CN-122009526-A - Detection track design method and system for controlling power-assisted flight of ball machine based on entering

CN122009526ACN 122009526 ACN122009526 ACN 122009526ACN-122009526-A

Abstract

The invention provides a detection orbit design method and a detection orbit design system based on entering to influence the power-assisted flight of a ball machine, which comprise the steps of determining initial position speeds, initial flight time, power-assisted targets and intersection targets of a detector, designing the flight orbit from an initial state to the power-assisted targets of the detector, calculating the speed increment required by the first deep space power-assisted movement, adopting the power-assisted method of the entering to influence the ball machine to carry out the power-assisted movement, calculating the speed increment required by the power-assisted process, designing the flight orbit from the power-assisted targets to the intersection targets, calculating the speed increment required by braking, and optimizing the processes of the steps S2 to S4 by adopting a genetic algorithm to obtain the detection orbit with the minimum speed increment under the power-assisted targets. The invention aims to solve the problems that in the current deep space exploration orbit design, the transient constraint of a satellite exploration time window is not considered, the universality of the existing gravity-assisted flight orbit optimization method is not enough, and the engineering practice is not adapted.

Inventors

Zhang Zhiguan
DUAN XIAOWEN
WANG WEI
LU XI
LI DONGYU
NIU JUNPO
DU YANG
XU JUN

Assignees

上海卫星工程研究所

Dates

Publication Date: 20260512
Application Date: 20260104

Claims (10)

