tube dynamics and low energy trajectory from the …sdross/talks/onozaki-yoshimura-ross...tube...
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Tube Dynamics and Low Energy Trajectory from the Earth to the Moon
in the Coupled Three-Body System
○Kaori Onozaki*, Hiroaki Yoshimura* and Shane D. Ross***Waseda University
Applied Mechanics and Aerospace Engineering
**Virginia Polytechnic Institute and State University Department of Engineering Science and Mechanics
16th International Conference on Astrodynamics Tools and Techniques
March 15, 2016
Earth-Moon transfer with Sun-perturbation (4-body problem)
Hiten [Belbruno and Miller (1993)]
The Hiten transfer was established in the S-E-M-S/C 4-body problem by considering the Sun-perturbation and by employing the theory of Weak Stability Boundaries. [Belbruno and Miller (1993)]
2
Backgrounds
Hohmann transfer (2-body problem)
The elliptic orbit connecting with the low Earth orbit and the lunar orbit. The two impulsive maneuver are required. [Bate et al. (1971)] E
M
3
[Koon et al. (2001)]
[Conley (1968)]
Coupled PRC3BS
The S-E-M-S/C 4-body problem is approximated to coupled two PRC3BS (S-E-S/C and E-M-S/C systems), and then the transfer is constructed based on the tube dynamics in the coupled system. [Koon et al. (2001)]
Transit orbit
Ws2,X
Wu2,P2
Ws1,P2
Wu1,P1
m2
Forbidden region
L2L1
P1
P2
X
Equation of motion
Energy
q�2 ⌦ q�q = � 1� µ
|q � q1|3(q � q1)�
µ
|q�q2|3(q�q2)
E =
1
2
|q|2 � 1
2
|q|2 � 1� µ
|q � q1|� µ
|q � q2|= const
q = (x, y)T
µ =m2
m1 +m2Mass ratio:
S/C
(1{¹,0)
({¹,0)
q
m1
m2
・PRC3BP and Tube dynamics
L1, L2, L3 saddle × center
Lagrangian points
L4, L5 Stable (S-E-S/C and E-M-S/C systems)
3
[Koon et al. (2001)]
[Conley (1968)]
Coupled PRC3BS
The S-E-M-S/C 4-body problem is approximated to coupled two PRC3BS (S-E-S/C and E-M-S/C systems), and then the transfer is constructed based on the tube dynamics in the coupled system. [Koon et al. (2001)]
Transit orbit
Ws2,X
Wu2,P2
Ws1,P2
Wu1,P1
m2
Forbidden region
L2L1
P1
P2
X
Equation of motion
Energy
q�2 ⌦ q�q = � 1� µ
|q � q1|3(q � q1)�
µ
|q�q2|3(q�q2)
E =
1
2
|q|2 � 1
2
|q|2 � 1� µ
|q � q1|� µ
|q � q2|= const
q = (x, y)T
µ =m2
m1 +m2Mass ratio:
S/C
(1{¹,0)
({¹,0)
q
m1
m2
・PRC3BP and Tube dynamics
Lyapunov orbit
L1, L2, L3 saddle × center
Lagrangian points
L4, L5 Stable (S-E-S/C and E-M-S/C systems)
3
[Koon et al. (2001)]
[Conley (1968)]
Coupled PRC3BS
The S-E-M-S/C 4-body problem is approximated to coupled two PRC3BS (S-E-S/C and E-M-S/C systems), and then the transfer is constructed based on the tube dynamics in the coupled system. [Koon et al. (2001)]
Transit orbit
Ws2,X
Wu2,P2
Ws1,P2
Wu1,P1
m2
Forbidden region
L2L1
P1
P2
X
Equation of motion
Energy
q�2 ⌦ q�q = � 1� µ
|q � q1|3(q � q1)�
µ
|q�q2|3(q�q2)
E =
1
2
|q|2 � 1
2
|q|2 � 1� µ
|q � q1|� µ
|q � q2|= const
q = (x, y)T
µ =m2
m1 +m2Mass ratio:
S/C
(1{¹,0)
({¹,0)
q
m1
m2
・PRC3BP and Tube dynamics
Lyapunov orbit
L1, L2, L3 saddle × center
Lagrangian pointsStable manifold
L4, L5 Stable (S-E-S/C and E-M-S/C systems)
3
[Koon et al. (2001)]
[Conley (1968)]
Coupled PRC3BS
The S-E-M-S/C 4-body problem is approximated to coupled two PRC3BS (S-E-S/C and E-M-S/C systems), and then the transfer is constructed based on the tube dynamics in the coupled system. [Koon et al. (2001)]
Transit orbit
Ws2,X
Wu2,P2
Ws1,P2
Wu1,P1
m2
Forbidden region
L2L1
P1
P2
X
Equation of motion
Energy
q�2 ⌦ q�q = � 1� µ
|q � q1|3(q � q1)�
µ
|q�q2|3(q�q2)
E =
1
2
|q|2 � 1
2
|q|2 � 1� µ
|q � q1|� µ
|q � q2|= const
q = (x, y)T
µ =m2
m1 +m2Mass ratio:
S/C
(1{¹,0)
({¹,0)
q
m1
m2
・PRC3BP and Tube dynamics
Lyapunov orbit
L1, L2, L3 saddle × center
Lagrangian points
Unstable manifold
Stable manifold
L4, L5 Stable (S-E-S/C and E-M-S/C systems)
4
y
v y
Unstable manifold (S-E-S/C)
Stable manifold (E-M-S/C)
Patch point
Boundary condition(departure:low Earth orbit 169km,arrival:low lunar orbit 100km)
Transfer in the S-E rotating frame
U
yv x
Stable manifold (E-M-S/C)
Unstable manifold (S-E-S/C)
Invariant manifold on U
�VP
Coupled PRC3BS
Invariant manifold on U
Transfer
Hohmann 3.141 0.838 3.979Coupled PRC3BP [Koon et al. 2001] 3.537 1.989 0.098 5.624
�VE [km/s] �VM [km/s] �VP [km/s] �VTotal
[km/s]
4
y
v y
Unstable manifold (S-E-S/C)
Stable manifold (E-M-S/C)
Patch point
Boundary condition(departure:low Earth orbit 169km,arrival:low lunar orbit 100km)
Transfer in the S-E rotating frame
U
yv x
Stable manifold (E-M-S/C)
Unstable manifold (S-E-S/C)
Invariant manifold on U
�VP
How do we find a low energy transfer in the coupled system ?
