[특허]Method for maintaining pose of spacecraft

Mitsubishi Electric Research Laboratories, Inc.

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Method for maintaining pose of spacecraft

국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B64G-001/36 G05D-001/00 G05D-003/00 G06F-007/00 G06F-017/00
미국특허분류(USC)	701/013;
출원번호	US-0840959 (2010-07-21)
등록번호	US-8244417 (2012-08-14)
발명자 / 주소	Chilan, Christian
출원인 / 주소	Mitsubishi Electric Research Laboratories, Inc.
대리인 / 주소	Brinkman, Dirk
인용정보	피인용 횟수 : 5 인용 특허 : 2

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Embodiments of invention disclose a system and a method for formation-keeping of a spacecraft in response to a displacement of the spacecraft to a displaced pose with respect to at least one direction of the displacement, wherein the spacecraft is configured to issue a compensative force by generating a command to issue a compensative force. The compensative force is determined as a function of a sum of the base force configured for maintaining the spacecraft in the displaced pose with respect to the direction of the displacement and an excess force conf...

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1. A method for formation-keeping of a spacecraft in response to a displacement of the spacecraft to a displaced pose with respect to at least one direction of the displacement, wherein the spacecraft is configured to issue a compensative force, comprising the steps of: determining the compensative force as a function of a sum of a base force configured for maintaining the spacecraft in the displaced pose with respect to the direction of the displacement and an excess force configured for optimizing the formation-keeping with respect to the direction of the displacement of the spacecraft at the displaced pose, wherein the compensative, the base and the excess forces have a quantization resolution, the displaced pose borders an error range along the direction of the displacement;determining a magnitude of the base force according to Δ⁢⁢Vbase=⌈vxq⌉⁢q, wherein ΔVbase is the magnitude of the base force along the direction of the displacement x, vx is a veloci of the spacecraft along the direction of the displacement, and q is the quantization resolution; determining a magnitude of the excess force from a discrete control set of magnitudes, wherein a largest element maxU of the discrete control set is determined according to max⁢⁢U=⌈Δ⁢⁢vq⌉, wherein Δv is Δ⁢⁢v=2⁢dmax⁢range2, wherein range is an extent of the error range, and dmax is an upper bound of a displacement force; and generating a command to issue the compensative force, wherein the steps of the method are performed by a processor. 2. The method of claim 1, further comprising: determining a magnitude of the base force based on a velocity of the spacecraft at the displaced pose. 3. The method of claim 2, wherein the base force is an impulsive force having a quantization resolution such that the magnitude of the base force is multiple of a quantization resolution, further comprising: determining the magnitude of the base force based on the quantization resolution. 4. The method of claim 3, wherein the determining of the magnitude is according to Δ⁢⁢Vbase=⌈vxq⌉⁢q, wherein ΔVbase is the magnitude of the base force along the direction of the displacement x, vx is the velocity of the spacecraft along the direction of the displacement, and q is the quantization resolution. 5. The method of claim 1, wherein the displaced pose borders an error range, further comprising: determining the excess force based on the error range. 6. The method of claim 1, wherein the excess force is an impulsive force having a quantization resolution such that the magnitude of the excess force is in ultiple of a quantization resolution, further comprising: acquiring an error range along the direction of displacement; anddetermining the excess magnitude based on the error range and the quantization resolution such the excess force optimizes a period of time between the compensative force and a next compensative force. 7. The method of claim 6, further comprising: determining a discrete control set of magnitudes; andselecting the magnitude of the excess force from the discrete control set. 8. The method of claim 7, further comprising: determining the magnitude of the excess force from the discrete control set using a total enumeration technique. 9. The method of claim 7, further comprising: determining the magnitude of the excess force from the discrete control set using an integer programming (IP). 10. The method of claim 9, wherein a number of elements in the discrete control set U⊂N0, U={0, 1, . . . , Nu−1} has finite cardinality Nu, and the IP determines an optimal u* by maximizing a function φ maxu⁢φ⁡(u,Δ⁢⁢Vbase,t),u∈U, wherein u is the excess force, ΔV base is a magnitude of the base force, t is the time when the compensative force is applied. 11. The method of claim 7, wherein the spacecraft is subjected to a displacement force with a magnitude bounded by a value dmax, wherein the determining a discrete control set further comprises: determining a largest element of the discrete control set as a minimum magnitude of the excess force that causes the spacecraft to reach an opposite side of an error range, while starting from the displaced pose with substantially zero velocity and being opposed by the displacement force of the magnitude dmax; andselecting a smallest element of the discrete control set as either zero or one. 12. The method of claim 11, further comprising. determining a miriiinurii'bontinuous-magnitude Δv according to Δ⁢⁢v=2⁢dmax⁢range2, wherein range is an extent of the error range; and determining the largest element maxU according to max⁢⁢U=⌈Δ⁢⁢vq⌉, wherein q is the quantization resolution. 13. The method of claim 1, further comprising: determining a time to issue the compensative force based on an extent of the displacement and an error range. 14. A control module adapted for maintaining a pose of a spacecraft with respect to an error range defined along a direction of displacement, wherein the spacecraft is configured to issue a compensative force, comprising: means for determining a base force, such that issuing the base force by the spacecraft results in a substantially zero velocity of the spacecraft at a displaced pose with respect to the direction of the displacement;means for determining,an excess force, such that issuing the excess force by the spacecraft having the substantially zero velocity at the displaced pose optimizes the pose of the spacecraft with respect to the error range;means for generating a command to issue the force in a direction opposite to the direction of the displacement, wherein the compensative force is a sum of the base force and the excess force; andmeans for detennining'a time to issue the compensative force based on an extent of the displacement and an error range, wherein the means for determining excess force includes a processor configured to determine a magnitude of the excess force according to max⁢⁢U=⌈Δ⁢⁢vq⌉, wherein Δv is Δ⁢⁢v=2⁢dmax⁢range2, wherein range is an extent of the error range, and dmax is an upper bound of a displacement force. 15. The control module of claim 14, wherein the means for determining the basic force includes a processor configured to determine a magnitude of the base force according to Δ⁢⁢Vbase=⌈vxq⌉⁢q, wherein ΔVbase is the magnitude of the base force along the direction of the displacement x, vx is a velocity of the spacecraft along the direction of the displacement, and q is the quantization resolution. 16. A method for determining a compensative force to compensate for a displacement of an object, comprising the steps of: determining, by a processor, the compensative force as a function of a sum of a base force configured for preventing an increase of the displacement and an excess force configured for reducing the displacement,determining a magnitude of the excess force according to Δ⁢⁢v=2⁢dmax⁢range2, wherein Δv is max⁢⁢U=⌈Δ⁢⁢vq⌉, range is an extent of an error range, q is a quantization resolution and dmax is an upper bound of a displacement force. 17. The method of claim 16, further comprising: determining a largest element of based on the displacement and a displacement force; andselecting a smallest element of the discrete control set as either zero or one. 18. The method of claim 16, further comprising: defining the displacement as a half of an extent of the error range.

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Method for maintaining pose of spacecraft

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Method for maintaining pose of spacecraft

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