CN106347716B - A kind of gyroscope type energy conversion device and method for space articulation - Google Patents
A kind of gyroscope type energy conversion device and method for space articulation Download PDFInfo
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- CN106347716B CN106347716B CN201610864977.7A CN201610864977A CN106347716B CN 106347716 B CN106347716 B CN 106347716B CN 201610864977 A CN201610864977 A CN 201610864977A CN 106347716 B CN106347716 B CN 106347716B
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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 kind of gyroscope type energy conversion devices and method for space articulation.When two speed in space articulation can be differed larger spacecraft and collide and be integrated by the energy conversion device, the kinetic energy that relative velocity generates is walked around by teetotum and changes the rotational kinetic energy of the device into, to which the extra energy stores in this part are got up.The conversion process of energy of the device is based on conservation of mechanical energy principle, ensure that Technique in Rendezvous and Docking realizes that the relative linear velocity of two spacecrafts of spacecrafts rendezvous is sufficiently small, can be applied in the spacecrafts rendezvous task between the larger spacecraft of relative velocity in the process.
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 for space industry scientific research, space-orbit human sciences' activity more diversity, space
Development and application also more frequently, and the basis of SPACE RENDEZVOUS AND DOCKING TECHNIQUE to be spacecraft complete space-orbit operation task.Half
Since more centuries, the mankind complete space station construction, long-term in-orbit resident, manned moon landing and depth based on spacecrafts rendezvous technology
The complicated solar-system operations such as sky detection are successfully made more than 300 someone or the unmanned Technique in Rendezvous and Docking task participated in, can be with
It says that oneself warp of SPACE RENDEZVOUS AND DOCKING TECHNIQUE becomes current in one period from now on, carries out a critical issue of space exploration.
Between spacecraft in the Scheme Choice of spacecrafts rendezvous, the general more mature or spacecrafts rendezvous that has been carried out
Task, the spacecrafts rendezvous being mostly based between cooperative target, that is, between the final stage for realizing docking, two spacecrafts
Relative velocity it is smaller or without relative velocity, and not for the docking technique between two larger spacecrafts of relative velocity
It is ripe.In addition, in-orbit noncooperative target generally has higher speed, the technology with the spacecrafts rendezvous of noncooperative target is realized
It needs further to study.
In spacecrafts rendezvous between the larger spacecraft of relative velocity or with noncooperative target, in order to eliminate with its compared with
Big relative velocity, general in technology today there are two types of methods：A kind of method is to carry out speeds match in the way of motor-driven,
So that the relative velocity between two spacecrafts is reduced, until there is no relative motion, and then realizes spacecrafts rendezvous.But the program
It is disadvantageous in that since relative velocity is larger, many energy can be consumed during speeds match, reduce docking in this way
The maneuverability of spacecraft entirety afterwards.Second scheme is that frictional force or other non-resilient power is used to do work and make extra energy more
Amount is dissipated with form of thermal energy, and buffer unit is usually used, kinetic energy absorption is converted to thermal energy.But there is also very for which
More limitations may cause to convert energy for example, can have many technical problems in the design of buffer unit if speed is too big
Amount device disintegrates or crashes.
【Invention content】
In order to solve the problems existing in the prior art, the present invention provide it is a kind of in Technique in Rendezvous and Docking realize energy conversion
Device, in docking operation using the device can effectively eliminate two spacecrafts between relative velocity to improve docking
Success rate, it is particularly possible to solve the problems, such as the docking to space non-cooperative target.
To achieve the above object, the present invention uses following technological means：
A kind of gyroscope type energy conversion device for space articulation, including turntable and rope, turntable setting exist
On ontology spacecraft and it can be pivoted；The terminal of rope and the central axes of turntable are fixed, and rope is wrapped on turntable, and
And the winding radius of each circle is not of uniform size；Rope, which is discharged, by rotary turnplate realizes rope, ontology spacecraft priority and target
Spacecraft launching site.
Rope canoe on turntable is that winding radius is sequentially reduced from outside to inside.
The rope compression is coiled on turntable.
The rope is wrapped in using the rope of variable-length on turntable.
