航天器受迫绕飞构型设计与控制

张冉; 殷建丰; 韩潮

doi:10.13700/j.bh.1001-5965.2016.0768

航天器受迫绕飞构型设计与控制

doi: 10.13700/j.bh.1001-5965.2016.0768

张冉¹,
殷建丰²,
韩潮^1, ,

1.
北京航空航天大学宇航学院, 北京 100083
2.
北京空间飞行器总体设计部, 北京 100194

详细信息

作者简介:
张冉男, 博士研究生。主要研究方向:航天器编队飞行动力学与控制

韩潮男, 博士, 教授, 博士生导师。主要研究方向:航天器动力学与控制、航天器导航、制导与控制、航天系统动力学仿真等

通讯作者:
韩潮, E-mail: hanchao@buaa.edu.cn

中图分类号: V412.4
计量
- 文章访问数: 1413
- HTML全文浏览量: 200
- PDF下载量: 1444
- 被引次数: 0
出版历程
- 收稿日期: 2016-09-29
- 录用日期: 2016-12-16
- 网络出版日期: 2017-10-20

Spacecraft forced fly-around formation design and control

1.
School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
Beijing Institute of Spacecraft System Engineering, Beijing 100194, China

More Information

Corresponding author: HAN Chao, E-mail:hanchao@buaa.edu.cn

摘要

摘要:
针对航天器在轨服务任务对绕飞技术的要求，研究了航天器受迫绕飞构型设计和控制问题。基于C-W（Clohessy-Wiltshire）方程的解析解，提出了双水滴拼接绕飞构型，并将单脉冲或双脉冲受迫绕飞延展至多脉冲绕飞构型设计；推导了伴随航天器初始状态变量与绕飞构型形状参数的关系，得到了4种构型的解析表达式和脉冲控制策略。通过数值仿真算例验证了设计的4种绕飞构型能够实现伴随航天器的慢速绕飞和快速绕飞，比较了不同绕飞构型的燃料消耗和绕飞距离误差。数值结果表明，双水滴拼接绕飞构型总脉冲最小。研究成果完善了航天器受迫绕飞构型设计与控制的相关理论，为工程应用提供参考。
- 在轨服务 /
- 受迫绕飞 /
- C-W方程 /
- 脉冲控制 /
- 构型设计
Abstract:
In order to meet the requirements of spacecraft fly-around technology in on-orbit service mission, spacecraft forced fly-around formation design and control scheme was investigated. Based on the analytic solution of the C-W(Clohessy-Wiltshire) equations, bi-teardrop formation was proposed. Then multi-impulse fly-around formations were developed after single-or double-impulse formations. The formula between the initial states of following spacecraft and the shape of fly-around formation was derived, and the analytic expressions of four fly-around formations and the impulse control scheme were proposed. Simulation results verify that four designed formations could be used in spacecraft slow fly-around and fast fly-around scenarios. The total fuel consumptions and distance errors of different formations were compared. Numerical results show that bi-teardrop formation has the smallest total impulse. The theory of spacecraft forced fly-around formation design and control is improved, and the results provide reference for engineering application.
- on-orbit service /
- forced fly-around /
- C-W equations /
- impulse control /
- formation design

HTML全文

图 1 参考航天器LVLH坐标系

Figure 1. Reference spacecraft LVLH coordinate system

下载: 全尺寸图片幻灯片

图 2 自然绕飞构型示意图

Figure 2. Schematic diagram of natural fly-around formation

下载: 全尺寸图片幻灯片

图 3 双椭圆拼接绕飞构型示意图

Figure 3. Schematic diagram of bi-elliptic joint fly-around formation

下载: 全尺寸图片幻灯片

图 4 水滴绕飞构型示意图

Figure 4. Schematic diagram of teardrop fly-around formation

下载: 全尺寸图片幻灯片

图 5 不同绕飞周期系数的水滴绕飞形状

Figure 5. Teardrop fly-around shapes with different fly-around period coefficients

