CN110304272A - Micro-nano satellite tracker and its method for tracing are assembled based on truss - Google Patents
Micro-nano satellite tracker and its method for tracing are assembled based on truss Download PDFInfo
- Publication number
- CN110304272A CN110304272A CN201910556516.7A CN201910556516A CN110304272A CN 110304272 A CN110304272 A CN 110304272A CN 201910556516 A CN201910556516 A CN 201910556516A CN 110304272 A CN110304272 A CN 110304272A
- Authority
- CN
- China
- Prior art keywords
- micro
- truss
- tracker
- seize
- nano satellite
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
-
- 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
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses include that truss migration mechanism, micro-nano satellite group and flexibility surround and seize mechanism based on truss assembly micro-nano satellite tracker and its method for tracing, tracker；The micro-nano satellite group includes multiple (N, 3≤N≤5) micro-nano satellites, and each micro-nano satellite carries Attitude and orbit control system；The truss migration mechanism includes N root truss；One end of every truss and a corresponding micro-nano satellite are hinged, and the other end of every truss is slidably connected on another micro-nano satellite, and N root truss forms the side N shape frame in the plane；Micro-nano satellite can be along the truss sliding connecting with own slip under the driving of Attitude and orbit control system；The flexibility surround and seize mechanism include it is N number of surround and seize unit, surround and seize unit and be separately positioned on corresponding truss, it is N number of surround and seize between unit formed space is surrounded and seize to Tum bling Target.The present invention eliminates its relative orbit/attitude motion between target by the movement of tracker, is finally reached opposing stationary, to the attachment of target and is connected convenient for it.
Description
Technical field
The invention belongs to spatial operation technical fields, and in particular to one kind based on truss assembly micro-nano satellite tracker and its
Method for tracing.
Background technique
Millions of space junks (Space Debris) increasingly make space environment become crowded to capacity, to active service
Spacecraft causes very big threat.Space object quantity of the diameter greater than 10 centimetres is more than 34000 at present, wherein 77% is
Space junk is distributed mainly in the orbit altitude of 600km~1000km.These space junks mainly include from spacecraft phase
It hits or the fragment, rocket Upper Stage discards, the inert satellite that are generated after disintegrating etc..Kessler effect (Kessler syndrome)
It points out, even if all Spacecraft Launchs of the mankind all stop immediately, lasting collision can also generate more and more fragments.
For large-sized space faulty target, such as inert satellite, they can restore function by in-orbit maintenance；To fire
The space junks such as arrow Upper Stage generally realize the operation that leaves the right or normal track by in-orbit arrest.But both targets are often because it is in
Tumbling state causes existing conventional scheme to be difficult to carry out and arrests operation.Mechanical arm arrests needs and carries out accurately spacecrafts rendezvous,
It is difficult to avoid that the generation of collision, and even if having carried out racemization operation to target, can not also cope with nutating speed greater than 30 °/s
Target；Although flying mesh, which is arrested, can capture nutating target, it is difficult to carry out racemization and in-orbit operation, can not make fault satellites
Resume work；Sheng Xi robot needs the problems such as eliminating winding；Harpoon scheme will obviously destroy target surface, generate secondary broken
Piece.How to handle Tum bling Target is one of research hotspot of space industry.A kind of technological means is to carry out arresting operation after racemization,
The deceleration brush racemization that the Nashida of such as JAXA is proposed, the electromagnetism racemization etc. that University of Southampton Gomez and Walker are proposed.
The shortcomings that these methods, is that, racemization mechanism and arresting agency is needed successively to work, and workflow is complicated, and the period is long, and
Need to waste more payload.
Summary of the invention
In order to reduce the operation difficulty of Tum bling Target, the invention proposes one kind to assemble micro-nano satellite tracker based on truss
And its method for tracing, the present invention are served as according to the micro-nano satellite frame structure assembled using truss is proposed towards Tum bling Target
The end effector of spatial operation task carries out movement synchronization to Tum bling Target using own, to implement the new side arrested
Case.By the movement of tracker, its relative orbit/attitude motion between target is eliminated, is finally reached opposing stationary, is convenient for
It is to the attachment of target and is connected.With lower risk of collision and higher reliability.
