z; the second vector adjusting mechanism is arranged on the north side of the satellite and connected with the second electric thruster, and is used for adjusting thrust direction in the x direction, the y direction and the z direction.
10. An electric thruster position maintaining thrust distribution system, comprising:
the gear determining module is used for determining normal pointing gears of the two electric thrusters according to the position holding drift rate control quantity;
a first calculation module, configured to calculate, according to the determined normal pointing gears of the two electric thrusters, a target thrust direction [ X ] of the first electric thrustern,Yn,Zn]And a boot time period Δ tnAnd target push of the second electric thrusterDirection of force [ X ]s,Ys,Zs]And a boot time period Δ ts；
A second calculation module for calculating according to [ Xn,Yn,Zn]And [ X ]s,Ys,Zs]And calculating to obtain the rotating speed omega of the first theoretical vector adjusting mechanismnAnd a second theoretical vector adjusting mechanism rotating speed omegas；
An allocation module for allocating the calculated [ Xn,Yn,Zn]And Δ tnDistributing the calculated [ X ] to the first electric thrusters,Ys,Zs]And Δ tsDistributing the calculated omega to a second electric thrusternAssigning the calculated ω to the first vector adjustment mechanismsIs assigned to the second vector adjustment mechanism.
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