Coupled PRC3BS
Invariant manifold on U
Transfer
Hohmann 3.141 0.838 3.979Coupled PRC3BP [Koon et al. 2001] 3.537 1.989 0.098 5.624
�VE [km/s] �VM [km/s] �VP [km/s] �VTotal
[km/s]
5
LEO:
LLO:
169 [km], 7.087 [km/s]
100 [km], 1.633 [km/s]
Approach to a problem・Use optimization algorithm for a patch point to construct a low energy transfer [Peng et al. (2010)]
・Utilize the tubes (invariant manifolds) near the LEO and LLO to obtain a low energy transfer
∆VE
∆VM
∆VP
LLO
LEO
到着軌道 (E-M-S/C系 )
Patch point
S
E
M
出発軌道 (S-E-S/C系 )
Arrival trajectory (E-M-S/C system)
Departure trajectory (S-E-S/C system)
6
y
x
L2U E
Departure trajectory
LEO
y
x
S ∆VE
E
LEO
Sun
Stable manifold
Departure point
(x, y, vx
, v
y
) = (1� µS � rLEO, 0, 0,�vLEO ��VE)
(x, y, vx
, v
y
) = (1� µS � rLEO, 0, 0,�vLEO)
Velocity : increase
Departure trajectory in the S-E-S/C system
Investigate the energy range ( range) such that an orbit is to be a non-transit orbit�VE
*maneuver uniquely gives�VE ESE
(ESE = �1.50039)
6
y
x
L2U E
Departure trajectory
LEO
y
x
S ∆VE
E
LEO
Sun
Stable manifold
Departure point
(x, y, vx
, v
y
) = (1� µS � rLEO, 0, 0,�vLEO ��VE)
(x, y, vx
, v
y
) = (1� µS � rLEO, 0, 0,�vLEO)
Velocity : increase
Departure trajectory in the S-E-S/C system
Investigate the energy range ( range) such that an orbit is to be a non-transit orbit�VE
*maneuver uniquely gives�VE ESE
ELEO = �1.53501Energy
Energy
Energy : increase
ESE
ESELEO
(ESE = �1.50039)
6
y
x
L2U E
Departure trajectory
LEO
y
x
S ∆VE
E
LEO
Sun
Initial point of departure trajectory should be outside of the stable manifold
Stable manifold
Departure point
(x, y, vx
, v
y
) = (1� µS � rLEO, 0, 0,�vLEO ��VE)
(x, y, vx
, v
y
) = (1� µS � rLEO, 0, 0,�vLEO)
Velocity : increase
Departure trajectory in the S-E-S/C system
Investigate the energy range ( range) such that an orbit is to be a non-transit orbit�VE
*maneuver uniquely gives�VE ESE
ELEO = �1.53501Energy
Energy
Energy : increase
ESE
ESELEO
(ESE = �1.50039)
7
∆VE
LEO
x
vy
vx
U
Departure trajectory in the S-E-S/C system
Stable manifold on U
Inside of stable manifold
Stable manifold
Departure
vy
vx
(ESE = �1.50039)
8
∆VE
LEO
x
vy
vx
U
Departure trajectory in the S-E-S/C system
Stable manifold
Stable manifold on U
Outside of stable manifold
Departure
vx
vy
(ESE = �1.50040)
8
∆VE
LEO
x
vy
vx
U
Departure trajectory in the S-E-S/C system
Stable manifold
Stable manifold on U
Outside of stable manifold
Departure
vx
vy
Upper limit of the energy of the departure trajectory (non-transit orbit)
EDMax
(E = �1.50040)ESED
max
(ESE = �1.50040)
9
y
x
ESun
Family of the departure trajectories (non-transit orbits) parametrized by the energy
Energy at the Lagrangian point : EL2= �1.50045L2
Upper limit of the energy : EDMax
= �1.50040
Departure trajectory in the S-E-S/C system
ESE 2 [ESEL
2
, ESED
max
]
ESEL2
ESED
max
10
U L2
x
y
M
Energy range ( range) such that an orbit is to be a transit orbit
Final point is inside of the unstable manifold
∆VM
LLO
x
y
E
M
Arrival point
LLO
(x, y, vx
, v
y
) = (1� µM � rLLO, 0, 0,�vLLO ��VM)
(x, y, vx
, v
y
) = (1� µM � rLLO, 0, 0,�vLLO)
Energy
�VM
Energy ELLO = �2.75466
Velocity and energy : decrease
Earth
Arrival trajectory in the E-M-S/C system
Unstable manifold
Arrival trajectory
*maneuver uniquely gives�VM EEM
EEM
EEMLLO
(EEM = �1.57962)
11
∆VM