To achieve the above object, the present invention uses following technological means:
One kind assembling micro-nano satellite tracker based on truss, including truss migration mechanism, micro-nano satellite group and flexibility are surrounded and seize
Mechanism；
The micro-nano satellite group includes multiple (N, 3≤N≤5) micro-nano satellites, and each micro-nano satellite has migration mechanism；
The truss migration mechanism includes N root truss；One end of every truss and a corresponding micro-nano satellite are hinged,
The other end of every truss is slidably connected on another micro-nano satellite, and N root truss forms polygonal frame in the plane；Consider
To the complexity of practical set structure, structure is usually no more than pentagon, i.e. 3≤N≤5.Micro-nano satellite is in migration mechanism
Under driving, according to mechanical cooperation between the two, it can be moved along truss；
The flexibility surround and seize mechanism include it is N number of surround and seize unit, surround and seize unit and be separately positioned on corresponding truss, it is N number of to enclose
It catches to be formed between unit and space is surrounded and seize to Tum bling Target.
As a further improvement of the present invention, when N number of micro-nano satellite inwardly moves simultaneously, between polygonal frame
It is close to each other that space contraction drives N number of flexibility to surround and seize mechanism in turn.
As a further improvement of the present invention, the migration mechanism includes driving device and gear mechanism, described the purlin
Rackwork is provided on frame, driving device drives gear mechanism rotation, and gear mechanism is engaged with the rackwork.
As a further improvement of the present invention, the length of N root truss is identical.
As a further improvement of the present invention, the unit of surrounding and seize is flexible pawl.
As a further improvement of the present invention, the Mass Distribution of the Tum bling Target is flat thick shape, and lateral inertia is small
In axial inertia.
A kind of method for tracing based on truss assembly micro-nano satellite tracker, comprising the following steps:
Micro-nano satellite slides on truss, drives flexibility to surround and seize mechanism contraction, Tum bling Target is surrounded and seize polygonal frame
Between region；Micro-nano satellite relies on initial time revolving speed, and completion approaches Tum bling Target angular speed；Polygonal frame simultaneously
Also it is retracted to minimum, so that flexibility is surrounded and seize mechanism realization and Tum bling Target is surrounded and seize.
Preferably, for the biggish Tum bling Target of speed, the relative angle speed between tracker and Tum bling Target is bigger
Early period, the polygonal frame of Tum bling Target reserves sufficiently large space；It is surrounding and seize the later period, polygonal frame relies on the receipts of structure
Contracting reduces axially opposing angular speed, while attitude control system is started to work, and laterally opposed angular speed is reduced；Finally, it tracks
The tracking that device completes angular speed is synchronous, meanwhile, frame is also retracted to innermost end, and flexibility is surrounded and seize mechanism realization and surrounded and seize.
Preferably, specifically includes the following steps:
It rises before the rotation stage starts, remote track is completed approximately by Servicing spacecraft platform, tracker is put
To near target rolling axis direction；Servicing spacecraft platform identifies the kinematic parameter of target satellite by vision camera, movement
Parameter information is loaded on micro-nano satellite；
Tracker hovers along target rolling axis direction suitable distance；Attitude and orbit control system work, has completed rotation, reduction with
Angular velocity difference between target away from；The angular speed of tracker is set to reach reference angular velocities；
The tracker of supination is played slowly close to Tum bling Target, Tum bling Target is approached along straight path substantially, will finally turn over
Rolling target is enclosed among polygonized structure；
Tracker hovers near Tum bling Target, and mass center substantially overlaps, and rail control system is corrected；Polygonal frame starts to receive
Contracting, the angular speed of tracker will approach the axial angular speed of target according to reference value；Gesture stability system on micro-nano satellite simultaneously
System is adjusted, and completes the elimination of lateral angular speed, it is synchronous to carry out finer posture later；
It is surrounded and seize before mechanism encounters Tum bling Target in flexibility, tracker has had reached opposing stationary；It is surrounded and seize by flexibility
The flexible buffer of mechanism, fixes Tum bling Target；
After surrounding and seize completion, tracker utilizes the Attitude and orbit control system of itself, completes disappearing for the irregular rotary motion of combination
It removes.
