CN110304272B - Micro-nano satellite tracker based on truss assembly and tracking method thereof - Google Patents
Micro-nano satellite tracker based on truss assembly and tracking method thereof Download PDFInfo
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- CN110304272B CN110304272B CN201910556516.7A CN201910556516A CN110304272B CN 110304272 B CN110304272 B CN 110304272B CN 201910556516 A CN201910556516 A CN 201910556516A CN 110304272 B CN110304272 B CN 110304272B
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Abstract
The invention discloses a truss assembly-based micro-nano satellite tracker and a tracking method thereof, wherein the tracker comprises a truss walking mechanism, a micro-nano satellite group and a flexible enclosure mechanism; the micro-nano satellite group comprises a plurality of (N,3 is less than or equal to N and less than or equal to 5) micro-nano satellites, and each micro-nano satellite is provided with an attitude and orbit control system; the truss walking mechanism comprises N trusses; one end of each truss is hinged with a corresponding micro-nano satellite, the other end of each truss is connected to another micro-nano satellite in a sliding mode, and N trusses form an N-shaped framework on the plane; the micro-nano satellite can slide along the truss which is in sliding connection with the micro-nano satellite under the driving of the attitude and orbit control system; the flexible enclosing mechanism comprises N enclosing units, the enclosing units are respectively arranged on corresponding trusses, and an enclosing space for the overturning target is formed between the N enclosing units. The invention eliminates the relative orbit/posture movement between the tracker and the target through the movement of the tracker, finally achieves relative stillness, and is convenient for the attachment and the fixed connection of the tracker to the target.
Description
Technical Field
The invention belongs to the technical field of space operation, and particularly relates to a micro-nano satellite tracker based on truss assembly and a tracking method thereof.
Background
Millions of Space shards (Space Debris) are increasingly causing the Space environment to become crowded, posing a significant threat to active spacecraft. At present, the number of space objects with the diameter of more than 10 centimeters exceeds 34000, wherein 77 percent of the space objects are space debris and are mainly distributed on the track height of 600km to 1000 km. These space debris mainly include debris from collision or disintegration of the spacecraft, rocket upper level jettisons, failed satellites, and the like. The Kessler effect (Kessler syndrome) states that even if all spacecraft launches of humans stop immediately, continued collisions produce more and more debris.
For large-size space failure targets, such as failure satellites, the large-size space failure targets can be recovered through on-orbit maintenance; the off-orbit operation is generally realized by on-orbit capture for space debris at the upper level of the rocket. However, both of these objectives tend to be in a roll over condition, making it difficult for existing conventional solutions to perform the capture operation. The mechanical arm is required to be caught and accurately intersected and butted, so that the collision is difficult to avoid, and even if the rotation eliminating operation is carried out on the target, the target with the nutation speed of more than 30 degrees/s cannot be met; although the flying net capture can capture nutation targets, the flying net capture is difficult to carry out despin and on-orbit operation and cannot enable failed satellites to work again; the rope-tied robot needs to eliminate the problems of winding and the like; the harpoon solution apparently destroys the target surface, producing secondary debris. How to deal with the tumbling object is one of the research hotspots in the aerospace field. One technique is to perform a capture operation after racemization, such as deceleration brush racemization as proposed by Nashida of JAXA, electromagnetic racemization as proposed by Gomez and Walker of the university of south ampton, and the like. The disadvantages of these methods are that the rotation eliminating mechanism and the capturing mechanism are required to work in sequence, the work flow is complex, the period is long, and more effective loads need to be wasted.
Disclosure of Invention
The invention provides a truss assembly-based micro-nano satellite tracker and a tracking method thereof in order to reduce the operation difficulty of a rolling target. Through the movement of the tracker, the relative orbit/attitude movement between the tracker and the target is eliminated, and finally the relative stillness is achieved, so that the attachment and the fixation of the tracker to the target are facilitated. Has lower collision risk and higher reliability.
