CN106697337A - Nano-satellite electromagnetic docking reconfiguring equipment - Google Patents
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Abstract
本发明公开了纳卫星电磁对接重构设备，包括第一卡锁设备、第二卡锁设备；其特征在于，还包括：与第一卡锁设备连接的第一电磁力设备，与第二卡锁设备连接的第二电磁力设备；对接时，所述第一电磁力设备和第二电磁力设备之间的磁力为吸引力。
The invention discloses a nano-satellite electromagnetic docking reconstruction device, which includes a first locking device and a second locking device; it is characterized in that it also includes: a first electromagnetic force device connected to the first locking device, The second electromagnetic force device connected to the lock device; when docking, the magnetic force between the first electromagnetic force device and the second electromagnetic force device is an attractive force.
Description
技术领域technical field
本发明涉及纳卫星领域，特别涉及纳卫星电磁对接重构设备。The invention relates to the field of nano-satellites, in particular to electromagnetic docking and reconstruction equipment for nano-satellites.
背景技术Background technique
借助对接机构可实现多个独立飞行器在空间的刚性连接，对接过程中，对接机构的主动端对被动端捕获和锁紧，《载人航天》2016年第22(1)期，93-98页公开的“一种微型航天器对接机构的设计研究[J]”对对接机构的捕获和锁紧过程进行了阐述。纳纳卫星对接技术旨在利用多个体积小、重量轻的纳卫星通过空间交汇对接，实现功能重构，组合任务等，以较低的成本替代传统大型纳卫星，甚至突破单颗纳卫星的任务限制，强化空间协作。With the help of the docking mechanism, the rigid connection of multiple independent aircraft in space can be realized. During the docking process, the active end of the docking mechanism captures and locks the passive end, "Manned Spaceflight", No. 22(1), 2016, pages 93-98 The published "Design Research of a Docking Mechanism for Micro-Spacecraft [J]" describes the capture and locking process of the docking mechanism. Nano-satellite docking technology aims to use multiple small and light-weight nano-satellites to meet and dock through space to realize functional reconstruction, combined tasks, etc., to replace traditional large-scale nano-satellites at a lower cost, and even break through the limitations of a single nano-satellite. Mission constraints, enhanced spatial collaboration.
对接是一个精准的空间操作，需要相对距离估计、自动避撞、自动捕获、对接扰动稳定的功能，此外需要精确的导航策略和传感器，Roscoe C W T,Griesbach J D,WestphalJ J,et al.Force modeling and state propagation for navigation and maneuverplanning for CubeSat rendezvous,proximity operations,and docking[J].Advancesin the Astronautical Sciences,2014,150:573-590对此进行了阐述。目前对接采用复杂的对接锁紧机构，对接系统的体积、重量和能耗都无法适应纳卫星应用，并且限于微纳卫星本身的控制精度和导航对接设备的复杂性，要求纳卫星的对接设备能实现一定程度的自动对准，并考虑对接过程中推力器排出羽流将会给对接任务带来不利的影响，希望在近距离接近时，无需推进，实现末段自主对接。Docking is a precise space operation that requires functions of relative distance estimation, automatic collision avoidance, automatic capture, docking disturbance stabilization, and precise navigation strategies and sensors, Roscoe C W T, Griesbach J D, WestphalJ J, et al.Force modeling and State propagation for navigation and maneuver planning for CubeSat rendezvous, proximity operations, and docking [J]. Advances in the Astronautical Sciences, 2014, 150:573-590 elaborated on this. At present, complex docking and locking mechanisms are used for docking. The volume, weight and energy consumption of the docking system cannot adapt to the application of nano-satellites, and are limited by the control accuracy of micro-nano satellites and the complexity of navigation and docking equipment. Nano-satellite docking equipment is required to be capable To achieve a certain degree of automatic alignment, and considering that the plume discharged by the thruster during the docking process will have an adverse impact on the docking task, it is hoped that when approaching at a close distance, there is no need to propel and realize the autonomous docking at the end.