Compared with prior art, advantages of the present invention are as follows:
The invention proposes micro-nano satellite frame structures, serve as the end effector of spatial operation task, and entirety has
Attitude and orbit control system is used directly for terminal and approaches to arrest.Compared to the end effector of other forms, whole controllability and
Strong operability can complete more complicated spatial operation task.The movement of tracker essentially eliminates it between target
Relative orbit/attitude motion, be finally reached it is opposing stationary, have lower risk of collision and higher reliability.For high speed
Tum bling Target low coverage, which is arrested, is easy to this problem that collides, and proposes the solution of safe and feasible.In tracker and mesh
For the relative angle speed of mark between the two than biggish early period, tracker frame has reserved sufficiently large space for it.After surrounding and seize
Phase, frame by structure contractions reduce between axially opposing angular speed, while attitude control system start to work, reduction
Laterally opposed angular speed.Finally, the tracking that tracker completes angular speed synchronizes, meanwhile, frame is also retracted to innermost end, makes to grab
Catching can safely realize with fixed mechanism and surround and seize.The present invention takes full advantage of the power that structure both shrinks arrest terminal operation
Effect is learned, the energy consumption for gesture stability can be reduced to a certain degree.3,4 stages of tracing scheme, it is contemplated that structure is received
The kinetic effect to contract for tracker can make it consistent with the angular speed of target well before shrinking completion, surrounding and seize.
Further, movement is engaged using simple gear & rack structure, enables micro-nano satellite sliding on truss
It is dynamic.The structure is simply easily achieved, and cooperates accurate, is enabled and is arrested unit and quickly arrest.
When handling the maintainable technology on-orbit task of Tum bling Target out of control, even more there are other methods to be difficult to the advantage reached.By
It is relatively stationary in tracker and target, the probability and impact degree collided between the two is very low；Thus triangle
Frame can be fixed to target surface by buffer gear or flexible break catching apparatus well, be convenient for the in-orbit clothes of further progress
Business.For the failure spacecraft that can not be repaired, racemization can be carried out by tracker frame, then Servicing spacecraft platform is transferred to carry out
Leave the right or normal track operation；For normal spacecraft out of control, can tentatively be controlled by tracker frame, it is flat convenient for Servicing spacecraft
Platform carries out part replacement and maintenance.
Detailed description of the invention
Fig. 1 is that the present invention is based on truss to assemble micro-nano satellite tracker schematic diagram (triangular structure)；
Fig. 2 is that the present invention is based on truss to assemble micro-nano satellite tracker schematic diagram (pentagon structure)；
Fig. 3 is that the present invention is based on truss assembly micro-nano satellite tracker triangular structures to shrink general process schematic；
Fig. 4 is that the present invention is based on truss assembly micro-nano satellite tracker square structures to shrink general process schematic；
Fig. 5 is the tracker schematic diagram of one embodiment of the invention；
Fig. 6 is that the tracker of the embodiment of Fig. 5 shrinks general process schematic；
Fig. 7 is that the present invention is based on truss to assemble micro-nano satellite tracker method for tracing state procedure figure；
Wherein: 1, micro-nano satellite；2, truss；3, Tum bling Target；4, unit is surrounded and seize.
Specific embodiment
Below in conjunction with attached drawing and example, the present invention is described in further detail:
As shown in Figures 1 to 4, of the invention to assemble micro-nano satellite tracker based on truss, overall structure is polygonal frame,
Polygonal frame structure mainly implements in-orbit assembly by Servicing spacecraft, and truss migration mechanism, micro-nano satellite, flexibility are surrounded and seize machine
Structure etc. assembles.Polygon can be triangle (Fig. 1), quadrangle (Fig. 4), pentagon (Fig. 2) etc., it is contemplated that practical dress
The complexity of distribution structure, structure are usually no more than pentagon, i.e. 3≤N≤5.It is square since triangular structure stability is preferable
Shape Standard is simple and easy, so ordinary priority uses both assembling structures.