下载: 全尺寸图片幻灯片

图 6 双水滴拼接绕飞构型示意图

Figure 6. Schematic diagram of bi-teardrop joint fly-around formation

下载: 全尺寸图片幻灯片

图 7 多脉冲绕飞构型示意图

Figure 7. Schematic diagram of multi-impulse fly-around formation

下载: 全尺寸图片幻灯片

图 8 受迫绕飞总脉冲随脉冲次数曲线

Figure 8. Curves of forced fly-around total impulse with numbers of impulse

下载: 全尺寸图片幻灯片

图 9 不同脉冲次数慢速绕飞构型形状示意图

Figure 9. Schematic diagram of slow fly-around formation shape with different numbers of impulse

下载: 全尺寸图片幻灯片

图 10 不同脉冲次数快速绕飞构型形状示意图

Figure 10. Schematic diagram of fast fly-around formation shape with different numbers of impulse

下载: 全尺寸图片幻灯片

图 11 不同慢速绕飞构型示意图

Figure 11. Schematic diagram of different slow fly-around formations

下载: 全尺寸图片幻灯片

图 12 不同快速绕飞构型示意图

Figure 12. Schematic diagram of different fast fly-around formations

下载: 全尺寸图片幻灯片

图 13 绕飞单位化脉冲随绕飞周期变化曲线

Figure 13. Curves of fly-around unitized impulse with different fly-around periods

下载: 全尺寸图片幻灯片

图 14 绕飞距离误差随绕飞周期变化曲线

Figure 14. Curves of fly-around distance errors with different fly-around periods

下载: 全尺寸图片幻灯片

表 1 慢速绕飞总脉冲比较

Table 1. Comparison of slow fly-around total impulse

绕飞构型	次数	方向	总脉冲大小/ (m·s^-1)	单位化脉冲/ (m·s^-1·km^-1)
双椭圆拼接绕飞	2	径向	2.03	0.893
单水滴绕飞	1	径向	1.275	0.891
双水滴拼接绕飞	2	迹向	0.622	0.366
多脉冲绕飞	3	混合	1.299	1.145

下载: 导出CSV

表 2 快速绕飞总脉冲比较

Table 2. Comparison of fast fly-around total impulse

冲绕飞构型	次数	方向	总脉冲大小/ (m·s^-1)	单位化脉冲/ (m·s^-1·km^-1)
双椭圆拼接绕飞	2	径向	2.895	3.019
单水滴绕飞	1	径向	5.79	2.997
双水滴拼接绕飞	2	迹向	2.841	2.00
多脉冲绕飞	3	混合	3.049	3.315

下载: 导出CSV

参考文献(17)