电磁对接利用磁力产生两个纳卫星间的相互吸引力，能耗少且自主性高，大大降低了纳纳卫星的系统要求。目前基于纳纳卫星的电磁对接的研究主要有英国Surrey的STRaND纳卫星，Tyvak的CPOD任务以及OAAN(微纳纳卫星在轨自动组装)近距离对接的仿真分析。设计普遍考虑使用永磁铁设计磁对接和锁紧设备。Electromagnetic docking uses magnetic force to generate mutual attraction between two nano-satellites, with less energy consumption and high autonomy, which greatly reduces the system requirements of nano-satellites. At present, the research on electromagnetic docking based on nano-satellite mainly includes the STRaND nano-satellite in Surrey, UK, the CPOD mission of Tyvak, and the simulation analysis of close-range docking of OAAN (On-orbit Automatic Assembly of Micro-Nano Satellite). The design generally considers the use of permanent magnets to design magnetic docking and locking devices.
在安装误差和发射振动影响下，永磁铁对整星的磁性影响不可能通过安装布局完全抵消，尤其是体积紧凑的立方体纳纳卫星，无法预计的磁性影响会导致纳卫星姿态控制失效。已有的研究较少考虑空间环境的特异性，仅关注力、力矩及机构本身，基于电磁铁的对接分离机构的设计方法研究尚未见公开发表的文献。Under the influence of installation error and launch vibration, it is impossible to completely offset the magnetic influence of permanent magnets on the whole satellite through the installation layout, especially for the compact cube nano-satellite, the unpredictable magnetic influence will lead to the failure of the attitude control of the nano-satellite. Existing studies seldom consider the specificity of the space environment, but only focus on the force, moment and mechanism itself. The research on the design method of the docking and separating mechanism based on electromagnet has not yet been published in the literature.
发明内容Contents of the invention
本发明解决的问题是现有磁对接和锁紧装置采用永磁铁，永磁铁对整星影响无法消除；为解决所述问题，本发明提供纳卫星电磁对接重构设备。The problem solved by the invention is that the existing magnetic docking and locking devices use permanent magnets, and the influence of permanent magnets on the whole satellite cannot be eliminated; in order to solve the above problems, the invention provides nano-satellite electromagnetic docking reconstruction equipment.
本发明提供的纳卫星电磁对接重构设备，包括：第一卡锁设备、第二卡锁设备；还包括：与第一卡锁设备连接的第一电磁力设备，与第二卡锁设备连接的第二电磁力设备；对接时，所述第一电磁力设备和第二电磁力设备之间的磁力为吸引力。The nano-satellite electromagnetic docking reconstruction device provided by the present invention includes: a first locking device and a second locking device; and also includes: a first electromagnetic force device connected to the first locking device and connected to the second locking device The second electromagnetic force device; when docking, the magnetic force between the first electromagnetic force device and the second electromagnetic force device is an attractive force.
进一步，所述第一电磁力设备和第二电磁力设备结构相同，所述第一电磁力设备包括至少一根绕线磁棒，与所述绕线磁棒电连接的驱动电路，所述驱动电路包括电流大小调节器和电流方向调节器，还包括供电电路。Further, the first electromagnetic force device and the second electromagnetic force device have the same structure, the first electromagnetic force device includes at least one wire-wound magnetic bar, a drive circuit electrically connected to the wound magnetic bar, and the drive The circuit includes a current size regulator and a current direction regulator, and also includes a power supply circuit.
进一步，所述第一电磁力设备和第二电磁力设备共用供电电路。Further, the first electromagnetic force device and the second electromagnetic force device share a power supply circuit.
进一步，所述第一电磁力设备和第二电磁力设备分别采用一根绕线磁棒，所述第一电磁力设备的绕线磁棒上第一线圈的长度矢量为L1、第二电磁力设备的绕线磁棒上第二线圈的长度矢量为L2，L1、L2满足：Further, the first electromagnetic force device and the second electromagnetic force device respectively use a wound magnetic rod, the length vector of the first coil on the wound magnetic rod of the first electromagnetic force device is L 1 , and the second electromagnetic force device The length vector of the second coil on the wound magnetic bar of the force device is L 2 , and L 1 and L 2 satisfy:
F为第一电磁力设备和第二电磁力设备之间的作用力，第一线圈的电流为I1、第一线圈的电流为I2，为相对距离的单位矢量，μr为磁芯磁导率。 F is the force between the first electromagnetic force device and the second electromagnetic force device, the current of the first coil is I 1 , the current of the first coil is I 2 , is the unit vector of the relative distance, μ r is the magnetic permeability of the magnetic core.