It should include that truss migration mechanism, micro-nano satellite group and flexibility surround and seize machine based on truss assembly micro-nano satellite tracker
Structure；
The micro-nano satellite group includes N number of micro-nano satellite 1, and each micro-nano satellite 1 has migration mechanism；
The truss migration mechanism includes N root truss 2；It is cut with scissors with a corresponding micro-nano satellite 1 one end of every truss 2
It connects, the other end of every truss 2 is slidably connected on another micro-nano satellite 1, and N root truss 2 forms polygon frame in the plane
Frame；Micro-nano satellite 1, according to mechanical cooperation between the two, can move under the driving of migration mechanism along truss 2；
The flexibility surround and seize mechanism include it is N number of surround and seize unit 4, N number of unit 4 of surrounding and seize is separately positioned on N root truss 2, N
It is a surround and seize between unit 4 formed space is surrounded and seize to Tum bling Target 3.
Wherein, micro-nano satellite 1 carries Attitude and orbit control system and migration mechanism, it can be slided on a truss 2, cuts with scissors simultaneously
It connects in the end of another truss 2.When the slid inward on first truss 2 of micro-nano satellite 1, drive another truss 1 to
Interior movement；When N number of micro-nano satellite 1 inwardly moves simultaneously, polygonal frame structure both shrinks.
As shown in Figure 1, tracker proposed by the present invention integrally can be a plane triangle truss structure.Such as Fig. 4 institute
Show, tracker proposed by the present invention is integrally also possible to a plane square truss structure.Micro-nano satellite 1 borrows migration mechanism
Cooperation between truss moves on truss 2, drives flexibility to surround and seize mechanism contraction, Tum bling Target is surrounded and seize structural framing
Between region.
The substantially thinking for surrounding and seize scheme is as follows:
Before and after structure both shrinks, as long as initial time tracker has an angular speed, according to the law of conservation of angular momentum, rotation is used
Amount reduces, and angular speed will will increase.To not need tracker and disappear on active attitude control for high speed spin target
Consume too many energy, so that it may by a lesser revolving speed of initial time, successfully complete approaching for angular speed.
Wherein, micro-nano satellite carries Attitude and orbit control system, 6 freedom being mainly performed integrally to tracker in terminal approximate procedure
Degree control.2 stages are approached by playing rotation and mass center, the relative motion of tracker and target is reduced.
The migration organisation operations of micro-nano satellite drive celestial body to move on truss, and polygonal frame is shunk or expansion.Migration
There is lines between mechanism and truss, high-precision matching relationship may be implemented, realized substantially according to rack-and-pinion mode.Celestial body
When inwardly moving on truss, flexibility is surrounded and seize mechanism and is internally moved, and is gradually reduced with target spacing.Finally Tum bling Target is enclosed
To the region between structural framing, surrounded and seize by the implementation of flexible arresting agency.
By preceding 3 stages for the scheme of surrounding and seize, tracker and target are almost opposing stationary.It is enclosed for the realization of flexible arresting agency
It catches, provides good basic condition, convenient for further realizing the attachment to target and being connected.
In view of the resemblance of tracker, general manageable Tum bling Target Mass Distribution is flat thick shape, i.e., laterally
Inertia is less than axial inertia.
Embodiment
As shown in Figure 5 and Figure 6, there is embodiment for the present invention is a kind of (by taking triangle as an example).
Of the invention assembles micro-nano satellite tracker based on truss, and overall structure is triangular framing, triangular framing knot
Structure mainly implements in-orbit assembly by Servicing spacecraft, truss migration mechanism, micro-nano satellite, flexibility surround and seize mechanism etc. assembling and
At.
