CN106697337A - Nano-satellite electromagnetic docking reconfiguring equipment - Google Patents
Nano-satellite electromagnetic docking reconfiguring equipment Download PDFInfo
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- CN106697337A CN106697337A CN201710021713.XA CN201710021713A CN106697337A CN 106697337 A CN106697337 A CN 106697337A CN 201710021713 A CN201710021713 A CN 201710021713A CN 106697337 A CN106697337 A CN 106697337A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 56
- 210000001503 joint Anatomy 0.000 claims description 16
- 238000004804 winding Methods 0.000 claims description 15
- 239000013598 vector Substances 0.000 claims description 9
- 239000013013 elastic material Substances 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 108091092878 Microsatellite Proteins 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 11
- 239000011162 core material Substances 0.000 description 10
- 238000013461 design Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 238000010438 heat treatment Methods 0.000 description 6
- 238000011160 research Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 229910001004 magnetic alloy Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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
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- 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
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
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- Astronomy & Astrophysics (AREA)
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- Magnetic Treatment Devices (AREA)
Abstract
The invention discloses nano-satellite electromagnetic docking reconfiguring equipment. The nano-satellite electromagnetic docking reconfiguring equipment comprises first clamping and locking equipment and second clamping and locking equipment and is characterized by further comprising first electromagnetic equipment and second electromagnetic equipment, wherein the first electromagnetic equipment is connected with the first clamping and locking equipment; and the second electromagnetic equipment is connected with the second clamping and locking equipment; and during docking, a magnetic force between the first electromagnetic equipment and the second electromagnetic equipment is an attraction force.
Description
Technical Field
The invention relates to the field of nano-satellites, in particular to a nano-satellite electromagnetic docking reconstruction device.
Background
Rigid connection of a plurality of independent aircrafts in space can be realized by the aid of the docking mechanism, in the docking process, the active end of the docking mechanism captures and locks the passive end, and the capture and locking process of the docking mechanism is explained in ' 22(1) th of Kangren Spaceflight ' 2016 (pp. 93-98) ' a design research [ J ] of a micro spacecraft docking mechanism. The nano satellite docking technology aims to utilize a plurality of small and light nano satellites to realize function reconstruction, task combination and the like through space intersection docking, replace the traditional large nano satellite with lower cost, even break through the task limitation of a single nano satellite, and strengthen space cooperation.
Docking is an accurate spatial operation requiring functions of relative distance estimation, automatic collision avoidance, automatic capture, docking disturbance stabilization, and in addition requiring precise navigation strategies and sensors, Roscoe C W T, Griesbach J D, WestphalJ, et al. force modeling and state prediction for navigation and manual planning for CubeSat retrieval, simulation operations, and docking [ J ] Advance in the analytical Sciences,2014,150: 573-. At present, a complex docking locking mechanism is adopted for docking, the volume, weight and energy consumption of a docking system cannot adapt to the application of a nano satellite, the docking system is limited to the control precision of the micro-nano satellite and the complexity of navigation docking equipment, the docking equipment of the nano satellite is required to realize automatic alignment to a certain degree, the docking task is adversely affected by considering the plume discharged by a thruster in the docking process, and the autonomous docking of the tail section is realized without propulsion when the docking system is close to a short distance.
The electromagnetic butt joint utilizes magnetic force to generate mutual attraction between two nano-satellites, the energy consumption is low, the autonomy is high, and the system requirements of the nano-satellites are greatly reduced. At present, researches on electromagnetic docking based on a nano satellite mainly comprise an STRAND nano satellite of Surrey in England, a CPOD task of Tyvak and simulation analysis of OAAN (micro nano satellite in-orbit automatic assembly) short-distance docking. Design considerations generally contemplate the use of permanent magnets to design the magnetic docking and locking device.
Under the influence of installation errors and emission vibration, the magnetic influence of the permanent magnet on the whole satellite cannot be completely counteracted through the installation layout, and especially for a cubic nano satellite with a compact size, the unpredictable magnetic influence can cause the attitude control failure of the nano satellite. The existing research considers the specificity of space environment less, only concerns force, moment and mechanism itself, and the design method research of the butt joint and separation mechanism based on the electromagnet is not published in the published literature.
