CN111924140A - Vector propulsion device for controlling rotary motion of space tether system - Google Patents
Vector propulsion device for controlling rotary motion of space tether system Download PDFInfo
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- CN111924140A CN111924140A CN202010765375.2A CN202010765375A CN111924140A CN 111924140 A CN111924140 A CN 111924140A CN 202010765375 A CN202010765375 A CN 202010765375A CN 111924140 A CN111924140 A CN 111924140A
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- 230000005540 biological transmission Effects 0.000 claims description 24
- 230000036544 posture Effects 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 206010034719 Personality change Diseases 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
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Abstract
The invention discloses a vector propulsion device for controlling the rotating motion of a space tether system, which is arranged on a single end star of the space tether system, can rotate and provides variable direction vector thrust for the system. The rotating wheel drives the propeller to rotate 360 degrees outside the rotating surface of the space tether system along the connecting plane of the satellite and the tether by taking the connecting point of the sub-satellite and the tether as the center so as to control the out-of-plane propulsion angle of the propeller surface, and the thrust direction is controlled to replace the arrangement of a plurality of groups of propellers so as to control the in-plane motion and the out-of-plane motion of the space tether system; the hydraulic rod drives the propeller to deflect 90 degrees in the direction of the rotating surface of the space tether system by taking the mounting shaft of the propeller fixing seat as the center so as to control the in-plane propulsion angle of the propeller, so that the axis of the propeller passes through the mass center of the satellite, and the influence of the thrust on the postures of the satellites at the two ends of the space tether system is reduced. The rotary motion control is realized by using the propelling device on the single-end star body of the space tether system, so that the control is more accurate.
Description
Technical Field
The invention relates to the technical field of space tether system equipment, in particular to a vector propeller device for providing thrust for controlling the rotation motion of a space tether system.
Background
The spatial tether system has wide application prospect in various fields such as earth observation, satellite orbital transfer, space debris removal, space load transmission and artificial gravity supply due to the unique structure and performance. Compared with the traditional spacecraft, the space tether system mainly utilizes the mode of electric power and momentum exchange principle to complete various tasks in the in-orbit operation process, so that the fuel consumption can be greatly reduced. However, since the space tether system is exposed to a complex environment in space and the spacecraft itself is an under-actuated system, it is often necessary to install a thruster to provide auxiliary thrust to the system to realize motion control of the space tether system.
Thrusters have been widely used in aerospace engineering, and the variety of thrusters is increasing. At present, no matter which propeller is selected, if the motion control is needed to be carried out on the two directions of the inside and the outside of the space tether system, at least two groups of propellers are needed to be installed. The invention patent CN110174851A proposes "a ground semi-physical simulation device for a space rotation tether system", which controls a plurality of nozzles in the in-plane and out-of-plane directions respectively through a controller to control a plurality of propellers in a simulation manner, so as to control the in-plane and out-of-plane movement of the tether system. However, during the on-orbit operation of the tether system, the design of a plurality of propellers can greatly increase the manufacturing cost of the system, and also increase the volume and weight of the space tether system, which brings inconvenience to the completion of various tasks in space. In addition, attitude change generated by the satellite under the thrust action of the traditional propeller is also a problem to be solved in the control of the rotary motion of the spatial tether system.
Disclosure of Invention
In order to avoid the defects of the prior art, the invention provides a vector propulsion device for controlling the rotating motion of a space tether system; the vector propulsion device is arranged on a tether system subsatellite and can rotate and provide variable-direction vector thrust for the system; the rotating wheel drives the propeller to rotate 360 degrees in the out-of-plane direction along the connecting plane of the satellite and the tether by taking the connecting point of the sub-satellite and the tether as the center so as to control the out-of-plane propulsion angle of the propeller plane, and the thrust direction is controlled to replace the installation of a plurality of groups of propellers so as to control the in-plane motion and the out-of-plane motion of the space tether system.
