CN109110158B - Chip satellite group and its distribution method - Google Patents
Chip satellite group and its distribution method Download PDFInfo
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- CN109110158B CN109110158B CN201810835487.3A CN201810835487A CN109110158B CN 109110158 B CN109110158 B CN 109110158B CN 201810835487 A CN201810835487 A CN 201810835487A CN 109110158 B CN109110158 B CN 109110158B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000009826 distribution Methods 0.000 title abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000007480 spreading Effects 0.000 claims description 7
- 238000003892 spreading Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 4
- 230000036544 posture Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 108091092878 Microsatellite Proteins 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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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
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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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
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
Abstract
The invention discloses a chip satellite group and a distribution method thereof, wherein the chip satellite group comprises a plurality of chip satellites, the chip satellites are connected through a controllable rotating connecting mechanism, and a head end chip satellite in the chip satellites is connected with a chip satellite distributor through the controllable rotating connecting mechanism; the controllable rotary connecting mechanism comprises a controllable rotating mechanism, and two ends of the controllable rotating mechanism are provided with openable jaws; the openable jaw is used for connecting a chip satellite or a chip satellite spreader. The initial attitude requirement of each chip satellite can be met after the chip satellite is scattered, the initial attitude disturbance of each chip satellite is reduced, and the stability of the initial attitude of the chip satellite after the chip satellite is scattered is realized.
Description
Technical Field
The invention belongs to the technical field of spacecraft attitude control; relates to a chip satellite group and a method for distributing the chip satellite group.
Background
Once proposed as a micro satellite, the chip satellite has attracted much attention from the aerospace industry. Thanks to the development of chip technology, tasks which can only be executed by a large-scale spacecraft in the past can be replaced by one or more small chip satellites; compared with the traditional large-scale spacecraft, the chip satellite has great advantages in manufacturing and launching cost. Due to the size and mass limitations of the conventional attitude determination and adjustment methods, the conventional attitude determination and adjustment methods cannot be applied to the on-chip satellite or are limited considerably.
At present, aiming at the attitude adjustment problem of a chip satellite, two different modes of external environment moment and internal moment exist, and the two modes have relatively mature researches. In the attitude and orbit adjusting mode under the action of the external environment moment, the known external environment moment sources comprise a solar sail, an electrodynamic rope and the like, namely, the attitude orbit of the chip satellite is adjusted by respectively utilizing the sunlight pressure and the planet magnetic field moment. Aiming at the attitude and orbit adjustment problem of the chip satellite, the application of external environment force to adjust the attitude and orbit of the chip satellite is an effective adjustment mode, but has severe requirements on the configuration, the working space, the adjustment time and the position of the satellite, is greatly influenced by the factors of the environment (ionosphere, magnetic field, sunlight and the like), can be limited by the initial state condition, and is very likely to have the phenomenon that the chip satellite cannot respond at the first time or even cannot respond when the attitude adjustment is needed.
In the attitude orbit adjustment mode under the action of the internal moment, aiming at the situation that the traditional internal moment attitude adjustment mode is difficult to apply under the limited load of the chip satellite, some researches on the attitude adjustment mode using the self component of the satellite as the counterweight are carried out at present. The internal moment attitude orbit control of the chip satellite is mainly based on the momentum moment conservation theorem, and the attitude orbit of the satellite is adjusted by changing the relative structural positions of a satellite main body and an accessory. Compared with the external moment, the internal moment attitude orbit control mode has the advantage of being not influenced by the external environment. However, the internal moment attitude orbit adjustment method also has some defects which are difficult to avoid by itself. On the one hand, the internal torque attitude adjustment mode is limited by self energy reserve, the energy carried by the chip satellite is often very limited, and a good re-energy-recharging environment can not be obtained during the orbit, so that the service life of the satellite can be greatly reduced by using the internal torque to adjust the attitude of the chip satellite, and the times and the amplitude can not meet the requirement of attitude adjustment. On the other hand, in the process of adjusting the internal moment attitude orbit based on angular momentum, the attitude adjustment of the satellite main body is bound to the change of the relative structure of the satellite and limited by the range limit of the change of the satellite structure, the attitude adjustment space of the satellite main body is often limited, and the complex and tedious control and optimization are needed to be carried out to ensure that all parts of the satellite are kept in the reasonable attitude layout at the corresponding position.