In order to achieve the purpose, the invention adopts the following technical means:
a micro-nano satellite tracker based on truss assembly comprises a truss walking mechanism, a micro-nano satellite group and a flexible surrounding and capturing mechanism;
the micro-nano satellite group comprises a plurality of (N,3 is less than or equal to N and less than or equal to 5) micro-nano satellites, and each micro-nano satellite is provided with a walking mechanism;
the truss walking mechanism comprises N trusses; one end of each truss is hinged with a corresponding micro-nano satellite, the other end of each truss is connected to another micro-nano satellite in a sliding mode, and the N trusses form a polygonal frame on the plane; considering the complexity of the actual assembly structure, the structure does not exceed a pentagon generally, namely N is more than or equal to 3 and less than or equal to 5. The micro-nano satellite can move along the truss according to the mechanical matching relationship between the micro-nano satellite and the traveling mechanism under the driving of the traveling mechanism;
the flexible enclosing mechanism comprises N enclosing units, the enclosing units are respectively arranged on corresponding trusses, and an enclosing space for the overturning target is formed between the N enclosing units.
As a further improvement of the invention, when the N micro/nano satellites move inwards at the same time, the space between the polygonal frames contracts to drive the N flexible capturing mechanisms to approach each other.
As a further improvement of the invention, the walking mechanism comprises a driving device and a gear mechanism, wherein the truss is provided with a rack mechanism, the driving device drives the gear mechanism to rotate, and the gear mechanism is meshed with the rack mechanism.
As a further improvement of the invention, the lengths of the N trusses are the same.
As a further improvement of the invention, the enclosure unit is a flexible claw.
As a further improvement of the invention, the mass distribution of the tumbling object is flat and thick, and the transverse inertia of the tumbling object is smaller than the axial inertia.
A tracking method based on a truss assembly micro-nano satellite tracker comprises the following steps:
the micro-nano satellite slides on the truss to drive the flexible enclosing mechanism to contract, and the rolling target is enclosed and captured to the area between the polygonal frames; the micro-nano satellite completes the approximation of the angular speed of the rolling target by means of the rotating speed at the initial moment; meanwhile, the polygonal frame is also contracted to the minimum, so that the flexible enclosing mechanism can enclose the rolling target.
Preferably, for a rolling target with a large speed, a large enough space is reserved in a polygonal frame of the rolling target at the early stage when the relative angular speed between the tracker and the rolling target is large; in the later stage of enclosure capture, the polygonal frame reduces the axial relative angular velocity by virtue of the shrinkage of the structure, and meanwhile, the attitude control system starts to work to reduce the transverse relative angular velocity; finally, the tracker completes the tracking synchronization of the angular speed, meanwhile, the frame also contracts to the innermost end, and the flexible enclosure mechanism realizes the enclosure.
Preferably, the method specifically comprises the following steps:
before the starting stage, the serving spacecraft platform completes the approximate approach of a long-distance orbit, and the tracker is placed near the direction of a target turning shaft; the service spacecraft platform identifies the motion parameters of the target satellite through a vision camera, and the motion parameter information is loaded to the micro-nano satellite;
the tracker hovers along the direction of the target turning shaft at a proper distance; the attitude and orbit control system works to finish rotation and reduce the angular speed difference between the attitude and orbit control system and a target; bringing the angular velocity of the tracker to a reference angular velocity;
the revolved tracker slowly approaches to the rolling target, basically approaches to the rolling target along a linear track, and finally surrounds the rolling target in the middle of the polygonal structure;
the tracker is suspended near the rolling target, the mass centers are approximately overlapped, and the track control system corrects the mass centers; the polygon frame begins to shrink, and the angular speed of the tracker approaches the axial angular speed of the target according to the reference value; meanwhile, an attitude control system on the micro-nano satellite is adjusted to eliminate the transverse angular velocity, and then more fine attitude synchronization is carried out;
the tracker has reached relative rest before the flexible containment mechanism hits the tumbling target; fixing the rolling target by means of flexible buffering of the flexible enclosing mechanism;
after the enclosure is finished, the tracker completes the elimination of the irregular rotation motion of the combination body by utilizing a posture and orbit control system of the tracker.
Compared with the prior art, the invention has the advantages that:
the invention provides a micro-nano satellite frame structure serving as a terminal actuator of a space operation task, which is integrally provided with an attitude and orbit control system and can be directly used for terminal approaching capture. Compared with other forms of terminal actuators, the integrated controllability and operability are strong, and more complex space operation tasks can be completed. The movement of the tracker substantially eliminates relative orbital/attitude motion between it and the target, eventually reaching relative rest with a lower risk of collision and higher reliability. Aiming at the problem that the high-speed rolling target is easy to collide when being caught in a short distance, a safe and feasible solution is provided. The tracker frame reserves sufficient space for the tracker to have a relative angular velocity between the tracker and the target large. In the later stage of enclosure capture, the frame reduces the axial relative angular velocity by virtue of the shrinkage of the structure, and simultaneously the attitude control system starts to work to reduce the transverse relative angular velocity. Finally, the tracker completes the tracking synchronization of the angular speed, and meanwhile, the frame is also contracted to the innermost end, so that the capturing and fixing mechanism can safely realize the capturing. The invention fully utilizes the dynamic effect of the structure shrinkage on the terminal capture operation, and can reduce the energy consumption for attitude control to a certain extent. In stages 3 and 4 of the tracking scheme, the dynamic influence of the structure contraction on the tracker is considered, and the structure contraction can be well consistent with the angular speed of the target before the contraction is completed and the enclosure is captured.
Furthermore, a simple gear and rack structure is adopted for meshing motion, so that the micro-nano satellite can slide on the truss. The catching unit is simple in structure, easy to realize and accurate in matching, and the catching unit can catch quickly.
The method has the advantages that other methods are difficult to achieve when the on-orbit maintenance task of the uncontrolled rolling target is processed. Since the tracker and the target are relatively stationary, the probability of collision between the two and the degree of impact is low; the triangular frame can thus be well secured to the target surface by means of a buffer mechanism or flexible catch means, facilitating further on-orbit service. For a failed spacecraft which cannot be maintained, despinning can be carried out by the tracker frame, and then the spacecraft is delivered to a service spacecraft platform to carry out off-orbit operation; aiming at the out-of-control normal spacecraft, the initial control can be carried out by means of the tracker frame, so that the spacecraft platform can be conveniently served to carry out part replacement and maintenance.
Drawings
FIG. 1 is a schematic diagram (triangular structure) of a micro-nano satellite tracker based on truss assembly according to the invention;
FIG. 2 is a schematic diagram (pentagonal structure) of a micro-nano satellite tracker based on truss assembly according to the invention;
FIG. 3 is a schematic diagram of a triangular structure contraction process of a micro-nano satellite tracker based on truss assembly according to the invention;
FIG. 4 is a schematic diagram of a contraction process of a square structure of a micro-nano satellite tracker based on truss assembly according to the invention;
FIG. 5 is a schematic diagram of a tracker according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the tracker shrink profile of the embodiment of FIG. 5;
FIG. 7 is a state process diagram of a tracking method of a micro-nano satellite tracker based on truss assembly according to the invention;
wherein: 1. micro/nano satellite; 2. a truss; 3. rolling the target; 4. and an enclosing unit.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples:
as shown in fig. 1 to 4, the micro-nano satellite tracker based on truss assembly has an overall structure of a polygonal frame, and the polygonal frame structure is mainly formed by assembling a truss walking mechanism, a micro-nano satellite, a flexible trapping mechanism and the like by performing in-orbit assembly on a service spacecraft. The polygon can be a triangle (figure 1), a quadrangle (figure 4), a pentagon (figure 2) and the like, and the structure does not exceed the pentagon in general in consideration of the complexity of the actual assembly structure, namely, N is more than or equal to 3 and less than or equal to 5. Because the triangular structure has better stability and the square structure is simple and easy to assemble, the two assembling structures are preferably adopted generally.