Wherein, micro-nano satellite 1 carries Attitude and orbit control system and migration mechanism, it can be slided on a truss 2, cuts with scissors simultaneously
It connects in the end of another truss 2.When the slid inward on first truss 2 of micro-nano satellite 1, drive another truss 1 to
Interior movement；When three micro-nano satellites 1 inwardly move simultaneously, triangular frame structure is shunk.
The migration mechanism includes driving device and gear mechanism, and described obtain is provided with rackwork on truss 2, drives
Device drives gear mechanism rotation, and gear mechanism is engaged with the rackwork enables micro-nano satellite 1 sliding on truss 2
It is dynamic.
Described surrounds and seize unit 4 as flexible pawl.
As shown in figure 5, tracker proposed by the present invention is integrally a plane triangle truss structure.Micro-nano satellite 1 is borrowed
It with the cooperation between migration mechanism and truss, is moved on truss 2, drives flexibility to surround and seize mechanism contraction, Tum bling Target is surrounded and seize
To the region between structural framing.
The present invention also provides a kind of method for tracing based on truss assembly micro-nano satellite tracker, and tracker is for target
The synchronous process of movement, 5 stages such as corresponding flow of task has been divided into rotation, appearance rail approaches, structure both shrinks, surround and seize, racemization.
As shown in fig. 7, wherein T represents complex, C represents tracker system:
It rises before the rotation stage starts, remote track is completed approximately by Servicing spacecraft platform, tracker is put
To near target rolling axis direction.Servicing spacecraft platform identifies the kinematic parameter of target satellite, such as angle by vision camera
For the relative position of target satellite, these information are loaded onto target satellite, are implemented by it into one for velocity information and tracking astrology
Step is arrested and is operated.Under the premise of all can preferably complete in these stages, the angular velocity information of space junk and turn
Dynamic inertia parameter is known.
1. rotation
This stage, tracker hover along target rolling axis direction certain distance.Attitude and orbit control system work, is completed
Rotation, reduce and target between angular velocity difference away from.So that the angular speed of tracker is reached reference angular velocities, is shunk convenient for subsequent structural
Shi Zengjia absolute angular velocities.
2. mass center approaches
The tracker of supination is played slowly close to passive space vehicle, target is approached along straight path substantially, finally by target
It is enclosed among polygonized structure.The stage is since tracker is spin motion, so having certain attitude stability, rail
It is excessive that road control not will lead to attitude misalignment.
3. structure both shrinks
This stage celestial body will hover over target proximity, and mass center substantially overlaps, and rail control system is corrected.Frame is shunk, and is chased after
The angular speed of track device will approach the axial angular speed of target according to reference value.It is adjusted with the attitude control system on clock star,
The elimination for completing lateral angular speed, it is synchronous can to carry out finer posture later.
4. surrounding and seize
It is surrounded and seize before mechanism encounters Tum bling Target in flexibility, tracker has had reached the opposing stationary of 6DOF.By
Flexibility surrounds and seize the flexible buffer of mechanism, impact can be effectively reduced, and fix space junk well.
It a little requires if surrounding and seize process to arresting, this stage is synchronous it is still necessary to carry out posture；If rely solely on surround and seize it is more
The clamping force that side shape inwardly moves, then do not need to carry out that posture is synchronous, but this means towards target can only be rule
Cylindrical body, such as rocket Upper Stage.
5. racemization
After surrounding and seize completion, it is believed that starlet and fragment have been combined as an entirety.Thus one, it is difficult to the rolling of operation
Target, which is provided with, arrests a little, operates convenient for external operating mechanism.Certainly, tracker frame also can use the rail control of itself
System completes the elimination of the irregular rotary motion of combination, provides for further space maintenance and in-orbit service necessary good
Good basis.