A kind of interconnection method using the gyroscope type energy conversion device described in claim 1 for space articulation, top
Spiral shell formula energy conversion device can be used in the spacecrafts rendezvous between two larger spacecrafts of relative velocity, interconnection method include with
Lower step：
Turntable, which is first risen with a smaller angular speed, to be turned, 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 the relative linear velocity of rope and passive space vehicle is at this time
Zero, docking for rope and passive space vehicle is completed under the relative velocity；
Continue to move with passive space vehicle, the rotation of turntable makes the winding radius of rope become smaller, to make target navigate
While its device slows down, the angular momentum of turntable constantly increases；When the relative velocity of ontology spacecraft and passive space vehicle is reduced to
When in allowable range, ontology spacecraft and passive space vehicle are completed by the slow winding of the counter-rotating belts running rope rope of turntable
Docking.
It rope may be implemented coils equivalent redius and is more than to turn around or using the rope of variable-length by the compact disk of rope
Disk diameter.
After the docking of rope and passive space vehicle, if passive space vehicle remains stationary, then the linear velocity calculation formula of rope
For：
Wherein, C is the rotary inertia of turntable, LzIt is system aggregated momentum square, r is wiring radius,For the angular speed of turntable, m
For the quality of passive space vehicle.
Compared with the existing technology, gyroscope type energy conversion device of the invention has the advantages that：
Gyroscope type energy conversion device proposed by the invention is made of turntable and rope, discharges rope by rotary turnplate
Realize that rope, ontology spacecraft are successively docked with passive space vehicle.It may be implemented between two larger spacecrafts of relative velocity
Spacecrafts rendezvous, especially to the docking of space non-cooperative target, the development of the technology will be reduced for docking relative velocity
It is required that being conducive to the development of quick in-orbit service technology.
In interconnection method proposed by the invention, the core of docking technique, ontology is risen with a smaller angular speed first
Turn, by quick release rope, the relative linear velocity that rope por-tion and passive space vehicle may be implemented is zero, in the relative velocity
Lower completion rope is docked with passive space vehicle.Continue to move also with passive space vehicle, what passive space vehicle slowed down
Meanwhile the relative velocity of turntable and passive space vehicle is completed whole by the slow winding of rope when being reduced in allowable range
A device is docked with passive space vehicle.It is rotational kinetic energy using rigid body by the extra energy stores in this part, from
And realize two articles space process of the relative velocity from a larger value smooth transition to sufficiently small value.Avoid by
It is larger in relative velocity between the two, it is in direct contact the problem of meeting damage spacecraft since impact is excessive.The technology will be realized
Quick, the efficient transmission of kinetic energy between spacecraft has opened up one newly for the orbits controlling mode of future space aircraft
Research direction.
Further, by the compact disk of rope around or using variable-length rope may be implemented it is equivalent with wiring radius
Effect.The structure radius of turntable can be certain, and the variation of rate control equivalent redius when being coiled by rope.This
Solves the difficulty in terms of the manufacturing process caused by rope canoe to a certain extent.
【Description of the drawings】
Fig. 1 is the schematic diagram of gyro formula device and passive space vehicle docking operation；
Fig. 2 is that gyro formula device winds by rope and discharge the basic principle schematic for realizing energy conversion；
Fig. 3 is the design diagram of rope radius；
Fig. 4 is that the corner of gyro formula device and radius change over time curve instance graph；
Fig. 5 is that the rope of gyro formula device designs instance graph；
Fig. 6 is the compact disk of rope around schematic diagram.
Wherein, 1 is turntable, and 2 be rope, and 3 be passive space vehicle.
【Specific implementation mode】
The present invention is described in further detail below in conjunction with the accompanying drawings：
Fig. 1 is the schematic diagram of gyro formula device and passive space vehicle docking operation.Spacecrafts rendezvous is carried out in space device
During, the spacecraft with gyroscopic apparatus is considered as ontology, needs the spacecraft docked as passive space vehicle 3.The top
Spiral shell device is used for the main part of spacecrafts rendezvous as ontology, which is made of turntable 1 and rope 2, and turntable 1 can be real
The now rotation of high speed；Rope 2 can be wound on the turntable 1, and a terminal of rope is fixed on the turntable 1；Turntable 1 and rope 2
Constitute the main body of gyro formula device；3 be passive space vehicle.