[1]	WALTZ D M.On-orbit servicing of space systems[M].Malabar:Krieger Publishing Company, 1993:193-227.
[2]	崔乃刚, 王平, 郭继峰, 等.空间在轨服务技术发展综述[J].宇航学报, 2007, 28(4):805-811. http://youxian.cnki.com.cn/yxdetail.aspx?filename=HKXB20170609001&dbname=CAPJ2015 CUI N G, WANG P, GUO J F, et al.A review of on-orbit servicing[J].Journal of Astronautics, 2007, 28(4):805-811(in Chinese). http://youxian.cnki.com.cn/yxdetail.aspx?filename=HKXB20170609001&dbname=CAPJ2015
[3]	陈小前, 袁建平, 姚雯, 等.航天器在轨服务技术[M].北京:中国宇航出版社, 2009:153-168. CHEN X Q, YUAN J P, YAO W, et al.Spacecraft on orbit service technology[M].Beijing:China Aerospace Press, 2009:153-168(in Chinese).
[4]	SABOL C, BURNS R, MCLAUGHLIN C A.Satellite formation flying design and evolution[J].Journal of Spacecraft and Rockets, 2001, 38(2):270-278. doi: 10.2514/2.3681
[5]	CLOHESSY W H, WILTSHIRE R S.Terminal guidance system for satellite rendezvous[J].Journal of the Areospace Sciences, 1960, 27(9):653-658. doi: 10.2514/8.8704
[6]	MASUTANI Y, MATSUSHITA M, MIYAZAKI F.Flyaround maneuvers on a satellite orbit by impulsive thrust control[C]//IEEE International Conference on Robotics and Automation.Piscataway, NJ:IEEE Press, 2001:421-426.
[7]	赵书阁, 张景瑞.航天器共面圆型快速绕飞控制研究[J].航天控制, 2014, 32(1):68-72. http://www.cnki.com.cn/Article/CJFDTOTAL-HTKZ201401014.htm ZHAO S G, ZHANG J R.A study on trajectory control of spacecraft in-plane circular fast fly-around[J].Aerospace Control, 2014, 32(1):68-72(in Chinese). http://www.cnki.com.cn/Article/CJFDTOTAL-HTKZ201401014.htm
[8]	罗建军, 周文勇, 袁建平.卫星快速绕飞轨迹设计与制导[J].宇航学报, 2007, 28(3):628-632. http://youxian.cnki.com.cn/yxdetail.aspx?filename=KZYC20170910027&dbname=CAPJ2015 LUO J J, ZHOU W Y, YUAN J P.A general method of trajectory design and guidance for fast satellite circumnavigation[J].Journal of Astronautics, 2007, 28(3):628-632(in Chinese). http://youxian.cnki.com.cn/yxdetail.aspx?filename=KZYC20170910027&dbname=CAPJ2015
[9]	罗建军, 杨宇和, 袁建平.共面快速受控绕飞轨迹设计与控制[J].宇航学报, 2006, 27(6):1389-1392. http://www.cnki.com.cn/Article/CJFDTOTAL-YHXB200606053.htm LUO J J, YANG Y H, YUAN J P.Trajectory design and control of in-plane fast controlled flyaround[J].Journal of Astronautics, 2006, 27(6):1389-1392(in Chinese). http://www.cnki.com.cn/Article/CJFDTOTAL-YHXB200606053.htm
[10]	朱彦伟. 航天器近距离相对运动轨迹规划与控制研究[D]. 长沙: 国防科学技术大学, 2009. http://cdmd.cnki.com.cn/Article/CDMD-90002-2009213058.htm ZHU Y W.Trajectory planning and control for spacecraft proximity relative motion[D].Changsha:National University of Defense Technology, 2009(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-90002-2009213058.htm
[11]	STRAIGHT S D.Maneuver design for fast satellite circumnavigation[D].Dayton:Air Force Institute of Technology, 2004.
[12]	HOPE A S, TRASK A J.Pulsed thrust method for hover formation flying[J].Advances in the Astronautical Sciences Series, 2003, 116:2423-2434. https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20030093749.pdf
[13]	LOVELL T A, TOLLEFSON M V.Calculation of impulsive hovering trajectories via relative orbit elements[J].Advances in the Astronautical Sciences, 2006, 123(3):2533-2548.
[14]	RAO Y R, YIN J F, HAN C.Hovering formation design and control based on relative orbit elements[J].Journal of Guidance, Control, and Dynamics, 2016, 39(2):360-371. doi: 10.2514/1.G001238
[15]	王功波, 孟云鹤, 郑伟, 等.快速绕飞卫星空间圆编队设计方法[J].宇航学报, 2010, 31(11):2465-2470. doi: 10.3873/j.issn.1000-1328.2010.11.005 WANG G B, MENG Y H, ZHENG W, et al.Fast fly around satellite space circle formation design[J].Journal of Astronautics, 2010, 31(11):2465-2470(in Chinese). doi: 10.3873/j.issn.1000-1328.2010.11.005
[16]	朱小龙, 刘迎春, 高扬.航天器最优受控绕飞轨迹推力幅值延拓设计方法[J].力学学报, 2014, 46(5):756-769. http://youxian.cnki.com.cn/yxdetail.aspx?filename=BJHK20170527002&dbname=CAPJ2015 ZHU X L, LIU Y C, GAO Y.Thrust-amplitude continuation design approach for solving spacecraft optimal controlled fly-around trajectory[J].Chinese Journal of Theoretical and Applied Mechanics, 2014, 46(5):756-769(in Chinese). http://youxian.cnki.com.cn/yxdetail.aspx?filename=BJHK20170527002&dbname=CAPJ2015
[17]	MULLINS L D.Initial value and two point boundary value solutions to the Clohessy-Wiltshire equations[J].Journal of the Astronautical Sciences, 1992, 40(4):487-501. doi: 10.1007%2Fs10569-010-9269-3.pdf