Scheme proposed by the invention even more has other methods when handling the maintainable technology on-orbit task of Tum bling Target out of control
It is difficult to the advantage reached.Since tracker and target are relatively stationary, the probability and impact degree collided between the two is
It is very low；Thus polygonal frame can be fixed to target surface by buffer gear or flexible break catching apparatus well, be convenient for
Further progress in-orbit service.For the failure spacecraft that can not be repaired, racemization can be carried out by tracker frame, then transfer to take
Business spacecraft platform carries out the operation that leaves the right or normal track；For normal spacecraft out of control, can tentatively be controlled by tracker frame,
Part replacement and maintenance are carried out convenient for Servicing spacecraft platform.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
A specific embodiment of the invention is only limitted to this, for those of ordinary skill in the art to which the present invention belongs, is not taking off
Under the premise of from present inventive concept, several simple deduction or replace can also be made, all shall be regarded as belonging to the present invention by institute
Claims of submission determine scope of patent protection.
Claims (10)
1. one kind based on truss assemble micro-nano satellite tracker, which is characterized in that including truss migration mechanism, micro-nano satellite group and
Flexibility surrounds and seize mechanism；
The micro-nano satellite group includes N number of micro-nano satellite (1), and each micro-nano satellite (1) has migration mechanism, N >=3；
The truss migration mechanism includes N root truss (2)；One end of every truss (2) and a corresponding micro-nano satellite (1)
Hingedly, the other end of every truss (2) is slidably connected on another micro-nano satellite (1), and N root truss (2) is formed in the plane
Polygonal frame；Micro-nano satellite (1), can be along purlin according to mechanical cooperation between the two under the driving of migration mechanism
Frame (2) movement；
The flexibility surround and seize mechanism include it is N number of surround and seize unit (4), N number of unit (4) of surrounding and seize is separately positioned on corresponding truss
(2) on, it is N number of surround and seize between unit (4) formed space is surrounded and seize to Tum bling Target (3).
2. according to claim 1 a kind of based on truss assembly micro-nano satellite tracker, which is characterized in that 3≤N≤5.
3. according to claim 1 a kind of based on truss assembly micro-nano satellite tracker, which is characterized in that N number of described micro-
When Nano satellite (1) inwardly moves simultaneously, the space contraction between polygonal frame drives N number of flexibility to surround and seize mechanism and mutually leans in turn
Closely.
4. according to claim 1 a kind of based on truss assembly micro-nano satellite tracker, which is characterized in that the migration
Mechanism includes driving device and gear mechanism, and described obtain is provided with rackwork on truss (2), driving device drives gear mechanism
Rotation, gear mechanism are engaged with the rackwork.
5. according to claim 1 a kind of based on truss assembly micro-nano satellite tracker, which is characterized in that N root truss (2)
Length it is identical.
6. according to claim 1 a kind of based on truss assembly micro-nano satellite tracker, which is characterized in that described surrounds and seize
Unit (4) is flexible pawl.
7. according to claim 1 a kind of based on truss assembly micro-nano satellite tracker, which is characterized in that the rolling
The Mass Distribution of target (3) is flat thick shape, and lateral inertia is less than axial inertia.
8. as described in claim 1 based on truss assembly micro-nano satellite tracker method for tracing, which is characterized in that including with
Lower step:
Micro-nano satellite (1) slides on truss (2), drives flexibility to surround and seize mechanism contraction, Tum bling Target (3) is surrounded and seize polygon
Region between frame；Micro-nano satellite (1) relies on initial time revolving speed, and completion approaches Tum bling Target (3) angular speed；Simultaneously
Polygonal frame is also retracted to minimum, so that flexibility is surrounded and seize mechanism realization and surrounds and seize to Tum bling Target.
9. the method for tracing as claimed in claim 8 based on truss assembly micro-nano satellite tracker, which is characterized in that for speed
Spend biggish Tum bling Target, the relative angle speed between tracker and Tum bling Target than biggish early period, Tum bling Target it is polygon
Shape frame reserves sufficiently large space；It is surrounding and seize the later period, polygonal frame reduces axially opposing angle speed by the contraction of structure
Degree, while attitude control system is started to work, and laterally opposed angular speed is reduced；Finally, tracker completes the tracking of angular speed
It is synchronous, meanwhile, frame is also retracted to innermost end, and flexibility is surrounded and seize mechanism realization and surrounded and seize.