Disclosure of Invention
The invention solves the problem that the existing magnetic butt joint and locking device adopts a permanent magnet, and the influence of the permanent magnet on the whole star cannot be eliminated; in order to solve the problems, the invention provides a nano-satellite electromagnetic docking reconstruction device.
The invention provides a nano-satellite electromagnetic docking reconstruction device, which comprises: the locking device comprises a first locking device and a second locking device; further comprising: the first electromagnetic force device is connected with the first clamping and locking device, and the second electromagnetic force device is connected with the second clamping and locking device; when the connector is connected, the magnetic force between the first electromagnetic force device and the second electromagnetic force device is attractive force.
Further, first electromagnetic force equipment and second electromagnetic force equipment structure are the same, first electromagnetic force equipment include an at least wire winding bar magnet, with the drive circuit that the wire winding bar magnet is connected, drive circuit includes current size regulator and current direction regulator, still includes supply circuit.
Further, the first electromagnetic force device and the second electromagnetic force device share a power supply circuit.
Further, the first electromagnetic force device and the second electromagnetic force device respectively adopt a winding magnetic rod, and the length vector of a first coil on the winding magnetic rod of the first electromagnetic force device is L1The length vector of a second coil on a winding magnetic rod of the second electromagnetic force equipment is L2，L1、L2Satisfies the following conditions:
f is the acting force between the first electromagnetic force device and the second electromagnetic force device, and the current of the first coil is I1The current of the first coil is I2，Unit vector of relative distance, murIs the magnetic core permeability.
Further, the wire diameter of the first coil is:is the average length of one turn of coil of said first electromagnetic force device, De1Is the outer diameter of the first coil, Di1Is the diameter of the first magnetic core of the first electromagnetic force device,for the first coil ampere-turns, P1Is the first coil power, A01Is the cross-sectional area of the first coil window.
Further, the wire diameter of the second coil is:is the average length of one turn of coil of said second electromagnetic force device, De2Is the outer diameter of the second coil, Di2Is the diameter of the second magnetic core of the second electromagnetic force device,for the second coil ampere-turns, P2Is the second coil power, A02The cross-sectional area of the second coil window.
Further, the first locking device is installed on a first nano satellite, and the second locking device is installed on a second nano satellite; the first locking device is a receiving cone, and the second locking device is a butt joint rod; a buckle is arranged in the receiving cone; the butt joint rod is provided with gears; the buckle and the gear are both made of elastic materials; the receiving cone and the butt joint rod form a key structure.
Further, the docking reconstruction device includes a docking mode and a detach mode; in the butt joint mode, opposite ends of the first electromagnetic force device and the second electromagnetic force device are different in magnetism; in the disengaged mode, the opposite ends of the first and second electromagnetic force devices are magnetically the same.
The advantages of the invention include: the electromagnetic butt joint is adopted, after the winding magnetic bar is arranged, the direction and the direction of the acting force between the electromagnetic force equipment and the second electromagnetic force equipment are controlled by controlling the magnitude and the direction of the current in the coils of the first electromagnetic force equipment and the second electromagnetic force equipment of the driving circuit, so that the direction and the magnitude of the acting force between the first locking equipment and the second locking equipment which are respectively connected with the first electromagnetic force equipment and the second electromagnetic force equipment are controlled, and the butt joint and the separation of a first receiving satellite and a second receiving satellite which are connected with the first locking equipment and the second locking equipment are realized.
Drawings
FIG. 1 is a schematic diagram of a docking motion of a magnetic bar winding of a nano-satellite electromagnetic docking reconstruction device according to an embodiment of the present invention
Fig. 2 is a schematic structural diagram of a nano-satellite electromagnetic docking reconstruction device according to an embodiment of the present invention;
FIG. 3 is a flow chart of the design of a nano-satellite electromagnetic docking reconstruction device according to an embodiment of the present invention;
fig. 4 is a plan view of a constrained domain of a nano-satellite electromagnetic docking reconstruction apparatus according to an embodiment of the present invention.