In conclusion, the posture adjustment mode and the posture adjustment capability loaded on the chip satellite are limited, the posture adjustment mode depending on the external environment moment is limited to the initial state condition, and the chip satellite cannot be started at all; the mode of adjusting the attitude by means of the internal moment is limited by the range limit of the satellite structure change and the load energy limit, and the requirement of attitude adjustment cannot be met. Therefore, on the one hand, it is very likely that the randomly scattered chip satellite cannot adjust the attitude to the initial attitude required for its operation; on the other hand, when the initial attitude of the chip satellite is seriously deviated or disturbed, the self attitude cannot be stabilized.
Disclosure of Invention
The invention provides a chip satellite group and a distribution method thereof; the initial attitude requirement of each chip satellite can be met after the chip satellite is scattered, the initial attitude disturbance of each chip satellite is reduced, and the stability of the initial attitude of the chip satellite after the chip satellite is scattered is realized.
The technical scheme of the invention is as follows: a chip satellite group comprises a plurality of chip satellites, wherein the chip satellites are connected through a controllable rotating connecting mechanism, and a head-end chip satellite in the chip satellites is connected with a chip satellite spreader through the controllable rotating connecting mechanism; the controllable rotary connecting mechanism comprises a controllable rotating mechanism, and two ends of the controllable rotating mechanism are provided with openable jaws; the openable jaw is used for connecting a chip satellite or a chip satellite spreader.
Furthermore, the invention is characterized in that:
the controllable rotating connecting mechanism is connected with the chip satellite in parallel or in series.
The controllable rotating mechanism comprises an elastic hinge structure, and two ends of the elastic hinge structure are provided with openable jaws.
The controllable rotating mechanism comprises a flexible elastic sheet structure, and two ends of the flexible elastic sheet structure are provided with openable jaws.
Wherein the flexible elastic sheet structure is made of intelligent piezoelectric materials.
The controllable rotating mechanisms adopted by the plurality of controllable rotating connecting mechanisms of the chip satellite group are not all flexible shrapnel structures or are not all elastic hinge structures.
The invention is also characterized in that: a method for distributing the chip satellite group comprises the following steps: step S1, keeping the chip satellite spreader in a closed state; step S2, the satellite spreader opens the two opposite side ports, and the chip satellite extends out from the two sides of the satellite spreader; step S3, the controllable rotating mechanism adjusts the relative attitude of the connected chip satellite or chip satellite spreader; in step S4, the satellite dispenser is deployed to complete the dispensing.
Wherein the controllable rotating mechanism rotates according to the preset working sequence and the rotation amount in step S3.
Compared with the prior art, the invention has the beneficial effects that: the chip satellite group uses the controllable rotating connecting mechanism and the chip satellite spreader, and can adjust the attitude of the whole system formed by the chip satellite group and the chip satellite spreader by using the attitude control device on the chip satellite spreader and the controllable rotating connecting mechanism between the chip satellites during and after the spreading process, so that the initial attitude disturbance of each chip satellite is reduced to the maximum extent, and the disturbance allowance which cannot be eliminated is transferred to the chip satellite spreader as far as possible, thereby realizing the initial attitude adjustment and stabilization of each chip satellite.
Furthermore, by adopting an elastic hinge structure, the control position of the elastic hinge structure is closed or rotated and unfolded to form a rotating mechanism with a fixed angle, and the unfolding of the chip satellite can be realized through a simple structural design without excessive control; the flexible elastic sheet is a rotating mechanism capable of freely controlling the rotating angle, and can provide assistance for the overall posture adjustment and the configuration adjustment of the system while realizing the unfolding of the chip satellite; the rotation mechanism with two different rotation mechanisms can meet the rotation requirements of the chip satellite at different positions.
The invention also has the following beneficial effects: by using the spreading method, the chip satellite group can eliminate the influence of the posture adjustment and the whole structure change of the chip satellite on the posture of the main body of the chip satellite spreader in the spreading process; meanwhile, the attitude of each chip satellite in the required working space can be determined based on the relative attitude of each chip satellite relative to the chip satellite spreader and the absolute attitude of the chip satellite spreader main body, and the requirement of the initial attitude of each chip satellite after spreading is met by adjusting the absolute attitude of the chip satellite spreader.
Drawings
FIG. 1 is a schematic view of a part of the connection structure of the chip after the satellite group is unfolded;
FIG. 2 is a schematic view of the controllable rotation connection mechanism of the present invention in an unfolded state of elastic hinge joint;
FIG. 3 is an expanded view of the controllable rotation connecting mechanism of the present invention being a flexible elastic sheet;
FIG. 4 is a flow chart of the operation of the chip satellite cluster of the present invention;
FIG. 5 is a schematic diagram of the distribution process of the satellite group of the chip of the present invention.