10. the method for tracing as claimed in claim 8 based on truss assembly micro-nano satellite tracker, which is characterized in that specific
The following steps are included:
It rises before the rotation stage starts, remote track is completed approximately by Servicing spacecraft platform, tracker is placed to mesh
Near mark rolling axis direction；Servicing spacecraft platform identifies the kinematic parameter of target satellite, kinematic parameter by vision camera
Information is loaded on micro-nano satellite (1)；
Tracker hovers along target rolling axis direction suitable distance；Rotation, reduction and target have been completed in Attitude and orbit control system work
Between angular velocity difference away from；The angular speed of tracker is set to reach reference angular velocities；
The tracker of supination is played slowly close to Tum bling Target (3), approaches Tum bling Target (3) along straight path substantially, finally will
Tum bling Target (3) is enclosed among polygonized structure；
Tracker hovers near Tum bling Target (3), and mass center substantially overlaps, and rail control system is corrected；Polygonal frame starts to receive
Contracting, the angular speed of tracker will approach the axial angular speed of target according to reference value；Gesture stability on micro-nano satellite (1) simultaneously
System is adjusted, and completes the elimination of lateral angular speed, it is synchronous to carry out finer posture later；
It is surrounded and seize before mechanism encounters Tum bling Target (3) in flexibility, tracker has had reached opposing stationary；Machine is surrounded and seize by flexibility
The flexible buffer of structure fixes Tum bling Target (3)；
After surrounding and seize completion, tracker utilizes the Attitude and orbit control system of itself, completes the elimination of the irregular rotary motion of combination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910556516.7A CN110304272B (en) | 2019-06-25 | 2019-06-25 | Micro-nano satellite tracker based on truss assembly and tracking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910556516.7A CN110304272B (en) | 2019-06-25 | 2019-06-25 | Micro-nano satellite tracker based on truss assembly and tracking method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110304272A true CN110304272A (en) | 2019-10-08 |
| CN110304272B CN110304272B (en) | 2020-09-11 |
Family
ID=68076316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910556516.7A Active CN110304272B (en) | 2019-06-25 | 2019-06-25 | Micro-nano satellite tracker based on truss assembly and tracking method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110304272B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110807248A (en) * | 2019-10-15 | 2020-02-18 | 西北工业大学 | Grouping judgment method for spacecraft cluster |
| CN110844121A (en) * | 2019-10-22 | 2020-02-28 | 西北工业大学深圳研究院 | Cooperative game control method for cooperative transportation of on-orbit assembly spacecraft |
| CN111169661A (en) * | 2020-02-04 | 2020-05-19 | 西北工业大学 | Can be used to flexible rope net's cooperative winding and unwinding devices |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120228435A1 (en) * | 2011-03-09 | 2012-09-13 | Raytheon Company | Methods and apparatus for a grappling device |
| US20150021440A1 (en) * | 2009-12-16 | 2015-01-22 | Daniel W. Allen | Debris management system and method of operation thereof |
| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
| CN107150818A (en) * | 2017-03-21 | 2017-09-12 | 北京理工大学 | A kind of space junk based on flexible technology and oriented film panel removes towing sail |
| CN107264846A (en) * | 2017-06-06 | 2017-10-20 | 西北工业大学 | Graphene film parcel space junk cleaning plant and method based on Lorentz force |
| CN108974396A (en) * | 2018-08-02 | 2018-12-11 | 西北工业大学 | The fault-tolerant break catching apparatus of more finger envelop-types and method of space-oriented rolling faulty target |
-
2019
- 2019-06-25 CN CN201910556516.7A patent/CN110304272B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150021440A1 (en) * | 2009-12-16 | 2015-01-22 | Daniel W. Allen | Debris management system and method of operation thereof |