Detailed Description
The spirit and substance of the present invention will be further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, the present invention provides a nano-satellite electromagnetic docking reconstruction apparatus, including: a first latch device 33, a second latch device 44; further comprising: a first electromagnetic force device 11 connected to the first latching device 33, a second electromagnetic force device 22 connected to the second latching device 44; when the connector is connected, the magnetic force between the first electromagnetic force device 11 and the second electromagnetic force device 22 is an attractive force. The first locking device is installed on a first nano satellite, and the second locking device is installed on a second nano satellite.
As shown in fig. 2, the first electromagnetic force device and the second electromagnetic force device are identical in structure, the first electromagnetic force device includes at least one wound magnetic rod 01, a driving circuit 02 electrically connected to the wound magnetic rod, and the driving circuit 02 includes a current magnitude regulator and a current direction regulator, and further includes a power supply circuit 03. To save space, the first electromagnetic force device and the second electromagnetic force device share the power supply circuit 03. Adjusting the magnitude of the acting force between the first electromagnetic force device and the second electromagnetic force device through current magnitude adjuster adjustment, such as PWM adjustment; the direction of the current in the first and second electromagnetic force devices is adjusted by a current direction adjuster, such as an inverter, adjusting the direction of the force acting between the first and second electromagnetic force devices.
The nano-satellite electromagnetic docking reconstruction equipment provided by the embodiment of the invention can be matched with any latch equipment, in a docking mode, the current directions of a first coil of a first electromagnetic force equipment and a second coil of a second electromagnetic force equipment are the same, the opposite ends of the first electromagnetic force equipment and the second electromagnetic force equipment are opposite in magnetism and generate attraction force, and the first latch equipment connected with the first electromagnetic force equipment is docked with the second latch equipment connected with the second electromagnetic force equipment; in the disengagement mode, the first coil of the first electromagnetic force device and the second coil of the second electromagnetic force device are in opposite current directions, opposite ends of the first electromagnetic force device and the second electromagnetic force device are magnetically identical and generate repulsive force, and the first latch device connected with the first electromagnetic force device and the second latch device connected with the second electromagnetic force device are disengaged.
In one embodiment, the first latch device is a receiving cone and the second latch device is a docking rod; a buckle is arranged in the receiving cone; the butt joint rod is provided with gears; the buckle and the gear are both made of elastic materials; the receiving cone and the butt joint rod form a key structure.
In this embodiment, taking the first electromagnetic force device and the second electromagnetic force device as an example, which respectively employ one winding magnetic rod, the design method of the satellite electromagnetic docking reconstruction device provided in the embodiment of the present invention is schematically described. The design method of the satellite electromagnetic docking reconstruction equipment provided by the embodiment of the invention comprises the following steps:
step S101, calculating electromagnetic acting force according to the Biao-Saval law, calculating attraction force required by the docking of the nano satellite according to the HCW orbit dynamics equation, and calculating required separating force by combining with a locking mechanism mechanics experiment, so that attraction force constraint of the first electromagnetic force equipment and the second electromagnetic force equipment is obtained.
The quantitative relation between the magnetic field and the current around the current-carrying conducting wire obtained by the Biot-Saval law is as follows:
in the formula, mu0Is a vacuum magnetic conductivity; r is a distance vector between the space point P and the current element Idl; the exact model formula of the coil force is:
namely the force formula of two energized single turn coils, namely the attraction force constraint relationship is as follows:
wherein,is a unit vector of relative distance. The length vectors of the two coils are respectively L1、L2The coil current is I1、I2，μrIs the magnetic core permeability. The acting force of the multi-turn winding coil is multiple of the number of turns of the acting force of the single-turn winding coil.
And S102, designing magnetic bar parameters according to the heating balance power constraint, wherein the magnetic bar parameters comprise magnetic core materials, diameters, lengths and outer diameters after winding.