In the figure: 1 is a chip satellite spreader; 2 is a controllable rotary connecting mechanism; 3 is a chip satellite; 4 is a controllable rotating mechanism; 5 is a jaw capable of opening and closing.
Detailed Description
The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.
The invention provides a chip satellite group, which comprises a plurality of chip satellites, wherein the chip satellites 3 are connected in parallel or in series through a controllable rotary connecting mechanism 2; wherein the head end chip satellite of the chip satellite is connected with the chip satellite spreader 1 through the controllable rotating connecting mechanism 2.
As shown in fig. 1, the chip satellite spreader 1 is connected to the head-end chip satellite via a controllable rotary connection.
As shown in fig. 2 and 3, the controllable rotating connection mechanism 2 comprises a controllable rotating mechanism 4, and both ends of the controllable rotating mechanism 4 are provided with openable jaws 5; the controllable rotating mechanism 4 is an elastic hinge structure, and the elastic hinge structure is partially controllable to rotate; the controllable rotating mechanism 4 is a flexible elastic sheet structure, the flexible elastic sheet structure is a completely controllable rotating structure, and the material of the flexible elastic sheet structure is preferably an intelligent piezoelectric material.
The invention provides a chip satellite group, which is provided with a plurality of chip satellites and a plurality of controllable rotating connecting mechanisms 2 for connecting the chip satellites and chip satellite spreaders, wherein the controllable rotating mechanisms 4 of the controllable rotating connecting mechanisms 2 are not all flexible elastic sheet structures or elastic hinge structures. Namely, in a chip satellite group, a controllable rotation connecting mechanism of a flexible elastic sheet structure and a controllable rotation connecting mechanism of an elastic hinge structure are simultaneously used.
The invention also provides a method for distributing the chip satellite group, as shown in fig. 4, comprising the following steps:
at step S1, the chip satellite spreader 1 of the chip satellite cluster is in a closed state, and spreading is started from this state, as shown in a and b in fig. 5.
In step S2, the opposite sides of the chip satellite spreader are opened and the chip satellites connected in parallel or in series are extended by the controllable rotary connection mechanism 2, as shown in c and d in fig. 5.
Step S3, the controllable rotating mechanism of the controllable rotating connecting mechanism connected to the chip satellite spreader 1 starts to rotate and adjusts the relative attitude of the chip satellite spreader, and the controllable rotating mechanism of the controllable rotating connecting mechanism between two chip satellites starts to rotate and adjusts the relative attitude of the chip satellite connected thereto; the controllable rotating mechanism can be a flexible elastic sheet structure or an elastic hinge structure.
In this step, each controllable turning mechanism 4 turns according to a preset working sequence and turning amount:
the controllable rotary connecting mechanism of the elastic hinge structure is used for unfolding the chip satellites in the chip satellite group to a preset angle, then the relative postures of the two connected chip satellites and the chip satellites are adjusted to a preset posture, then the controllable rotary connecting mechanism stops rotating, the relative postures of the two chip satellites are kept stable and unchanged, and therefore the relative unfolding and stabilization of the two adjacent chip satellites are achieved.
The controllable rotary connecting mechanism using the flexible elastic sheet structure in the chip satellite group can affect the whole mode of the chip satellite group by changing the whole structure of the chip satellite group, and can play a role in the whole attitude adjustment process of the chip satellite group as an internal moment based on the law of conservation of angular momentum to meet the requirement of initial attitude after each chip satellite is scattered and realize stability.
In step S4, the satellite spreader is deployed to complete the spreading.
In the chip satellite group, during the work of the controllable rotary connecting mechanism 2 in the distribution process, an attitude adjusting system configured on the chip satellite distributor keeps a working state and continuously works after the controllable rotary connecting mechanism 2 stops working, on one hand, the influence of the attitude adjustment and the whole structure change of the chip satellite on the attitude of the chip satellite distributor body in the expansion process is continuously eliminated, on the other hand, the attitude of each chip satellite in a required working space can be determined based on the relative attitude of each chip satellite relative to the chip satellite distributor and the absolute attitude of the chip satellite distributor body, and the requirement of the initial attitude of each chip satellite after the distribution is met by adjusting the absolute attitude of the chip satellite distributor.
And finally, after the posture of each chip satellite is determined to reach the required posture and can be kept stable, the openable jaw for clamping each chip satellite is excited to open, and the release of the chip satellite is completed.