1. A method of designing a detection track based on entering to affect a powered gravity assisted flight of a ball, comprising: step S1, determining an initial position speed, an initial flight time, a force borrowing target and an intersection target of a detector; s2, designing a flight orbit from an initial state to a force-borrowing target of the detector, and calculating a speed increment required by a first deep space maneuver; Step S3, the detector performs force borrowing by adopting a force borrowing method which is used for influencing the maneuvering of the ball, and the speed increment required by the force borrowing process is calculated; s4, designing a detector to fly from a force-borrowing target to a flying orbit of an intersecting target, and calculating a speed increment required by braking; And S5, optimizing the processes of the steps S2 to S4 by adopting a genetic algorithm to obtain the detection track with the minimum speed increment under the determined force-borrowing target.
2. The method of claim 1, wherein the designing the trajectory of the detector from the initial state to the power assist target and calculating the required speed increment for the first deep space maneuver comprises: With detectors in initial epoch The position and the speed at the moment are in an initial state and pass through The time is to make deep space maneuver, fly to the force-borrowing satellite, the flight time is ; Starting from the position and the speed of the initial epoch of the detector, performing Kepler orbit recursion to obtain The position and speed of the centroid of the time detector; querying ephemeris reads Solving the Lambert problem by utilizing the position and the speed of the center of the force-borrowing celestial body at any time to obtain the initial and final speeds of the detector flying to the force-borrowing celestial body, and obtaining the speed increment required by the first deep space maneuver by differencing 。
3. The method for designing a detection orbit based on entering and influencing the power-assisted flight of a ball machine according to claim 1, wherein the detector adopts the entering and influencing the power-assisted flight of the ball machine to carry out the power-assisted calculation, and the speed increment required by the power-assisted process is calculated, and the method comprises the following steps: according to the position of the detector The sun center speed when the gravity body influences the ball boundary and the sun center speed of the gravity body at the same moment are reached at the moment, and the fly-in hyperbola overspeed is calculated; Applying a speed increment for adjusting the overspeed of the fly-in hyperbola Obtaining new fly-in hyperbola overspeed; Setting the angle of B plane And the height of force Solving the actual flying hyperbola overspeed of the detector; The detector flies to the intersection target after leaving the force-borrowing celestial body, and the flight time is that Querying ephemeris reads Solving the Lambert problem according to the position and the speed of the center of the day of the intersecting object at the moment, and obtaining the initial and final speeds of the detector flying to the intersecting object, wherein the initial speed is the ideal flying hyperbola overspeed; and (3) taking the difference between the ideal fly-out hyperbolic overspeed and the actual fly-out hyperbolic overspeed to obtain a required speed increment after the force is borrowed, and adjusting the sum of the speed increment of the fly-in hyperbolic overspeed and the speed increment of the fly-out hyperbolic overspeed to be the required speed increment in the force borrowing process.
4. A method of designing a trajectory for detection based on entering a vehicle affecting a powered power assisted flight of a ball as claimed in claim 1, wherein said designing the trajectory for the detector to fly from the power assisted object to the intersection object, calculating the required speed increase for braking, comprises: Based on detectors The method comprises the steps of calculating the arrival speed of a detector relative to an intersection target at the moment when the arrival speed of the intersection target reaches the center of the day and the center of the intersection target at the same moment; Calculating the surrounding speed of the detector relative to the intersection target to obtain the speed increment required by braking 。
5. The method for designing a detection orbit based on entering and influencing the power-assisted flight of a ball machine according to claim 1, wherein the optimizing the processes of steps S2 to S4 by using a genetic algorithm to obtain the detection orbit with the minimum speed increment under the power-assisted object comprises the following steps: And optimizing by adopting MATLAB genetic algorithm functions, wherein the objective function and variables to be optimized are as follows: The optimization index is as follows: Wherein, the For the first deep space maneuver the required speed increment, To adjust the speed increment required to fly into hyperbolic overspeed, To reach the target celestial brake desired speed increment, As a function of the obstacle, Is a penalty factor; Wherein, the In order to actually fly out of the hyperbolic overspeed, Overspeed is ideal fly-out hyperbola; parameters to be optimized are: Wherein, the Is the time for the detector to make a deep space maneuver, Is the time the detector flies to the force-borrowing celestial body, Is the time from the flying of the detector by the force of the celestial body to the meeting target, Is the detector maneuver speed vector that adjusts the fly-in hyperbolic speed, Is the plane angle of the B plane, The B plane angle is the force-borrowing height.
6. A detection track design system based on entering to affect a powered power assisted flight of a ball, comprising: the method comprises the steps of determining an initial position speed, an initial flight time, a force borrowing target and an intersection target of a detector by a module M1; the module M2 is used for designing a flight orbit from an initial state to a force-borrowing target of the detector and calculating a speed increment required by a first deep space maneuver; the detector adopts a power-on power-off method which influences the ball machine to perform power-off, and calculates the speed increment required by the power-off process; The module M4 is used for designing a detector to fly from a force-borrowing target to a flying orbit of an intersecting target and calculating a speed increment required by braking; and the module M5 optimizes the processes of the module M2, the module M3 and the module M4 by adopting a genetic algorithm to obtain a detection track with the minimum speed increment under the determined force-borrowing target.
7. The system of claim 6, wherein the design detector is configured to design a trajectory from an initial state to a power assist target and calculate a required speed increment for a first deep space maneuver, comprising: With detectors in initial epoch The position and the speed at the moment are in an initial state and pass through The time is to make deep space maneuver, fly to the force-borrowing satellite, the flight time is ; Starting from the position and the speed of the initial epoch of the detector, performing Kepler orbit recursion to obtain The position and speed of the centroid of the time detector; querying ephemeris reads Solving the Lambert problem by utilizing the position and the speed of the center of the force-borrowing celestial body at any time to obtain the initial and final speeds of the detector flying to the force-borrowing celestial body, and obtaining the speed increment required by the first deep space maneuver by differencing 。
8. The method of claim 6, wherein the detector uses the method of entering the ball power to power the power, and calculates the speed increment required by the power process, comprising: according to the position of the detector The sun center speed when the gravity body influences the ball boundary and the sun center speed of the gravity body at the same moment are reached at the moment, and the fly-in hyperbola overspeed is calculated; Applying a speed increment for adjusting the overspeed of the fly-in hyperbola Obtaining new fly-in hyperbola overspeed; Setting the angle of B plane And the height of force Solving the actual flying hyperbola overspeed of the detector; The detector flies to the intersection target after leaving the force-borrowing celestial body, and the flight time is that Querying ephemeris reads Solving the Lambert problem according to the position and the speed of the center of the day of the intersecting object at the moment, and obtaining the initial and final speeds of the detector flying to the intersecting object, wherein the initial speed is the ideal flying hyperbola overspeed; and (3) taking the difference between the ideal fly-out hyperbolic overspeed and the actual fly-out hyperbolic overspeed to obtain a required speed increment after the force is borrowed, and adjusting the sum of the speed increment of the fly-in hyperbolic overspeed and the speed increment of the fly-out hyperbolic overspeed to be the required speed increment in the force borrowing process.
9. A system for designing a trajectory for detection based on entering a vehicle affecting a powered power assisted flight of a ball as claimed in claim 6, wherein said design detector calculates a required speed increase for braking from a trajectory of the power assisted object to an intersection object, comprising: Based on detectors The method comprises the steps of calculating the arrival speed of a detector relative to an intersection target at the moment when the arrival speed of the intersection target reaches the center of the day and the center of the intersection target at the same moment; Calculating the surrounding speed of the detector relative to the intersection target to obtain the speed increment required by braking 。
10. The system of claim 6, wherein the optimizing the process of the modules M2, M3, M4 by using a genetic algorithm to obtain the detection track with the smallest speed increment under the force-borrowing target comprises: And optimizing by adopting MATLAB genetic algorithm functions, wherein the objective function and variables to be optimized are as follows: The optimization index is as follows: Wherein, the For the first deep space maneuver the required speed increment, To adjust the speed increment required to fly into hyperbolic overspeed, To reach the target celestial brake desired speed increment, As a function of the obstacle, Is a penalty factor; Wherein, the In order to actually fly out of the hyperbolic overspeed, Overspeed is ideal fly-out hyperbola; parameters to be optimized are: Wherein, the Is the time for the detector to make a deep space maneuver, Is the time the detector flies to the force-borrowing celestial body, Is the time from the flying of the detector by the force of the celestial body to the meeting target, Is the detector maneuver speed vector that adjusts the fly-in hyperbolic speed, Is the plane angle of the B plane, Is the force-borrowing height of the B plane.