It will be seen from figure 1 that turntable 1 withAngular speed rotated, then correspond to the linear velocity v of roper.1 part of turntable
Can rotate at high speed, and the terminal of rope 2 is fixed on the central axes of 1 part of turntable, and when rotating beginning, rope 2 twines
Around on the turntable 1, and the winding radius of each circle is not of uniform size, can pass through rotation in docking operation and discharge rope 2 and mesh
Spacecraft 3 is marked to dock.The spacecrafts rendezvous between two larger spacecrafts of relative velocity may be implemented in the device.
Fig. 2 is that gyro formula device winds by rope and discharge the basic principle schematic for realizing energy conversion.Such as Fig. 2 institutes
Show, the gyro formula device that a quality is M is preparing to dock with the passive space vehicle 3 that another quality is m.Due to phase between the two
Larger to speed, being in direct contact can be due to impacting structure that is excessive and damaging spacecraft.
Therefore ontology is risen with a smaller angular speed turn first, since the outer ring winding radius of rope 2 is larger, by quick
Rope is discharged, it is zero that rope por-tion 1 and the relative linear velocity of passive space vehicle 3, which may be implemented, and rope is completed under the relative velocity
Rope 2 is docked with passive space vehicle 3.When its wiring radius r is larger, linear velocity and the target space flight of 1 outer of turntable can be met
The movement velocity of device 3 is equal.Another terminal of rope 2 captures passive space vehicle 3 under smaller relative velocity at this time.
Continue to move with passive space vehicle, the rotation of turntable 1 makes the winding radius of rope 2 become smaller, to make target
While spacecraft 3 slows down, the angular momentum of turntable 1 constantly increases.When the relative velocity of the device and passive space vehicle 3 is reduced to
When in allowable range, pass through the slow winding completion whole device of rope 2 and docking for passive space vehicle 3.When target continues
When advance, ontology also continues to rotate, and then so that passive space vehicle 3 is slowed down by reducing the axis radius r of rope 2, during this
The angular momentum of the device is increasing.When the relative velocity of the two reduces to sufficiently small, then passive space vehicle 3 slowly withdrawn with
The device docks.
Here the kinetics equation in the case of analysis M ＞ ＞ m.
Passive space vehicle has little effect the motion state of the device after being docked with the device, therefore sets it and remain
It is static.Then conservation of angular momentum of the whole system about the central point of ontology
Wherein C is the rotary inertia of turntable 1, LzIt is system aggregated momentum square, the value of the two is constant, it can thus be concluded that
By way of reducing r, relative velocity can be reduced to zero, and have no need to change the structure of the device, it is only necessary to
Canoe of the rope 2 on turntable is determined in advance, i.e. r is the function about ψ.In addition, the accelerator of turntable 1 is compared
Possess the stability of bigger in moderating process, the stabilization cost of system can be made to reduce.
Fig. 3 is the design diagram of 2 radius of rope.If the outer parameter for the passive space vehicle 3 that will be docked is determined in advance
The pulling force size that number and rope can be born, you can smoothly slowed down to realize 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 passive space vehicle 3 makees uniformly retarded motion after being contacted with the device, relatively fast
Spend linear variation.ψ (t) can directly be acquired by preceding formula, then utilize the relationship ω r=v of angular speed and radiusrFurther find out
r(t).Polar curve is drawn using the relationship of ψ and r, you can obtains the theoretical rope-winding method for making relative velocity linearly reduce.
Illustrate the design method of tether coiling below by an example.
If docking condition is：Aimed quality m=1000kg, initial relative velocity vr0=10m/s, the nominal pulling force F=of rope
1000N。
It is conic section that angle of rotation, which changes over time curve, it can be seen from calculation formula, and wiring radius changes over time
Curve is hyperbola.Fig. 4 is the corner of gyro formula device and radius changes over time curve, and Fig. 5 is the rope of gyro formula device
Detail of design.The diameter for the gyro formula device turntable that this example uses is up to 10m.It can be calculated, use wiring shown in upper figure
Method can make passive space vehicle 3 be down to zero from 10m/s in 10s relative to the relative velocity of the device, the angle of rotation of the device
Speed increases to 6rad/s from 1rad/s.Required rope lengths (relative displacement both i.e. in moderating process) are 50m.