The invention solves the technical problem by adopting the technical scheme that the device comprises a propeller rotation control mechanism, a propeller, a rotating speed sensor, a transmission shaft, a motor, a controller, a rotating wheel, a propeller fixing seat and a hydraulic rod, and is characterized in that the propeller rotation control mechanism is arranged on a space tether system sub-satellite star; the rotating wheel is embedded in a part where the sub-satellite of the tether system is connected with the tether, and drives the propeller to rotate 360 degrees along a satellite and tether connection plane and in the direction vertical to the outer direction of a rotation plane of the spatial tether system by taking the sub-satellite and tether connection point as the center, so as to change the thrust direction of the propeller; the hydraulic rod is connected with the rotating wheel and the propeller fixing seat to drive the propeller to deflect 90 degrees in the direction along the rotating surface of the space tether system by taking the propeller fixing seat mounting shaft as the center, so that the axis of the propeller passes through the mass center of the satellite, and the influence of thrust on the attitude of the satellite is reduced;
the thruster is connected with the controller through a control circuit to realize the control of the thrust of the thruster; the rotating speed sensor is positioned at the upper part of the transmission shaft and is arranged on the inner wall of the satellite shell, and the rotating speed sensor is used for feeding back the rotating angle of the propeller;
one end of the transmission shaft is fixedly connected with an output shaft of a motor positioned in the satellite through a coupler, the other end of the transmission shaft is connected with a propeller fixing seat on the rotating wheel, the motor drives the rotating wheel to rotate through the transmission shaft, and the transmission shaft transmits the power of the motor to the propeller rotation control mechanism so that the propeller rotation control mechanism rotates to change the thrust direction;
the motor is connected with the controller in a matched mode, is arranged in the tether system sub-satellite through the controller and is driven by the power supply of the spatial tether system tether end satellite, and the motor and the controller are used for changing the direction angle of the propelling force of the propeller on the satellite;
the controller is used for storing a control program and outputting a control instruction; the controller controls the in-plane motion and the out-of-plane motion of the space tether system by controlling the propeller and the motor.
The rotating speed sensor is a laser rotating speed sensor.
The propeller is an ion propeller.
The motor is a direct current motor capable of realizing forward and reverse rotation and speed regulation.
Advantageous effects
The invention provides a vector propulsion device for controlling the rotating motion of a space tether system, which is arranged on a subsatellite of the tether system, can rotate and provides variable-direction vector thrust for the system. The rotating wheel drives the propeller to rotate 360 degrees in the out-of-plane direction along a connecting plane of the satellite and the tether by taking a connecting point of the sub-satellite and the tether as a center so as to control the out-of-plane propulsion angle of the propeller plane, and the thrust direction is controlled to replace the installation of a plurality of groups of propellers so as to control the in-plane motion and the out-of-plane motion of the space tether system.
The hydraulic stem drives the propeller to use the propeller fixing device mounting bearing as the center, and 90 degrees of deflection in the in-plane direction controls the in-plane propulsion angle of the propeller, so that the axis of the propeller passes through the mass center of the satellite, thereby reducing the influence of thrust on the satellite attitudes at two ends of the space tether system and ensuring more accurate control.
The single vector propulsion device arranged on the single-end star body of the space tether system is used for realizing the control of the in-plane and out-of-plane motion of the rotary motion of the space tether system. The invention can solve the problems of high cost, large volume and heavy weight of the control of the rotary motion of the space tether system by utilizing the traditional propeller arranged on the tether satellite.
The vector propulsion device for controlling the rotary motion of the space tether system realizes the rotary motion control of the space tether system by utilizing the traditional propeller arranged on the tether end satellite, can reduce the installation number of the propeller, reduce the manufacturing cost of the space tether system and reduce the volume and the mass of the space tether system; meanwhile, the influence of the thrust of the traditional propeller on the satellite attitude can be reduced.
Drawings
The vector propulsion device for controlling the rotating motion of the spatial tether system according to the present invention will be described in further detail with reference to the accompanying drawings and embodiments.
FIG. 1 is a schematic view of a vector propulsion apparatus of the present invention used in a spatial tether system.
FIG. 2 is an overall view of the exterior of the vector propulsion apparatus of the present invention.
FIG. 3 is a schematic diagram of the internal structure of the vector propulsion device for controlling the rotation motion of the spatial tether system according to the present invention.