Description

Detection track design method and system for controlling power-assisted flight of ball machine based on entering Technical Field The invention relates to the field of deep space exploration, in particular to a method and a system for designing a detection track based on entering to influence the maneuvering power-assisted flight of a ball. Background The deep space exploration mission has long flight cycle and large energy consumption, after reaching a target celestial body, the design of the flight orbit which saves energy and can be used for exploration of a plurality of targets has great significance for improving the scientific output of the mission, and the force borrowing flight technology can effectively reduce the speed increment required by the detector, and the force borrowing process is shown in fig. 2. The speed of the detector relative to the force-borrowing celestial body is unchanged before and after the force borrowing, and the position of the detector is unchanged after the force borrowing, only the speed is changed, so that the method can be obtained: wherein: the position of the detector under the force borrowing moment reference coordinate system; The position of the force-borrowing celestial body under the force-borrowing moment reference coordinate system; And The positions of the detector under a reference coordinate system before and after force borrowing are respectively shown; And The speed of the detector under a reference coordinate system before and after force borrowing is respectively; the speed of the force-borrowing celestial body under the force-borrowing moment reference coordinate system; hyperbolic overspeed is provided when the detector approaches the force-borrowing celestial body; is a hyperbolic overspeed when leaving the force-borrowing celestial body. Under the condition that the flight time is free and other constraints are not present, the optimal track for the force-assisted flight is easy to find, and the total speed increment is further reduced. However, in the actual engineering problem, constraints such as task time exist, and the detector force borrowing process cannot meet the ideal requirement. In order to maximize the utilization of the force-borrowing star, the ideal speed after force borrowing is obtained, and the thrust force-borrowing flight and the pneumatic-gravity auxiliary transfer technology are derived based on the force-borrowing flight technology. The thrust force-borrowing flight means that a pulse is applied when the force-borrowing is carried out by the detector, so that the speed after the force-borrowing is changed, but 10 independent parameters exist, the process is complex when the force-borrowing track is designed, and the principle is shown in figure 3. The pneumatic-force-borrowing flight technology refers to that a detector passes through the atmosphere of a celestial body in the force-borrowing flight process, the rotation angle of the speed during force borrowing is further changed, the requirement on the atmospheric density of the force-borrowing celestial body is met, and the principle is shown in fig. 4. The method is mainly suitable for orbits taking the planet as a force-borrowing target, and the satellite force-borrowing has the characteristics different from the planet force-borrowing, namely, the satellite force-borrowing theory can be carried out at any position on the satellite orbit due to the fact that a satellite time window is short after the satellite system is reached, the design freedom degree is greatly improved, the existing near-center maneuvering thrust force-borrowing flight technology is difficult to optimize, and meanwhile, a plurality of satellites are thin in atmosphere and cannot apply the pneumatic force-borrowing flight technology, so that the deep space force-borrowing flight orbit optimization related to the satellite is definitely more difficult. Patent publication No. CN116541968A discloses a method for determining an optimal transfer orbit of a geodesic DRO, but the optimal orbit design of the method is only applicable to a double-main celestial body system and does not relate to the situation of multi-target force borrowing detection. In summary, in view of the above-mentioned problems in the prior art, research on a detection track design method and system based on entering to influence the maneuvering power-assisted flight of the ball becomes a critical task to be solved. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a detection track design method and system for influencing the maneuvering power-assisted flight of a ball based on entering. The invention provides a detection orbit design method based on entering to influence the gravity-assisted flight of a spherical crane, which comprises the following steps of S1, determining initial position speed, initial flight time, gravity-assisted target and intersection target of a detector, S2, des