进一步，所述第一线圈的线径为：为所述第一电磁力设备的一匝线圈平均长度，De1为第一线圈的外径，Di1为第一电磁力设备的第一磁芯的直径，为第一线圈安匝数，P1为第一线圈功率，A01为第一线圈窗口截面积。Further, the wire diameter of the first coil is: Be the average length of one turn coil of the first electromagnetic force device, D e1 is the outer diameter of the first coil, D i1 is the diameter of the first magnetic core of the first electromagnetic force device, is the ampere-turns of the first coil, P 1 is the power of the first coil, and A 01 is the window cross-sectional area of the first coil.
进一步，所述第二线圈的线径为：为所述第二电磁力设备的一匝线圈平均长度，De2为第二线圈的外径，Di2为第二电磁力设备的第二磁芯的直径，为第二线圈安匝数，P2为第二线圈功率，A02为第二线圈窗口截面积。Further, the wire diameter of the second coil is: Be the average length of one coil of the second electromagnetic force device, D e2 is the outer diameter of the second coil, D i2 is the diameter of the second magnetic core of the second electromagnetic force device, is the ampere-turns of the second coil, P 2 is the power of the second coil, and A 02 is the window cross-sectional area of the second coil.
进一步，所述第一卡锁设备安装于第一纳卫星，第二卡锁设备安装于第二纳卫星；所述第一卡锁设备为接纳锥，所述第二卡锁设备为对接杆；所述接纳锥内设有卡扣；所述对接杆上设有档位；所述卡扣与所述档位均是由弹性材料制成的；所述接纳锥与所述对接杆成锁匙结构。Further, the first locking device is installed on the first nano-satellite, and the second locking device is installed on the second nano-satellite; the first locking device is a receiving cone, and the second locking device is a docking rod; There is a buckle inside the receiving cone; a gear is provided on the docking rod; both the buckle and the gear are made of elastic material; the receiving cone and the docking rod form a key structure .
进一步，所述对接重构设备包括对接模式和分离模式；所述对接模式下，第一电磁力设备和第二电磁力设备相对端磁性相异；所述分离模式下，第一电磁力设备和第二电磁力设备相对端磁性相同。Further, the docking reconstruction device includes a docking mode and a separation mode; in the docking mode, the opposite ends of the first electromagnetic force device and the second electromagnetic force device are magnetically different; in the separation mode, the first electromagnetic force device and the second electromagnetic force device are magnetically different. The opposite ends of the second electromagnetic force device are magnetically identical.
本发明的优点包括：采用电磁对接，在设置好绕线磁棒后，通过控制驱动电路第一电磁力设备和第二电磁力设备的线圈中的电流的大小和方向，控制电磁力设备和第二电磁力设备之间的作用力的方向和大小，从而控制力分别与第一电磁力设备和第二电磁力设备连接的第一卡锁设备和第二卡锁设备之间的作用力的方向和大小，从而实现与第一卡锁设备和第二卡锁设备连接的第一纳卫星和第二纳卫星的对接和分离。The advantages of the present invention include: using electromagnetic docking, after setting the wound magnetic bar, by controlling the magnitude and direction of the current in the coils of the first electromagnetic force device and the second electromagnetic force device of the driving circuit, the electromagnetic force device and the second electromagnetic force device are controlled The direction and magnitude of the force between the two electromagnetic force devices, so as to control the direction of the force between the first locking device and the second locking device connected to the first electromagnetic force device and the second electromagnetic force device respectively and size, so as to realize the docking and separation of the first nano-satellite and the second nano-satellite connected with the first locking device and the second locking device.
附图说明Description of drawings
图1为本发明实施例提供的纳卫星电磁对接重构设备的绕线磁棒对接运动示意图Fig. 1 is a schematic diagram of the docking movement of the magnetic rod of the nano-satellite electromagnetic docking reconstruction device provided by the embodiment of the present invention
图2为本发明实施例提供的纳卫星电磁对接重构设备的结构示意图；FIG. 2 is a schematic structural diagram of a nanosatellite electromagnetic docking reconstruction device provided by an embodiment of the present invention;
图3为本发明实施例提供的纳卫星电磁对接重构设备设计流程图；Fig. 3 is a design flow chart of the nano-satellite electromagnetic docking reconstruction device provided by the embodiment of the present invention;
图4为本发明实施例提供的纳卫星电磁对接重构设备的约束域平面图。Fig. 4 is a plan view of the confined domain of the nanosatellite electromagnetic docking reconstruction device provided by the embodiment of the present invention.
具体实施方式detailed description
下文中，结合附图和实施例对本发明的精神和实质作进一步阐述。Hereinafter, the spirit and essence of the present invention will be further elaborated in conjunction with the drawings and embodiments.