LLO
x
vy
vx
U
Arrival trajectory in the E-M-S/C system
Arrival
Unstable manifold
Outside of unstable manifold
UUnstable manifold on(EEM = �1.57962)
12
x
vy
vx
U
∆VM
LLO
Arrival trajectory in the E-M-S/C system
Unstable manifold
Arrival
Inside of unstable manifold
UUnstable manifold on(EEM = �1.57961)
12
x
vy
vx
U
∆VM
LLO
Arrival trajectory in the E-M-S/C system
Unstable manifold
Arrival
Inside of unstable manifold
UUnstable manifold on(EEM = �1.57961)
Lower limit of the energy of the arrival trajectory (transit orbit)EAMin(E = �1.57961)EEM
Amin
13
y
x
E M
Energy at the Lagrangian point : EL3 = �1.50608L3
Lower limit of the energy : EAMin = �1.57961
Arrival trajectory in the E-M-S/C system
Family of the arrival trajectories (transit orbits) parametrized by the energy
EEM 2 [EEMAmin
, EEML3
]
EEMAmin
EEML3
Lunar orbit
E
M µM
x
y U
14
x
vx
vy
✓M 2 [0, 2⇡)
Arrival trajectories
Departure trajectories
✓M = 2.58030Arrival trajectory
LEO-LLO transfer
Family of the departure and arrival trajectoriesin the S-E rotating frame
Sun
(✓M = 2.58030)
*E-M-S/C system is to be non-autonomous system depending on
✓M:Relative angle
Patch section
Family of the departure and arrival trajectories on
✓M
U
Lunar orbit
E
M µM
x
y U
14
x
vx
vy
✓M 2 [0, 2⇡)
Arrival trajectories
Departure trajectories
✓M = 2.58030Arrival trajectory
Patch pointzero-maneuver
LEO-LLO transfer
Family of the departure and arrival trajectoriesin the S-E rotating frame
Sun
(✓M = 2.58030)
*E-M-S/C system is to be non-autonomous system depending on
✓M:Relative angle
Patch section
Family of the departure and arrival trajectories on
✓M
U
Lunar orbit
E
M µM
x
y U
14
x
vx
vy
✓M 2 [0, 2⇡)
Arrival trajectories
Departure trajectories
✓M = 2.58030Arrival trajectory
Patch pointzero-maneuver
Optimal transfer for a patch point with zero-maneuver
LEO-LLO transfer
Family of the departure and arrival trajectoriesin the S-E rotating frame
Sun
(✓M = 2.58030)
*E-M-S/C system is to be non-autonomous system depending on
✓M:Relative angle
Patch section
Family of the departure and arrival trajectories on
✓M
U
15
y
x
Departure point
Arrival point
Patch point
Lunar orbit
EM
y
x
Patch point
Arrival point
Departure point
EM
Transferin the S-E rotating frame
Sun
Sun
LEO-LLO transfer
Transferin the E-M rotating frame
Transfer
Hohmann 3.141 0.838 3.979Coupled PRC3BP 3.537 1.989 0.098 5.624Proposed approach 3.270 0.642 0 3.912
�VE [km/s] �VM [km/s] �VP [km/s] �VTotal
[km/s]
•We designed the transfer from the low Earth orbit (LEO) to the low lunar orbit (LLO) in the context of the coupled planar restricted 3-body system, namely, the Sun-Earth-spacecraft and Earth-Moon-spacecraft systems.
•We constructed the family of the departure trajectories (non-transit orbits) parametrized by the energy by investigating the tube near the Earth. On the other hand, the family of the arrival trajectories (transit orbits) was obtained.
•We chosen the patch point so that the families of the departure and arrival trajectories are intersected on set section, and then we designed the low energy LEO-LLO transfer. The patch point required the zero maneuver, and thus we optimized the maneuver in patching. Further, the total maneuver is 0.068 [km/s] fewer than the Hohmann transfer.
16
Conclusions
17national geographic
Thanks for your attention !