| US20120228435A1 (en) * | 2011-03-09 | 2012-09-13 | Raytheon Company | Methods and apparatus for a grappling device |
| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
| CN107150818A (en) * | 2017-03-21 | 2017-09-12 | 北京理工大学 | A kind of space junk based on flexible technology and oriented film panel removes towing sail |
| CN107264846A (en) * | 2017-06-06 | 2017-10-20 | 西北工业大学 | Graphene film parcel space junk cleaning plant and method based on Lorentz force |
| CN108974396A (en) * | 2018-08-02 | 2018-12-11 | 西北工业大学 | The fault-tolerant break catching apparatus of more finger envelop-types and method of space-oriented rolling faulty target |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110807248A (en) * | 2019-10-15 | 2020-02-18 | 西北工业大学 | Grouping judgment method for spacecraft cluster |
| CN110807248B (en) * | 2019-10-15 | 2021-11-02 | 西北工业大学 | Grouping judgment method for spacecraft cluster |
| CN110844121A (en) * | 2019-10-22 | 2020-02-28 | 西北工业大学深圳研究院 | Cooperative game control method for cooperative transportation of on-orbit assembly spacecraft |
| CN110844121B (en) * | 2019-10-22 | 2022-07-12 | 西北工业大学深圳研究院 | Cooperative game control method for cooperative transportation of on-orbit assembly spacecraft |
| CN111169661A (en) * | 2020-02-04 | 2020-05-19 | 西北工业大学 | Can be used to flexible rope net's cooperative winding and unwinding devices |
| CN111169661B (en) * | 2020-02-04 | 2022-10-14 | 西北工业大学 | Can be used to flexible rope net's cooperative winding and unwinding devices |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110304272B (en) | 2020-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110304272A (en) | Micro-nano satellite tracker and its method for tracing are assembled based on truss | |
| JP6473960B2 (en) | Space debris orbital descent method, orbital descent system, and satellite orbit conversion method, orbit conversion system | |
| CN106809405B (en) | A kind of primary and secondary star space junk removes platform and sweep-out method | |
| RU2678392C2 (en) | Device for space use, debris removal system and debris removal method | |
| CN107600463B (en) | A kind of agility small satellite attitude fast reserve control method | |
| CN106628275A (en) | Space rapid rotation fragment despun capture system based on double-tethered satellite | |
| CN109250156A (en) | A kind of space non-cooperative target electromagnetic eddy racemization break catching apparatus and method | |
| CN109969433A (en) | Space debris batch removing system based on low-earth orbit satellite | |
| CN106467178A (en) | The quick racemization of antenna adhesive large scale space non-cooperative target processes bag | |
| CN110040264A (en) | Integrated apparatus is arrested in a kind of racemization | |
| CN109279050B (en) | Modular solar sail assembling and reconstructing space-based debris removing platform and method | |
| CN110217411B (en) | Space debris racemization method based on space folding mechanical arm | |
| CN110450990A (en) | Space non-cooperative target capture systems and catching method based on micro-nano satellite cluster | |
| JPH11157497A (en) | Spacecraft and orbital service system therewith | |
| CN110254755A (en) | Space debris removing device and method and space debris maintenance method | |
| Xu et al. | A space robotic system used for on-orbit servicing in the geostationary orbit | |
| CN113148245B (en) | End effector capable of repeatedly grabbing large space debris | |
| CN106428653A (en) | Vacant debris designated orbit clearing installation and applying method | |
| CN109466807B (en) | Ball type guiding damping mechanism suitable for high-orbit satellite universal taper rod capturing mechanism | |
| RU2679498C1 (en) | Method for removing space debris from near-earth environment | |
| CN109094819A (en) | Spacecraft is controlled to reenter design method of settling in an area | |
| JP2802130B2 (en) | Orbit change method and orbit change device for artificial satellite | |
| CN112078836B (en) | Large inflatable flexible despinning device and method | |
| EP3630605A1 (en) | Apparatus and method for interaction with a fluid | |
| Gregory et al. | Characterization of Semi-Autonomous On-Orbit Assembly CubeSat Constellation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |