CN106347716A - Device and method for gyroscopic type energy conversion for space docking - Google Patents
Device and method for gyroscopic type energy conversion for space docking Download PDFInfo
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- CN106347716A CN106347716A CN201610864977.7A CN201610864977A CN106347716A CN 106347716 A CN106347716 A CN 106347716A CN 201610864977 A CN201610864977 A CN 201610864977A CN 106347716 A CN106347716 A CN 106347716A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 37
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- 238000004364 calculation method Methods 0.000 claims description 6
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- 238000004134 energy conservation Methods 0.000 abstract 1
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Classifications
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- 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
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
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- 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
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/648—Tethers
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Abstract
The invention discloses a device and method for gyroscopic type energy conversion for space docking. The energy conversion device can convert kinetic energy generated by a relative speed into rotating kinetic energy of the device through gyroscopic rotation when spacecrafts which have a large speed difference in space docking collide and are combined to be a whole, and thus this part of redundant energy is stored. The energy conversion process of the device is based on the mechanical energy conservation principle, it is guaranteed that the relative linear speeds of the two spacecrafts in rendezvous and docking in the space rendezvous and docking process are small enough, and the device and the method can be applied to rendezvous and docking tasks between the spacecrafts having large relative speeds.
Description
[technical field]
The invention belongs to space technology field, more particularly, to a kind of gyroscope type energy conversion device for space articulation and
Method.
[background technology]
With deepening continuously of space industry scientific research, space-orbit human scienceses' activity multiformity all the more, space
Development and application are also frequent all the more, and the basis of SPACE RENDEZVOUS AND DOCKING TECHNIQUE to be spacecraft complete space-orbit operation task.Half
Since many centuries, the mankind complete space station construction, in-orbit for a long time resident, manned moon landing and depth based on spacecrafts rendezvous technology
The complicated solar-system operation such as empty detection, is successfully made more than 300 someone or the unmanned Technique in Rendezvous and Docking task participating in, permissible
Say SPACE RENDEZVOUS AND DOCKING TECHNIQUE oneself through becoming in current and one period from now on, carry out a key issue of space exploration.
In the Scheme Choice of spacecrafts rendezvous between spacecraft, spacecrafts rendezvous that are typically more ripe or having been carried out
Task, is mostly based on the spacecrafts rendezvous between cooperative target, that is, between the final stage achieving a butt joint, two spacecrafts
Relative velocity is not less or no relative velocity, and for the docking technique between two larger spacecrafts of relative velocity not
Ripe.Additionally, in-orbit noncooperative target typically has higher speed, realize the technology with the spacecrafts rendezvous of noncooperative target
Need to study further.
Between the larger spacecraft of relative velocity or with the spacecrafts rendezvous of noncooperative target in, in order to eliminate with it relatively
Big relative velocity, typically has two methods: a kind of method is using motor-driven mode, carries out speeds match in technology today,
So that the relative velocity between two spacecrafts is reduced, until there is no relative motion, and then realize spacecrafts rendezvous.But the program
Be disadvantageous in that due to relative velocity larger, a lot of energy can be consumed during speeds match, which decrease docking
The overall maneuverability of spacecraft afterwards.Second scheme is how to make unnecessary energy using frictional force or other non-resilient power actings
Amount is dissipated with form of thermal energy, usually adopts buffer unit, kinetic energy absorption is converted to heat energy.But which there is also very
, such as, can there are a lot of technical problems in many limitation in the design of buffer unit, if speed is too big may lead to change energy
Amount device disintegrates or crashes.
[content of the invention]
For solving the problems, such as prior art, present invention offer is a kind of to realize what energy was changed in Technique in Rendezvous and Docking
Device, can effectively eliminate between two spacecrafts relative velocity thus improving docking using this device in docking operation
Success rate is it is particularly possible to solve the problems, such as the docking to space non-cooperative target.
For achieving the above object, the present invention is using following technological means:
A kind of gyroscope type energy conversion device for space articulation, including rotating disk and rope, described rotating disk is arranged on
On body spacecraft and can pivot；The terminal of rope is fixed with the axis of rotating disk, and rope is wrapped on rotating disk, and
And the winding radius of each circle are not of uniform size；Rope is discharged by rotary turnplate and realizes rope, body spacecraft priority and target
Spacecraft launching site.
Described rope canoe on rotating disk is that winding radius are sequentially reduced from outside to inside.
Described rope compression is coiled on rotating disk.
Described rope is wrapped on rotating disk using the rope of variable-length.
A kind of docking calculation of the gyroscope type energy conversion device for space articulation described in employing claim 1, top
Spiral shell formula energy conversion device can be used in the spacecrafts rendezvous between two larger spacecrafts of relative velocity, docking calculation include with
Lower step:
Rotating disk is first risen with a less angular velocity and turns, and when its wiring radius is larger, by quick release rope, makes to turn
The linear velocity of disk outer is equal with the movement velocity of passive space vehicle, and now rope and the relative linear velocity of passive space vehicle are
Zero, complete docking of rope and passive space vehicle under this relative velocity；
With the continuation campaign of passive space vehicle, the rotation of rotating disk makes the winding radius of rope diminish, so that target boat
While its device slows down, the angular momentum of rotating disk constantly increases；When the relative velocity of body spacecraft and passive space vehicle is reduced to
When in allowable range, body spacecraft and passive space vehicle are completed by the slow winding of the counter-rotating belts running rope rope of rotating disk
Docking.
By the compact disk of rope around or using the rope of variable-length can realize rope coil equivalent redius be more than turn
Disk diameter.
After the docking of rope and passive space vehicle, if passive space vehicle remains stationary, then the linear velocity computing formula of rope
For:
Wherein, c is the rotary inertia of rotating disk, lzIt is system aggregated momentum square, r is wiring radius,For the angular velocity of rotating disk, m
Quality for passive space vehicle.
With respect to prior art, the gyroscope type energy conversion device of the present invention has the advantages that
Gyroscope type energy conversion device proposed by the invention is made up of rotating disk and rope, discharges rope by rotary turnplate
Realize rope, body spacecraft priority is docked with passive space vehicle.Can realize between two larger spacecrafts of relative velocity
Spacecrafts rendezvous, the especially docking to space non-cooperative target, the development of this technology will reduce for docking relative velocity
Require, be conducive to the development of quick in-orbit service, technology.
In docking calculation proposed by the invention, the core of docking technique, body is risen with a less angular velocity first
Turn, by quick release rope, it is possible to achieve rope por-tion is zero with the relative linear velocity of passive space vehicle, in this relative velocity
Under complete docking of rope and passive space vehicle.Also with the continuation campaign of passive space vehicle, passive space vehicle slows down
Meanwhile, when the relative velocity of rotating disk and passive space vehicle is reduced in allowable range, completed whole by the slow winding of rope
Individual device is docked with passive space vehicle.It is rotational kinetic energy using rigid body by this partly unnecessary energy stores, from
And realize the process from a larger value smooth transition to sufficiently small value for the relative velocity in space for the two articles.Avoid by
Larger in relative velocity between the two, directly contact can be due to impacting problem that is excessive and damaging spacecraft.This technology will be realized
Quick, the efficient transmission of kinetic energy between spacecraft, is that the orbits controlling mode of future space aircraft has opened up one newly
Research direction.
Further, by the compact disk of rope around or can be realized equivalent with wiring radius using the rope of variable-length
Effect.The structure radius of rotating disk can be certain, and the change of rate control equivalent redius when being coiled by rope.This
Solve the difficulty of the manufacturing process aspect being led to by rope canoe to a certain extent.
[brief description]
Fig. 1 is the schematic diagram of gyroscope type device and passive space vehicle docking operation；
Fig. 2 is wound around by rope for gyroscope type device and discharges the basic principle schematic realizing energy conversion；
Fig. 3 is the design diagram of rope radius；
Fig. 4 is that the corner of gyroscope type device changes over curve instance graph with radius；
Fig. 5 is that the rope of gyroscope type device designs instance graph；
Fig. 6 is the compact disk of rope around schematic diagram.
Wherein, 1 is rotating disk, and 2 is rope, and 3 is passive space vehicle.
[specific embodiment]
Below in conjunction with the accompanying drawings the present invention is described in further detail:
Fig. 1 is the schematic diagram of gyroscope type device and passive space vehicle docking operation.Carry out spacecrafts rendezvous in space device
During, the spacecraft with gyroscopic apparatus is considered as body, the spacecraft needing docking is as passive space vehicle 3.This top
Spiral shell device is used for the main part of spacecrafts rendezvous as body, and this device is made up of rotating disk 1 and rope 2, and its turntable 1 can be real
The now rotation of high speed；Rope 2 can be wound around on the turntable 1, and a terminal of rope is fixing on the turntable 1；Rotating disk 1 and rope 2
Constitute the main body of gyroscope type device；3 is passive space vehicle.
It will be seen from figure 1 that rotating disk 1 withAngular velocity rotated, then correspond to rope linear velocity vr.Rotating disk 1 part
Can rotate at high speed, and the terminal of rope 2 is fixed on the axis of rotating disk 1 part, and when rotation starts, rope 2 twines
Around on the turntable 1, and the winding radius of each circle are not of uniform size, can be by rotation release rope 2 and mesh in docking operation
Mark spacecraft 3 docks.This device can realize the spacecrafts rendezvous between two larger spacecrafts of relative velocity.
Fig. 2 is wound around by rope for gyroscope type device and discharges the basic principle schematic realizing energy conversion.As Fig. 2 institute
Show, quality is that the gyroscope type device of m docks preparing the passive space vehicle 3 for m with another quality.Due to phase between the two
Larger to speed, directly contact can be due to impacting structure that is excessive and damaging spacecraft.
Therefore body is risen with a less angular velocity first and turns, because the outer ring winding radius of rope 2 are larger, by quick
Release rope, it is possible to achieve rope por-tion 1 is zero with the relative linear velocity of passive space vehicle 3, completes to restrict under this relative velocity
Rope 2 is docked with passive space vehicle 3.Linear velocity and the target space flight of rotating disk 1 outer when its wiring radius r is larger, can be met
The movement velocity of device 3 is equal.Now another terminal of rope 2 captures passive space vehicle 3 under less relative velocity.
With the continuation campaign of passive space vehicle, the rotation of rotating disk 1 makes the winding radius of rope 2 diminish, so that target
While spacecraft 3 slows down, the angular momentum of rotating disk 1 constantly increases.When the relative velocity of this device and passive space vehicle 3 is reduced to
When in allowable range, docking of whole device and passive space vehicle 3 is completed by the slow winding of rope 2.When target continues
During advance, body also continues to rotate, and then so that passive space vehicle 3 is slowed down by reducing the axle radius r of rope 2, during this
The angular momentum of this device is increasing.When both relative velocities reduce to sufficiently small, then passive space vehicle 3 is slowly withdrawn with
This device docks.
Here the kinetics equation in the case of analysis m ＞ ＞ m.
Passive space vehicle is had little to no effect to the kinestate of this device after being docked with this device, therefore sets it and remain
Static.Then whole system is with regard to the conservation of angular momentum of the central point of body
Wherein c is the rotary inertia of rotating disk 1, lzIt is system aggregated momentum square, both values are constant, thus can obtain
By way of reducing r, relative velocity can be reduced to zero, and do not need to change the structure of this device it is only necessary to
Determine canoe on rotating disk for the rope 2 in advance, that is, r is the function with regard to ψ.In addition, the accelerator of rotating disk 1 is compared
Have bigger stability in moderating process, the stable cost of system can be made to reduce.
Fig. 3 is the design diagram of rope 2 radius.If determining the outer parameter of the passive space vehicle 3 that will dock in advance
The pulling force size that number and rope can bear, you can realize smoothly slowing down by the coiled shape of the good tether of designed in advance
Journey.Therefore, if the power that rope 2 is subject to is constant force, then uniformly retarded motion made with this device by passive space vehicle 3 after contacting, relatively speed
Spend linear change.ψ (t) can directly be tried to achieve by front formula, then utilize the relation ω r=v of angular velocity and radiusrObtain further
r(t).Relation using ψ and r draws polar curve, you can obtain making the linear theoretical rope-winding method reducing of relative velocity.
The method for designing of tether coiling is described below by an example.
If docking condition is: aimed quality m=1000kg, initial relative velocity vr0=10m/s, rope nominal pulling force f=
1000n.
By computing formula as can be seen that it is conic section that angle of rotation changes over curve, wiring radius changes over
Curve is hyperbola.Fig. 4 is that the corner of gyroscope type device changes over curve with radius, and Fig. 5 is the rope of gyroscope type device
Detail of design.The diameter of the gyroscope type device rotating disk that this example uses is 10m to the maximum.Can be calculated, using the wiring shown in upper figure
Method, can make passive space vehicle 3 be down to zero from 10m/s with respect to the relative velocity of this device in 10s, the angle of rotation of this device
Speed increases to 6rad/s from 1rad/s.Required rope lengths (i.e. both relative displacements in moderating process) are 50m.
It is true that the structure radius of rotating disk 1 do not need the requirement of the so big wiring radius to meet 10m, pass through
The compact disk of rope 2 around or the effect equivalent with 10m wiring radius can be realized using the rope of variable-length.
As shown in fig. 6, for rope compact disk around schematic diagram, rope rotating disk be compact disk on reel for rope around, but from
Stretch under a stretching force after driving rotating disk, then in relative velocity vrEquivalent redius r under effecteq=vr/ ω is it is clear that be more than true
Structure radius.The structure radius that this means rotating disk can be certain, and rate control when being coiled by rope is equivalent
The change of radius.This to some extent solves the difficulty of the manufacturing process aspect being led to by rope canoe.
The above, be only presently preferred embodiments of the present invention, not the present invention imposed any restrictions, every according to the present invention
Any simple modification, change and equivalent structure change that technical spirit is made to above example, all still fall within skill of the present invention
In the protection domain of art scheme.
Claims (7)
1. a kind of gyroscope type energy conversion device for space articulation is it is characterised in that include rotating disk (1) and rope (2), institute
The rotating disk (1) stated is arranged on body spacecraft and can pivot；The terminal of rope (2) is solid with the axis of rotating disk (1)
Fixed, rope (2) is wrapped on rotating disk (1), and the winding radius of each circle are not of uniform size；Discharged by rotary turnplate (1)
Rope (2) realized by rope (2), body spacecraft priority is docked with passive space vehicle (3).
2. a kind of gyroscope type energy conversion device for space articulation according to claim 1 is it is characterised in that described
Rope (2) be that winding radius are sequentially reduced from outside to inside in the upper canoe of rotating disk (1).
3. a kind of gyroscope type energy conversion device for space articulation according to claim 1 is it is characterised in that described
Rope (2) compression be coiled on rotating disk (1).
4. a kind of gyroscope type energy conversion device for space articulation according to claim 1 is it is characterised in that described
Rope (2) be wrapped on rotating disk (1) using the rope of variable-length.
5. the docking calculation of the gyroscope type energy conversion device for space articulation described in a kind of employing claim 1, it is special
Levy and be, gyroscope type energy conversion device can be used in the spacecrafts rendezvous between two larger spacecrafts of relative velocity, docking
Method comprises the following steps:
Rotating disk (1) is first risen with a less angular velocity and turns, and when its wiring radius is larger, by quick release rope (2), makes
The linear velocity of rotating disk (1) outer is equal with the movement velocity of passive space vehicle (3), now rope (2) and passive space vehicle (3)
Relative linear velocity is zero, completes docking of rope (2) and passive space vehicle (3) under this relative velocity；
With the continuation campaign of passive space vehicle (3), the rotation of rotating disk (1) makes the winding radius of rope (2) diminish, so that mesh
While mark spacecraft (3) slows down, the angular momentum of rotating disk (1) constantly increases；Phase when body spacecraft and passive space vehicle (3)
When speed is reduced in allowable range, body is completed by the slow winding of counter-rotating belts running rope rope (2) of rotating disk (1)
Spacecraft is docked with passive space vehicle (3).
6. the docking calculation of the gyroscope type energy conversion device for space articulation according to claim 5, its feature exists
In, by the compact disk of rope (2) around or using the rope of variable-length can realize rope coil equivalent redius be more than rotating disk
(1) diameter.
7. the docking calculation of the gyroscope type energy conversion device for space articulation according to claim 5, its feature exists
After the docking of, rope (2) and passive space vehicle (3), if passive space vehicle (3) remains stationary, then the linear velocity meter of rope (2)
Calculating formula is:
Wherein, c is the rotary inertia of rotating disk, lzIt is system aggregated momentum square, r is wiring radius,For the angular velocity of rotating disk, m is mesh
The quality of mark spacecraft.
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| CN201610864977.7A CN106347716B (en) | 2016-09-29 | 2016-09-29 | A kind of gyroscope type energy conversion device and method for space articulation |
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| CN201610864977.7A CN106347716B (en) | 2016-09-29 | 2016-09-29 | A kind of gyroscope type energy conversion device and method for space articulation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277127A (en) * | 2021-06-15 | 2021-08-20 | 北京邮电大学 | Soft interfacing apparatus in space based on top structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4063281B1 (en) * | 2021-03-25 | 2023-11-29 | Charalampos Kosmas | Two phase landing system for the moon and its implementation elements |
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| US6523783B2 (en) * | 2000-12-22 | 2003-02-25 | Spacehab, Inc. | Underway replenishment system for space vehicles |
| US8052092B2 (en) * | 2009-01-30 | 2011-11-08 | The Boeing Company | Method and apparatus for satellite orbital change using space debris |
| CN103466105A (en) * | 2013-09-23 | 2013-12-25 | 哈尔滨工业大学 | Method for repeatedly docking spacecraft space |
| EP2746163A1 (en) * | 2012-12-19 | 2014-06-25 | Astrium Sas | System and method for capturing and removing space debris |
| WO2015190527A1 (en) * | 2014-06-13 | 2015-12-17 | 国立研究開発法人宇宙航空研究開発機構 | Method and system for space debris orbit descent, and method and system for changing orbit of artificial satellite |
-
2016
- 2016-09-29 CN CN201610864977.7A patent/CN106347716B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6523783B2 (en) * | 2000-12-22 | 2003-02-25 | Spacehab, Inc. | Underway replenishment system for space vehicles |
| US8052092B2 (en) * | 2009-01-30 | 2011-11-08 | The Boeing Company | Method and apparatus for satellite orbital change using space debris |
| EP2746163A1 (en) * | 2012-12-19 | 2014-06-25 | Astrium Sas | System and method for capturing and removing space debris |
| CN103466105A (en) * | 2013-09-23 | 2013-12-25 | 哈尔滨工业大学 | Method for repeatedly docking spacecraft space |
| WO2015190527A1 (en) * | 2014-06-13 | 2015-12-17 | 国立研究開発法人宇宙航空研究開発機構 | Method and system for space debris orbit descent, and method and system for changing orbit of artificial satellite |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113277127A (en) * | 2021-06-15 | 2021-08-20 | 北京邮电大学 | Soft interfacing apparatus in space based on top structure |
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