The magnetic core material is selected from soft magnetic alloy materials with low magnetic hysteresis. The core diameter is limited by the weight and volume of the nanosatellite and the length is determined by the coil length.
Because the coil is loaded and heat conduction exists between the winding coil and the magnetic core metal, the upper limit of allowable heating temperature exists in the closed satellite space, and the parameters of the magnetic bar also need to meet the heating balance constraint. In this embodiment, the heat balance equation of the winding magnetic rod made of the enameled wire can be expressed by the following formula:
P＝a1Sa+a2SM
wherein P is the heat generation balance power, Sa、SMRespectively, heat-dissipating surfaces in contact with air and metal, a1、a2Respectively representing the power dissipated per unit heat-dissipating surface, a1、a2Are empirical values derived from coil thickness and type. As shown in fig. 4, the heating balance power is directly related to the ampere-turn number (magnetic potential) of the coil and the wire diameter, and an appropriate wire diameter can be selected under the constraints of the heating power and the ampere-turn number, and the coil selection range is shown as a triangular oblique line shaded area i in the figure.
And S103, determining the wire diameter of the coil according to the ampere-turn number constraint of the coil. And screening the coils according to the constraint of the wire diameter of the coils.
For the first coil ampere-turns, P1Is the first coil power, A01Is the cross-sectional area of the first coil window. The wire diameter of the first coil is as follows:is the average length of one turn of coil of said first electromagnetic force device, De1Is the outer diameter of the first coil, Di1Is the diameter of the first magnetic core of the first electromagnetic force device.
Further, the wire diameter of the second coil is:is the average length of one turn of coil of said second electromagnetic force device, De2Is the outer diameter of the second coil, Di2Is the diameter of the second magnetic core of the second electromagnetic force device,for the second coil ampere-turns, P2Is the second coil power, A02The cross-sectional area of the second coil window.
Step S104, the first electromagnetic force device and the second electromagnetic force device are designed according to the constraints established in steps 101 to 103.
The wound wire and each component in the butt reconstruction equipment are all products obtained industrially, and the attraction constraint, the heat balance power constraint and the ampere-turn constraint of the coil are simultaneously met. Taking the wire diameter of the coil as an example, the wire diameter of the coil is not only related to the current in the coil, but also affects the ampere-turns of the coil, so that repeated debugging may be needed until each value in the attraction force constraint relationship cannot select any theoretical value. And adjusting the winding coil by the constraint domain diagram shown in fig. 4 to finally obtain the electromagnetic docking mechanism with the design result meeting the requirement.
In conclusion, the nano-satellite electromagnetic docking reconstruction equipment provided by the invention comprehensively considers attraction force constraint, heating balance constraint and ampere-turn number constraint, and can realize autonomous docking by utilizing the characteristics of the electromagnet and only combining a simple locking mechanism without complex docking equipment and a navigation control scheme, thereby solving the problems that the existing satellite docking mechanism is complex and cannot adapt to the application of a micro-nano satellite. In addition, electromagnetic force generated by electric drive only exists in the butt joint separation process, the problem of electromagnetic interference generated in other stages is avoided, and the design has better reliability.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (8)
1. The nano-satellite electromagnetic docking reconstruction equipment comprises first latch equipment and second latch equipment; it is characterized by also comprising: the first electromagnetic force device is connected with the first clamping and locking device, and the second electromagnetic force device is connected with the second clamping and locking device; when the connector is connected, the magnetic force between the first electromagnetic force device and the second electromagnetic force device is attractive force.
2. The device for reconstructing a nano-satellite electromagnetic docking according to claim 1, wherein the first electromagnetic force device and the second electromagnetic force device are identical in structure, the first electromagnetic force device comprises at least one wound magnetic rod, a driving circuit electrically connected with the wound magnetic rod, the driving circuit comprises a current magnitude regulator and a current direction regulator, and a power supply circuit is further included.
3. The nanosatellite electromagnetic docking reconstruction apparatus of claim 2 wherein the first electromagnetic force apparatus and the second electromagnetic force apparatus share a power supply circuit.