Claims (7)
1. A chip satellite group is characterized by comprising a plurality of chip satellites (3), wherein the chip satellites (3) are connected through a controllable rotary connecting mechanism (2), and a head-end chip satellite in the chip satellites (3) is connected with a chip satellite spreader (1) through the controllable rotary connecting mechanism (2);
the controllable rotary connecting mechanism (2) comprises a controllable rotating mechanism (4), and two ends of the controllable rotating mechanism (4) are provided with openable jaws (5);
the openable jaw (5) is used for connecting a chip satellite (3) or a chip satellite spreader (1);
the controllable rotating mechanism (4) comprises an elastic hinge structure, and two ends of the elastic hinge structure are provided with openable jaws (5).
2. The chipset satellite group according to claim 1, wherein a plurality of chipset satellites (3) are connected in parallel or in series by the controllable rotational connection mechanism (2).
3. The chipset satellite group according to claim 1, wherein the controllable rotation mechanism (4) comprises a flexible spring structure, and two ends of the flexible spring structure are provided with openable and closable jaws (5).
4. The chipset satellite of claim 3, wherein the flexible dome is made of a smart piezoelectric material.
5. The chipset satellite group of claim 1, wherein the plurality of controllable rotation connection mechanisms (2) of the chipset satellite group employ controllable rotation mechanisms (4) that are not all flexible leaf structures or are not all elastic hinge structures.
6. A method for distributing a satellite chip cluster as claimed in claim 1, comprising the steps of:
step S1, keeping the chip satellite spreader in a closed state;
step S2, the satellite spreader (1) opens the two opposite side ports, and the chip satellite (3) extends out of the two side surfaces of the satellite spreader (1);
step S3, the controllable rotating mechanism (4) adjusts the relative attitude of the connected chip satellite or chip satellite spreader;
in step S4, the satellite spreader (1) is deployed to complete the spreading.
7. The method for scattering a chip satellite constellation as recited in claim 6, wherein said controllable rotation mechanism (4) is rotated according to a predetermined operation timing and rotation amount in step S3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810835487.3A CN109110158B (en) | 2018-07-26 | 2018-07-26 | Chip satellite group and its distribution method |
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| CN201810835487.3A CN109110158B (en) | 2018-07-26 | 2018-07-26 | Chip satellite group and its distribution method |
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| CN109110158B true CN109110158B (en) | 2022-07-12 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264838A (en) * | 2017-06-21 | 2017-10-20 | 西北工业大学深圳研究院 | A kind of chip satellite and its attitude control method based on electroactive polymer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CA1011715A (en) * | 1974-03-18 | 1977-06-07 | Asim K. Sen | Attitude stabilization and control of dual-spin spacecraft |
| FR2689855B1 (en) * | 1991-12-21 | 1994-10-21 | Deutsche Forsch Luft Raumfahrt | Arrangement and method for the coordinated holding in position of a swarm of geostationary satellites. |
| JP4094930B2 (en) * | 2002-10-24 | 2008-06-04 | 真一 中須賀 | Artificial satellite |
| JP3923890B2 (en) * | 2002-12-17 | 2007-06-06 | 川崎重工業株式会社 | Attitude control device and artificial satellite |
| DE102011105862A1 (en) * | 2011-06-23 | 2012-12-27 | Daniel Noack | Actuator for attitude control of spacecrafts, has spin storing medium which is fluidically and electrically conductive, magnetic field generating unit and electrodes standing in connection to electrically conductive liquid |
| CN104002995B (en) * | 2014-05-16 | 2016-06-08 | 西北工业大学 | Clamshell phone satellite structure |
| CN104393394A (en) * | 2014-11-21 | 2015-03-04 | 陕西欧赛通信科技有限公司 | Knapsack emergency satellite communication servo system |
| CN106005483B (en) * | 2016-07-06 | 2018-07-24 | 西北工业大学 | A kind of active attitude control method of modular mobile phone star |
| CN107315357B (en) * | 2017-05-31 | 2020-05-12 | 西北工业大学 | Approximate modeling method of rod-shaped flexible mechanism for adjusting attitude of chip star |
| CN107153423B (en) * | 2017-05-31 | 2020-07-03 | 西北工业大学 | System and method for controlling attitude orbit of chip star under mixed action of internal power and external power |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107264838A (en) * | 2017-06-21 | 2017-10-20 | 西北工业大学深圳研究院 | A kind of chip satellite and its attitude control method based on electroactive polymer |
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