The micro-nano satellite tracker based on truss assembly comprises a truss walking mechanism, a micro-nano satellite group and a flexible surrounding mechanism;
the micro-nano satellite group comprises N micro-nano satellites 1, and each micro-nano satellite 1 is provided with a walking mechanism;
the truss walking mechanism comprises N trusses 2; one end of each truss 2 is hinged with a corresponding micro-nano satellite 1, the other end of each truss 2 is connected to another micro-nano satellite 1 in a sliding mode, and the N trusses 2 form a polygonal frame on a plane; the micro-nano satellite 1 can move along the truss 2 according to the mechanical matching relationship between the micro-nano satellite and the traveling mechanism under the driving of the traveling mechanism;
the flexible enclosing mechanism comprises N enclosing units 4, the N enclosing units 4 are respectively arranged on the N trusses 2, and an enclosing space for the overturning target 3 is formed among the N enclosing units 4.
The micro-nano satellite 1 is provided with an attitude and orbit control system and a walking mechanism, can slide on one truss 2, and is hinged at the tail end of the other truss 2. When the micro-nano satellite 1 slides inwards on the first truss 2, the other truss 1 is driven to move inwards; when the N micro/nano satellites 1 move inwards at the same time, the polygonal frame structure contracts.
As shown in fig. 1, the entire tracker of the present invention may be a planar triangular truss structure. As shown in fig. 4, the whole tracker of the present invention may also be a planar square truss structure. The micro-nano satellite 1 moves on the truss 2 by virtue of the matching between the walking mechanism and the truss, drives the flexible enclosing mechanism to contract, and encloses and traps the rolling target to the area between the structural frames.
The general idea of the enclosure scheme is as follows:
before and after the structure shrinks, as long as the tracker has an angular velocity at the initial moment, according to the law of conservation of angular momentum, the moment of inertia is reduced, and the angular velocity is increased. Therefore, for the high-speed spinning target, the approach of the angular speed can be successfully completed by virtue of a smaller rotating speed at the initial moment without consuming too much energy on the active attitude control of the tracker.
The micro-nano satellite attitude and orbit control system is mainly used for integrally completing 6-degree-of-freedom control on the tracker in the terminal approaching process. The relative motion of the tracker to the target is reduced by approaching 2 stages with spin-up and centroid.
The walking mechanism of the micro-nano satellite operates to drive the star body to move on the truss, and the polygonal frame contracts or expands. The walking mechanism and the truss are provided with grains, so that the high-precision matching relation can be realized, and the walking mechanism is realized roughly in a gear and rack mode. When the star body moves inwards on the truss, the flexible enclosure mechanism moves inwards, and the distance between the flexible enclosure mechanism and the target is gradually reduced. Finally, the tumbling object is enclosed in the area between the structural frames, and the enclosure is implemented by a flexible capture mechanism.
Through the first 3 stages of the acquisition regime, the tracker and target are almost stationary. The flexible capturing mechanism is used for realizing the surrounding capturing, good basic conditions are provided, and the target can be conveniently and further attached and fixedly connected.
Considering the shape characteristics of the tracker, the mass distribution of the tumbling object which can be processed generally is flat and thick, i.e. the transverse inertia is smaller than the axial inertia.
Examples
As shown in fig. 5 and 6, an embodiment of the present invention (taking a triangle as an example) is shown.
The micro-nano satellite tracker based on truss assembly is of a triangular frame in the whole structure, and the triangular frame structure is mainly formed by assembling a truss walking mechanism, a micro-nano satellite, a flexible trapping mechanism and the like by implementing on-orbit assembly of a service spacecraft.
The micro-nano satellite 1 is provided with an attitude and orbit control system and a walking mechanism, can slide on one truss 2, and is hinged at the tail end of the other truss 2. When the micro-nano satellite 1 slides inwards on the first truss 2, the other truss 1 is driven to move inwards; when the three micro-nano satellites 1 move inwards at the same time, the triangular frame structure contracts.
The walking mechanism comprises a driving device and a gear mechanism, wherein a rack mechanism is arranged on the truss 2, the driving device drives the gear mechanism to rotate, and the gear mechanism is meshed with the rack mechanism to enable the micro-nano satellite 1 to slide on the truss 2.
The enclosing and catching unit 4 is a flexible claw.
As shown in fig. 5, the entire tracker of the present invention is a planar triangular truss structure. The micro-nano satellite 1 moves on the truss 2 by virtue of the matching between the walking mechanism and the truss, drives the flexible enclosing mechanism to contract, and encloses and traps the rolling target to the area between the structural frames.