4. The microsatellite electromagnetic docking reconstruction apparatus according to claim 2 wherein said first electromagnetic force apparatus and said second electromagnetic force apparatus each employ a wound bar magnet, and a length vector of a first coil on said wound bar magnet of said first electromagnetic force apparatus is L1The length vector of a second coil on a winding magnetic rod of the second electromagnetic force equipment is L2，L1、L2Satisfies the following conditions:f is the acting force between the first electromagnetic force device and the second electromagnetic force device, and the current of the first coil is I1The current of the second coil is I2，Unit vector of relative distance, murIs the magnetic core permeability.
5. The apparatus according to claim 4, wherein the first coil has a wire diameter of:is the average length of one turn of coil of said first electromagnetic force device, De1Is the outer diameter of the first coil, Di1Is the diameter of the first magnetic core of the first electromagnetic force device,for the first coil ampere-turns, P1Is the first coil power, A01Is the cross-sectional area of the first coil window.
6. The apparatus according to claim 4, wherein the second coil has a wire diameter of:is the average length of one turn of coil of said second electromagnetic force device, De2Is the outer diameter of the second coil, Di2Is the diameter of the second magnetic core of the second electromagnetic force device,for the second coil ampere-turns, P2Is the second coil power, A02The cross-sectional area of the second coil window.
7. The device for reconfiguration according to claim 4, wherein said first latch device is mounted to a first nanosatellite and said second latch device is mounted to a second nanosatellite; the first locking device is a receiving cone, and the second locking device is a butt joint rod; a buckle is arranged in the receiving cone; the butt joint rod is provided with gears; the buckle and the gear are both made of elastic materials; the receiving cone and the butt joint rod form a key structure.
8. The nano-satellite electromagnetic docking reconstruction device of claim 4, wherein the docking reconstruction device comprises a docked mode and a undocked mode; in the butt joint mode, opposite ends of the first electromagnetic force device and the second electromagnetic force device are different in magnetism; in the disengaged mode, the opposite ends of the first and second electromagnetic force devices are magnetically the same.
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| CN201710021713.XA CN106697337A (en) | 2017-01-12 | 2017-01-12 | Nano-satellite electromagnetic docking reconfiguring equipment |
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| CN201710021713.XA CN106697337A (en) | 2017-01-12 | 2017-01-12 | Nano-satellite electromagnetic docking reconfiguring equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108444345A (en) * | 2018-03-14 | 2018-08-24 | 合肥凯石投资咨询有限公司 | A kind of reusable rocket boost motor of the attracting polymerization of electromagnetism |
| CN109649685A (en) * | 2018-12-03 | 2019-04-19 | 中国航天时代电子有限公司 | A kind of micro-nano satellite in-orbit allosteric electromagnetism hinge |
| CN112173176A (en) * | 2019-07-02 | 2021-01-05 | 中国科学院宁波材料技术与工程研究所 | Electric permanent magnet butt-joint separation device and butt-joint separation method thereof |
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2017
- 2017-01-12 CN CN201710021713.XA patent/CN106697337A/en active Pending
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108444345A (en) * | 2018-03-14 | 2018-08-24 | 合肥凯石投资咨询有限公司 | A kind of reusable rocket boost motor of the attracting polymerization of electromagnetism |
| CN109649685A (en) * | 2018-12-03 | 2019-04-19 | 中国航天时代电子有限公司 | A kind of micro-nano satellite in-orbit allosteric electromagnetism hinge |
| CN109649685B (en) * | 2018-12-03 | 2021-11-05 | 中国航天时代电子有限公司 | Electromagnetic hinge for micro-nano satellite in-orbit transformation |
| CN112173176A (en) * | 2019-07-02 | 2021-01-05 | 中国科学院宁波材料技术与工程研究所 | Electric permanent magnet butt-joint separation device and butt-joint separation method thereof |
| CN112173176B (en) * | 2019-07-02 | 2022-02-18 | 中国科学院宁波材料技术与工程研究所 | Electric permanent magnet butt-joint separation device and butt-joint separation method thereof |
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