In fact, the structure radius of turntable 1, which does not need to be so big, meets the requirement of the wiring radius of 10m, pass through
The effect equivalent with 10m wiring radiuses may be implemented around or using the rope of variable-length in the compact disk of rope 2.
As shown in fig. 6, for rope compact disk around schematic diagram, rope turntable be compact disk on reel for rope around, but from
It is stretched under a stretching force after opening turntable, then in relative velocity vrEquivalent redius r under effecteq=vr/ ω, it is clear that be more than true
Structure radius.The rate control this means that structure radius of turntable can be certain, and when being coiled by rope is equivalent
The variation of radius.This solves the difficulty in terms of the manufacturing process caused by rope canoe to a certain extent.
The above is only presently preferred embodiments of the present invention, is not imposed any restrictions to the present invention, every according to the present invention
Technical spirit changes any simple modification, change and equivalent structure made by above example, still falls within skill of the present invention
In the protection domain of art scheme.
Claims (6)
1. a kind of interconnection method of gyroscope type energy conversion device for space articulation, which is characterized in that the gyroscope type
Energy conversion device, including turntable (1) and rope (2), the turntable (1) are arranged on ontology spacecraft and can be revolved around axis
Turn；The terminal of rope (2) and the central axes of turntable (1) are fixed, rope (2) is wrapped on turntable (1), and each circle twines
Differ around radius size；Rope (2), which is discharged, by rotary turnplate (1) realizes rope (2), ontology spacecraft priority and target space flight
Device (3) docks；
Gyroscope type energy conversion device can be used in the spacecrafts rendezvous between two larger spacecrafts of relative velocity, interconnection method
Include the following steps：
Turntable (1), which is first risen with a smaller angular speed, to be turned, and when its wiring radius is larger, by quick release rope (2), is made
The linear velocity of turntable (1) outer is equal with the movement velocity of passive space vehicle (3), at this time rope (2) and passive space vehicle (3)
Relative linear velocity is zero, and rope (2) is completed under the relative velocity and is docked with passive space vehicle (3)；
Continue to move with passive space vehicle (3), the rotation of turntable (1) makes the winding radius of rope (2) become smaller, to make mesh
While marking spacecraft (3) deceleration, the angular momentum of turntable (1) constantly increases；When the phase of ontology spacecraft and passive space vehicle (3)
When being reduced in allowable range to speed, ontology is completed by the slow winding of the counter-rotating belts running rope rope (2) of turntable (1)
Spacecraft is docked with passive space vehicle (3).
2. the interconnection method of the gyroscope type energy conversion device according to claim 1 for space articulation, feature exist
In rope may be implemented coiling equivalent redius to be more than turntable around or using the rope of variable-length by the compact disk of rope (2)
(1) diameter.
3. the interconnection method of the gyroscope type energy conversion device according to claim 1 for space articulation, feature exist
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 turntable, LzIt is system aggregated momentum square, r is wiring radius,For the angular speed of turntable, m is mesh
Mark the quality of spacecraft.
4. the interconnection method of the gyroscope type energy conversion device according to claim 1 for space articulation, feature exist
In,
The rope (2) canoe on turntable (1) is that winding radius is sequentially reduced from outside to inside.
5. the interconnection method of the gyroscope type energy conversion device according to claim 1 for space articulation, feature exist
In the rope (2) compression is coiled on turntable (1).
6. the interconnection method of the gyroscope type energy conversion device according to claim 1 for space articulation, feature exist
In the rope (2) is wrapped in using the rope of variable-length on turntable (1).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4063281A1 (en) * | 2021-03-25 | 2022-09-28 | Charalampos Kosmas | Two phase landing system for the moon and its implementation elements |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277127B (en) * | 2021-06-15 | 2022-10-11 | 北京邮电大学 | Space soft butt joint device based on gyroscope structure |
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| 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 |
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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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4063281A1 (en) * | 2021-03-25 | 2022-09-28 | Charalampos Kosmas | Two phase landing system for the moon and its implementation elements |
| WO2022200596A1 (en) * | 2021-03-25 | 2022-09-29 | Charalampos Kosmas | Two phase landing system for the moon and its implementation elements |
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