如图1所示，本发明提供的纳卫星电磁对接重构设备，包括：第一卡锁设备33、第二卡锁设备44；还包括：与第一卡锁设备33连接的第一电磁力设备11，与第二卡锁设备44连接的第二电磁力设备22；对接时，所述第一电磁力设备11和第二电磁力设备22之间的磁力为吸引力。所述第一卡锁设备安装于第一纳卫星，第二卡锁设备安装于第二纳卫星。As shown in FIG. 1 , the nanosatellite electromagnetic docking reconstruction device provided by the present invention includes: a first locking device 33 and a second locking device 44; The device 11 is the second electromagnetic force device 22 connected to the second locking device 44; when docked, 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 the first nano-satellite, and the second locking device is installed on the second nano-satellite.
如图2所示，所述第一电磁力设备和第二电磁力设备结构相同，所述第一电磁力设备包括至少一根绕线磁棒01，与所述绕线磁棒电连接的驱动电路02，所述驱动电路02包括电流大小调节器和电流方向调节器，还包括供电电路03。为节省空间，所述第一电磁力设备和第二电磁力设备共用供电电路03。通过电流大小调节器调节，比如PWM调节，调节第一电磁力设备和第二电磁力设备之间的作用力的大小；通过电流方向调节器，比如反向器，调节第一电磁力设备和第二电磁力设备内电流的方向，调节第一电磁力设备和第二电磁力设备之间作用力的方向。As shown in Figure 2, the first electromagnetic force device and the second electromagnetic force device have the same structure, and the first electromagnetic force device includes at least one wound magnetic rod 01, and the drive electrically connected to the wound magnetic rod A circuit 02 , the drive circuit 02 includes a current magnitude regulator and a current direction regulator, and also 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 . Through the adjustment of the current size regulator, such as PWM adjustment, the size of the force between the first electromagnetic force device and the second electromagnetic force device is adjusted; through the current direction regulator, such as a reverser, the first electromagnetic force device and the second electromagnetic force device are adjusted. The direction of the current in the second electromagnetic force device adjusts the direction of the force between the first electromagnetic force device and the second electromagnetic force device.
本发明实施例提供的纳卫星电磁对接重构设备可以与任意卡锁设备相配合，对接模式下，第一电磁力设备的第一线圈和第二电磁力设备的第二线圈电流方向相同，第一电磁力设备和第二电磁力设备相对端磁性相反、产生吸引力，第一电磁力设备连接的第一卡锁设备和第二电磁力设备连接的第二卡锁设备对接；分离模式下，第一电磁力设备的第一线圈和第二电磁力设备的第二线圈电流方向相反，第一电磁力设备和第二电磁力设备相对端磁性相同、产生排斥力，第一电磁力设备连接的第一卡锁设备和第二电磁力设备连接的第二卡锁设备分离。The nanosatellite electromagnetic docking reconstruction device provided by the embodiment of the present invention can cooperate with any locking device. In the docking mode, the first coil of the first electromagnetic force device and the second coil of the second electromagnetic force device have the same current direction. The opposite ends of the first electromagnetic force device and the second electromagnetic force device are magnetically opposed to generate an attractive force, and the first locking device connected to the first electromagnetic force device is docked with the second locking device connected to the second electromagnetic force device; in the separation mode, The current direction of the first coil of the first electromagnetic force device is opposite to that of the second coil of the second electromagnetic force device, and the opposite ends of the first electromagnetic force device and the second electromagnetic force device are magnetically identical to generate repulsive force, and the first electromagnetic force device is connected The first locking device is separated from the second locking device connected to the second electromagnetic force device.
一个实施例中，所述第一卡锁设备为接纳锥，所述第二卡锁设备为对接杆；所述接纳锥内设有卡扣；所述对接杆上设有档位；所述卡扣与所述档位均是由弹性材料制成的；所述接纳锥与所述对接杆成锁匙结构。In one embodiment, the first locking device is a receiving cone, and the second locking device is a docking rod; buckles are provided in the receiving cone; gears are provided on the docking rod; Both the buckle and the gear are made of elastic material; the receiving cone and the butt rod form a key structure.