The invention also provides a tracking method based on the truss assembly micro-nano satellite tracker, and the process of the tracker for synchronizing the movement of the target is divided into 5 stages of rotation starting, attitude and orbit approaching, structure contraction, surrounding capture, despinning and the like. As shown in fig. 7, where T represents the target system and C represents the tracker system:
before the start of the spin-up phase, the serving spacecraft platform completes a long-range orbital approximate approach and the tracker is brought into the vicinity of the target roll axis direction. The service spacecraft platform recognizes the motion parameters of the target star, such as angular velocity information and relative position of the tracking star with respect to the target star, through the vision camera, and these information are loaded onto the target star, which performs further capture and operation. The angular velocity information and the moment of inertia parameters of the space debris are known, provided that these phases are already well completed.
1. Starting rotation
In this stage, the tracker hovers along the direction of the target rolling shaft for a certain distance. And the attitude and orbit control system works to finish rotation and reduce the angular speed difference between the attitude and orbit control system and the target. The angular velocity of the tracker reaches the reference angular velocity, so that the absolute angular velocity can be increased when the follow-up structure is contracted.
2. Centroid approximation
The revolved tracker slowly approaches to the target spacecraft, approaches to the target along a linear track basically, and finally surrounds the target in the middle of the polygonal structure. In the stage, the tracker is in spin motion, so that the tracker has certain attitude stability, and the orbit control cannot cause overlarge attitude deviation.
3. Structural contraction
At this stage, the star body is hovered near the target, the centroids are approximately overlapped, and the orbit control system makes corrections. The frame is contracted and the angular velocity of the tracker will approach the axial angular velocity of the target according to the reference value. Meanwhile, the attitude control system on the satellite adjusts to eliminate the transverse angular velocity, and then finer attitude synchronization can be performed.
4. Enclosure trap
The tracker has reached a relative rest of 6 degrees of freedom before the flexible containment mechanism hits the tumbling target. By means of the flexible buffering of the flexible enclosing mechanism, the impact can be effectively reduced, and space debris can be well fixed.
If the capture point is required in the enclosing process, the attitude synchronization is required at this stage; if only the clamping force for capturing the inward movement of the polygon is relied on, attitude synchronization is not required, but the aim of the method is only that of a regular cylinder, such as a rocket upper stage.
5. Despin
After the enclosure is completed, the stars and debris are considered to have been integrated. In this way, a tumbling object that is difficult to operate has a catch point that facilitates operation of an external operating mechanism. Of course, the tracker frame can also utilize its own attitude and orbit control system to complete the elimination of the irregular rotation motion of the combination, and provide a necessary good foundation for further space maintenance and on-orbit service.
The scheme provided by the invention has the advantages that other methods are difficult to achieve when the on-orbit maintenance task of the uncontrolled rolling target is processed. Since the tracker and the target are relatively stationary, the probability of collision between the two and the degree of impact is low; the polygonal frame can thus be well secured to the target surface by means of a buffer mechanism or flexible catching means, facilitating further on-track service. For a failed spacecraft which cannot be maintained, despinning can be carried out by the tracker frame, and then the spacecraft is delivered to a service spacecraft platform to carry out off-orbit operation; aiming at the out-of-control normal spacecraft, the initial control can be carried out by means of the tracker frame, so that the spacecraft platform can be conveniently served to carry out part replacement and maintenance.
While the invention has been described in further detail with reference to specific preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A micro-nano satellite tracker based on truss assembly is characterized by comprising a truss walking mechanism, a micro-nano satellite group and a flexible enclosure mechanism;
the micro-nano satellite group comprises N micro-nano satellites (1), each micro-nano satellite (1) is provided with a walking mechanism, and N is more than or equal to 3;
the truss walking mechanism comprises N trusses (2); one end of each truss (2) is hinged with a corresponding micro-nano satellite (1), the other end of each truss (2) is connected to another micro-nano satellite (1) in a sliding mode, and N trusses (2) form a polygonal frame on the plane; the micro-nano satellite (1) can move along the truss (2) according to the mechanical matching relationship between the micro-nano satellite and the traveling mechanism under the driving of the traveling mechanism;
the flexible enclosing mechanism comprises N enclosing units (4), the N enclosing units (4) are respectively arranged on the corresponding trusses (2), and an enclosing space for the turning over and rolling target (3) is formed among the N enclosing units (4).