Fig. 4 is a schematic view of the structure of the rotating wheel and propeller fixing seat of the vector propulsion device of the present invention.
In the drawings
1. Secondary satellite 2, tether 3, primary satellite 4, motion state sensor 5, propeller rotation control mechanism 6, propeller 7, rotation speed sensor 8, transmission shaft 9, motor 10, controller 11, rotating wheel 12, propeller fixing seat 13 and hydraulic rod
Detailed Description
The embodiment is a vector propulsion device for controlling the rotary motion of a space tether system.
As shown in fig. 1, the child satellite 1, tether 2, mother satellite 3, and motion state sensor 4 constitute a rotating space tether system that has completed the deployment phase. The mother satellite 3 is provided with a tether releasing device and a braking device for ensuring the tether system to be smoothly and quickly unfolded. In order to avoid the mutual influence between the release and braking device of the tether on the mother satellite 3 and the embodiment, the embodiment is installed on the child satellite 1. In addition, when the space tether system is used for satellite orbital transfer and space load transmission tasks, the mass of the child satellite 1 is generally smaller than that of the mother satellite 3, and the control force required for installing the embodiment on the child satellite 1 is smaller to produce the same control effect. The motion state sensor 4 is installed outside the tether system satellite and is used for measuring the real-time motion state of the tether system, and comprises an internal angle, an internal angle velocity, an external angle and an external angle velocity.
Referring to fig. 2, 3 and 4, in the present embodiment, the propeller rotation control mechanism 5 is composed of a propeller 6, a rotation speed sensor 7, a transmission shaft 8, a motor 9, a controller 10, a rotating wheel 11, a propeller fixing seat 12 and a hydraulic rod 13; the propeller rotation control mechanism 5 is installed on a space tether system satellite, the rotating wheel 11 is embedded in the position where the tether system satellite is connected with the tether, and the propeller 6 is driven to rotate by 360 degrees in the direction perpendicular to the outer direction of the rotation plane of the space tether system along the connection plane of the satellite and the tether by taking the connection point of the satellite 1 and the tether 2 as the center, so that the thrust direction of the propeller is changed. The hydraulic stem 13 is connected with the turning wheel 11 and the propeller fixing seat 12, drives the propeller 6 to use the propeller fixing seat 12 installation axle as the center, and deflects 90 degrees in the direction along the space tether system revolution surface, is used for ensuring that the propeller axis passes through the satellite mass center, reduces the influence of thrust to the satellite gesture.
In this embodiment, the rotating wheel 11 is a circular wheel-shaped structure, and the rotating wheel 11 is connected with the transmission shaft 8 in a matching manner; when the robot is dragged by the transmission shaft 8, the robot rotates 360 degrees out of plane by taking the connection point of the satellite 1 and the tether 2 as the center, and is used for adjusting the out-of-plane thrust angle of thrust to realize the motion control of the tether system. The propeller fixing seat 12 is cylindrical, and the propeller 6 is fixed in the propeller fixing seat; the propeller fixing seat 12 is installed at the center of the rotating wheel 11 through a bearing, and the deflection end of the propeller fixing seat 12 is connected with the hydraulic rod 13. The propeller 6 adopts an ion propeller with high power, specific impulse and strong thrust, and the propeller 6 is matched with the propeller rotation control mechanism 5 for installation. And the rotating speed sensor 7 is arranged on the upper part of the transmission shaft, and the rotating speed sensor 7 is used for measuring the rotating speed of the motor 9. In consideration of the complex environment and interference in the space, the rotation speed sensor 7 is a laser type rotation speed sensor with wide practical range and high reliability. The hydraulic rod 13 connects the turning wheel 11 and the deflection end of the propeller fixing base 12. The hydraulic rod 13 drives the propeller fixing seat 12 to deflect 90 degrees in the plane by taking the fixed bearing as a center, and the in-plane thrust angle of the thrust is adjusted, so that the direction of the thrust always passes through the center of mass of the tether system, and the influence of the thrust on the posture of the sub-satellite 1 is reduced. A transmission shaft 8 penetrates through the side wall of the outer shell of the satellite 1, one end of the transmission shaft 8 is fixedly connected with an output shaft of a motor 9 positioned in the satellite, the other end of the transmission shaft is connected with a propeller fixing seat 12 on a rotating wheel 11, and the motor drives the rotating wheel 11 to rotate through the transmission shaft; the transmission shaft 8 transmits the power of the motor 9 to the propeller rotation control mechanism 5, and rotates the propeller rotation control mechanism 5 to change the thrust direction. The motor 9 and the vector thruster device of the controller are used for changing the propulsive force direction angle of the thruster on the satellite; the motor 9 is matched with the controller 10; the motor 9 is arranged in the tether system sub-satellite through the controller 10 and is driven by the power supply of the spatial tether system tether end satellite; the motor is provided with a rotating speed sensor for feeding back the rotating angle of the propeller. The motor 9 is a brushless dc motor capable of realizing forward and reverse rotation and speed regulation to improve the reliability and life of the device and eliminate radio interference due to arc jumping of the brush. The controller is used for storing a control program and outputting a control instruction; the controller controls the propeller and the motor to realize the control of the in-plane motion and the out-of-plane motion of the space tether system; the propeller 6 is connected with the controller 10 through a control circuit to realize the control of the thrust of the propeller.