在本实施例中，以所述第一电磁力设备和第二电磁力设备分别采用一根绕线磁棒为例，对本发明实施例提供的那卫星电磁对接重构设备的设计方法进行示意性阐述，在本发明的其他实施例中，可以灵活调整绕线磁棒的数量，采用与本实施例相同的原理设计绕线磁棒的参数。本发明实施例提供的那卫星电磁对接重构设备的设计方法包括：In this embodiment, taking the first electromagnetic force device and the second electromagnetic force device respectively using a wire-wound magnetic bar as an example, the design method of the satellite electromagnetic docking reconstruction device provided by the embodiment of the present invention is schematically illustrated It is stated that in other embodiments of the present invention, the number of wire-wound rods can be flexibly adjusted, and the parameters of the wire-wound rods can be designed using the same principles as in this embodiment. The design method of the satellite electromagnetic docking reconstruction device provided by the embodiment of the present invention includes:
步骤S101，根据毕奥-萨伐尔定律计算电磁作用力，由HCW轨道动力学方程计算纳卫星对接所需吸引力，结合锁紧机构力学实验计算所需要的分离力，从而得到第一电磁力设备和第二电磁力设备的吸引力约束。Step S101, calculate the electromagnetic force according to the Biot-Savart law, calculate the attractive force required for the docking of nano-satellites from the HCW orbital dynamics equation, and combine the separation force required by the mechanical experiment of the locking mechanism to obtain the first electromagnetic force Attractive constraints on the device and the second electromagnetic force device.
由毕奥-萨伐尔定律得到载流导线周围磁场与电流的定量关系为：According to the Biot-Savart law, the quantitative relationship between the magnetic field and the current around the current-carrying wire is:
式中，μ0为真空磁导率；r为空间点P与电流元Idl的距离矢量；线圈作用力的精确模型公式为：In the formula, μ 0 is the vacuum magnetic permeability; r is the distance vector between the space point P and the current element Idl; the precise model formula of the coil force is:
即两个通电单匝线圈的作用力公式，即吸引力约束关系如下：That is, the force formula of two energized single-turn coils, that is, the attraction constraint relationship is as follows:
其中，为相对距离的单位矢量。两个线圈的长度矢量分别为L1、L2，线圈电流为I1、I2，μr为磁芯磁导率。多匝绕线线圈作用力为单匝绕线线圈作用力的匝数倍。in, is the unit vector of the relative distance. The length vectors of the two coils are L 1 , L 2 , the coil currents are I 1 , I 2 , and μ r is the magnetic permeability of the magnetic core. The force of the multi-turn coil is several times the force of the single-turn coil.
步骤S102，根据发热平衡功率约束设计磁棒参数，所述磁棒参数包括磁芯材料、直径、长度及绕线后的外径。Step S102 , designing the parameters of the magnetic bar according to the constraints of heat balance power, and the parameters of the magnetic bar include the material of the magnetic core, diameter, length and outer diameter after winding.
磁芯材料选择低磁滞的软磁合金材料。磁芯直径由纳卫星的重量和体积限制，长度由线圈长度确定。The core material is soft magnetic alloy material with low hysteresis. The core diameter is limited by the weight and volume of the nanosatellite, and the length is determined by the coil length.
由于线圈带负载并且绕线线圈和磁芯金属间有热传导，在密闭的卫星空间内有允许发热温度上限，磁棒参数还需满足发热平衡约束。本实施例中，采用漆包线制作的绕线磁棒的发热平衡方程可由下述公式表示：Since the coil is loaded and there is heat conduction between the wound coil and the core metal, there is an upper limit to the allowable heating temperature in the airtight satellite space, and the parameters of the magnetic bar also need to meet the heating balance constraints. In this embodiment, the heating balance equation of the wound magnetic rod made of enameled wire can be expressed by the following formula:
P＝a1Sa+a2SM P＝a 1 S a +a 2 S M
式中，P为发热平衡功率，Sa、SM分别表示与空气和金属接触的散热面，a1、a2分别表示单位散热面上所散出的功率，a1、a2是由线圈厚度和类型得到的经验值。如图4所示，发热平衡功率与线圈安匝数(磁势)、线径直接相关，在发热功率和安匝数的约束下可选择合适的线径，线圈选择范围如图中三角斜线阴影区域Ⅰ所示。In the formula, P is the heat balance power, S a and S M represent the heat dissipation surfaces in contact with air and metal respectively, a 1 and a 2 represent the power dissipated on the unit heat dissipation surface respectively, and a 1 and a 2 are determined by the coil Thickness and type get empirical values. As shown in Figure 4, the heating balance power is directly related to the ampere-turns (magnetic potential) and wire diameter of the coil. Under the constraints of the heating power and ampere-turns, an appropriate wire diameter can be selected. The selection range of the coil is shown in the triangle diagonal line in the figure. Shown in the shaded area I.