2. The micro-nano satellite tracker based on truss assembly according to claim 1, wherein N is greater than or equal to 3 and less than or equal to 5.
3. The truss-assembly-based micro-nano satellite tracker according to claim 1, wherein when N micro-nano satellites (1) move inwards at the same time, a space between polygonal frames shrinks to drive N flexible capturing mechanisms to approach each other.
4. The micro-nano satellite tracker based on truss assembly is characterized in that a walking mechanism of the micro-nano satellite comprises a driving device and a gear mechanism, a rack mechanism is arranged on the truss (2), the driving device drives the gear mechanism to rotate, and the gear mechanism is meshed with the rack mechanism.
5. The micro-nano satellite tracker based on truss assembly is characterized in that the lengths of N trusses (2) are the same.
6. The micro-nano satellite tracker based on truss assembly is characterized in that the capturing unit (4) is a flexible claw.
7. The micro-nano satellite tracker based on truss assembly is characterized in that the mass distribution of the rolling target (3) is flat and thick, and the transverse inertia of the rolling target is smaller than the axial inertia.
8. The tracking method based on the truss assembly micro-nano satellite tracker of claim 1, characterized by comprising the following steps:
the micro-nano satellite (1) slides on the truss (2) to drive the flexible enclosing mechanism to contract, and the rolling target (3) is enclosed in an area between the polygonal frames; the micro-nano satellite (1) completes the approximation of the angular speed of the rolling target (3) by means of the initial moment rotating speed; meanwhile, the polygonal frame is also contracted to the minimum, so that the flexible enclosing mechanism can enclose the rolling target.
9. The tracking method based on the truss assembly micro-nano satellite tracker of claim 8, wherein aiming at a rolling target with a high speed, a polygonal frame reserves a large enough space for the rolling target at the early stage when the relative angular speed between the tracker and the rolling target is high; in the later stage of enclosure capture, the polygonal frame reduces the axial relative angular velocity by virtue of the shrinkage of the structure, and meanwhile, the attitude control system starts to work to reduce the transverse relative angular velocity; finally, the tracker completes the tracking synchronization of the angular speed, meanwhile, the frame also contracts to the innermost end, and the flexible enclosure mechanism realizes the enclosure.
10. The tracking method based on the truss assembly micro-nano satellite tracker of claim 8, specifically comprising the following steps:
before the starting stage, the serving spacecraft platform completes the approximate approach of a long-distance orbit, and the tracker is placed near the direction of a target turning shaft; the service spacecraft platform identifies the motion parameters of the target satellite through a vision camera, and the motion parameter information is loaded to the micro-nano satellite (1);
the tracker hovers along the direction of the target turning shaft at a proper distance; the attitude and orbit control system works to finish rotation and reduce the angular speed difference between the attitude and orbit control system and a target; bringing the angular velocity of the tracker to a reference angular velocity;
the rotated tracker slowly approaches to the rolling target (3), approaches to the rolling target (3) along a linear track basically, and finally surrounds the rolling target (3) in the middle of the polygonal structure;
the tracker is suspended near the rolling target (3), the mass centers are approximately overlapped, and the track control system corrects the mass centers; the polygon frame begins to shrink, and the angular speed of the tracker approaches the axial angular speed of the target according to the reference value; meanwhile, an attitude control system on the micro/nano satellite (1) is adjusted to eliminate the transverse angular velocity, and then more precise attitude synchronization is carried out;
the tracker has reached a relative standstill before the flexible containment mechanism hits the tumbling object (3); the rolling target (3) is fixed by means of flexible buffering of the flexible enclosing mechanism;
after the enclosure is finished, the tracker completes the elimination of the irregular rotation motion of the combination body by utilizing a posture and orbit control system of the tracker.
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