步骤S103、根据线圈安匝数约束确定线圈线径。根据线圈线径的约束筛选线圈。Step S103. Determine the wire diameter of the coil according to the constraints of the ampere-turns of the coil. Coils are screened according to the constraints of the coil wire diameter.
为第一线圈安匝数，P1为第一线圈功率，A01为第一线圈窗口截面积。所述第一线圈的线径为：为所述第一电磁力设备的一匝线圈平均长度，De1为第一线圈的外径，Di1为第一电磁力设备的第一磁芯的直径，。 is the ampere-turns of the first coil, P 1 is the power of the first coil, and A 01 is the window cross-sectional area of the first coil. The wire diameter of the first coil is: is the average length of one turn coil of the first electromagnetic force device, D e1 is the outer diameter of the first coil, and D i1 is the diameter of the first magnetic core of the first electromagnetic force device.
进一步，所述第二线圈的线径为：为所述第二电磁力设备的一匝线圈平均长度，De2为第二线圈的外径，Di2为第二电磁力设备的第二磁芯的直径，为第二线圈安匝数，P2为第二线圈功率，A02为第二线圈窗口截面积。Further, the wire diameter of the second coil is: Be the average length of one coil of the second electromagnetic force device, D e2 is the outer diameter of the second coil, D i2 is the diameter of the second magnetic core of the second electromagnetic force device, is the ampere-turns of the second coil, P 2 is the power of the second coil, and A 02 is the window cross-sectional area of the second coil.
步骤S104，根据步骤101至103建立的约束条件设计第一电磁力设备和第二电磁力设备。Step S104, designing the first electromagnetic force device and the second electromagnetic force device according to the constraints established in steps 101 to 103.
所缠绕导线和对接重构设备中各部件均采用工业上获得的产品，并需要同时满足吸引力约束、热平衡功率约束以及线圈安匝数约束。以线圈线径为例，线圈的线径不止与线圈中电流相关，还会影响到线圈的安匝数，所以可能会需要反复调试，直至所以吸引力约束关系中各数值不可能选取任意理论值。由图4所示的约束域图来调整绕线线圈，最终得到设计结果满足要求的电磁对接机构。The wound wires and the components in the docking reconstruction equipment are all industrially obtained products, and need to satisfy the attractive force constraint, heat balance power constraint and coil ampere-turn constraint at the same time. Taking the wire diameter of a 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 repeated debugging may be required until it is impossible to select any theoretical value for each value in the attractive force constraint relationship . The winding coil is adjusted by the constraint domain diagram shown in Figure 4, and finally the electromagnetic docking mechanism whose design results meet the requirements is obtained.
综上，本发明提供的纳卫星电磁对接重构设备综合考虑了吸引力约束、发热平衡约束、安匝数约束，利用电磁铁本身的特性，只需结合简单的卡锁机构，无需复杂的对接设备和导航控制方案，即可实现自主的对接，解决了现有卫星对接机构复杂，无法适应微纳卫星应用的问题。另外，电驱动产生的电磁力只存在对接分离过程中，不会在其他阶段产生电磁干扰问题，设计具有更好的可靠性。In summary, the nano-satellite electromagnetic docking reconstruction device provided by the present invention comprehensively considers the constraints of attractive force, heat balance, and ampere-turns, and utilizes the characteristics of the electromagnet itself. It only needs to be combined with a simple locking mechanism, and no complicated docking is required. The equipment and navigation control scheme can realize autonomous docking, which solves the problem that the existing satellite docking mechanism is complicated and cannot adapt to the application of micro-nano satellites. In addition, the electromagnetic force generated by the electric drive only exists during the docking and separation process, and will not cause electromagnetic interference problems in other stages, and the design has better reliability.
本发明虽然已以较佳实施例公开如上，但其并不是用来限定本发明，任何本领域技术人员在不脱离本发明的精神和范围内，都可以利用上述揭示的方法和技术内容对本发明技术方案做出可能的变动和修改，因此，凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化及修饰，均属于本发明技术方案的保护范围。Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention, and any person skilled in the art can use the methods disclosed above and technical content to analyze the present invention without departing from the spirit and scope of the present invention. Possible changes and modifications are made in the technical solution. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention, which do not depart from the content of the technical solution of the present invention, all belong to the technical solution of the present invention. protected range.
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