In the present embodiment, the controller 10 is installed inside the sub-satellite 1; the controller is a computer system that can be programmed into the controller 10 to pre-write control methods or can control the tether system by ground remote control. The rotating speed signal is input to the controller 10 by the rotating speed sensor 7 and is used for measuring the out-of-plane thrust angle rotated by the thrust through integral calculation so as to determine the real-time direction of the thrust. The motion state sensor 4 inputs a motion state signal to the controller 10 for real-time feedback of the motion state of the tether system. Through calculation, the controller 10 outputs a thrust surface outer advance angle control signal to the motor 9, so that the controller 10 realizes servo control on the motor 9; outputting a thrust control signal to the thruster 6 to control the thrust of the thruster 6 by the controller 10; and outputting a thrust angle control signal in the thrust plane to the hydraulic rod 13 to ensure that the thrust direction always passes through the mass center of the satellite 1.
When the space tether system is installed in the embodiment, the initial direction of the out-of-plane propulsion angle of the propeller 6 is perpendicular to the rotation plane of the space tether system, and the clockwise rotation of the rotating wheel 11 is the positive rotation direction. The initial direction of the in-plane thrust angle of the thruster 6 is parallel to the plane connecting the subsatellite 1 and the tether 2.
Claims (4)
1. A vector propulsion device for controlling the rotary motion of a space tether system comprises a propeller rotary control mechanism, a propeller, a rotation speed sensor, a transmission shaft, a motor, a controller, a rotating wheel, a propeller fixing seat and a hydraulic rod, and is characterized in that the propeller rotary control mechanism is arranged on a satellite body of a space tether system sub-satellite; the rotating wheel is embedded in a part where the sub-satellite of the tether system is connected with the tether, and drives the propeller to rotate 360 degrees along a satellite and tether connection plane and in the direction vertical to the outer direction of a rotation plane of the spatial tether system by taking the sub-satellite and tether connection point as the center, so as to change the thrust direction of the propeller; the hydraulic rod is connected with the rotating wheel and the propeller fixing seat to drive the propeller to deflect 90 degrees in the direction along the rotating surface of the space tether system by taking the propeller fixing seat mounting shaft as the center, so that the axis of the propeller passes through the mass center of the satellite, and the influence of thrust on the attitude of the satellite is reduced;
the thruster is connected with the controller through a control circuit to realize the control of the thrust of the thruster; the rotating speed sensor is positioned at the upper part of the transmission shaft and is arranged on the inner wall of the satellite shell, and the rotating speed sensor is used for feeding back the rotating angle of the propeller;
one end of the transmission shaft is fixedly connected with an output shaft of a motor positioned in the satellite through a coupler, the other end of the transmission shaft is connected with a propeller fixing seat on the rotating wheel, the motor drives the rotating wheel to rotate through the transmission shaft, and the transmission shaft transmits the power of the motor to the propeller rotation control mechanism so that the propeller rotation control mechanism rotates to change the thrust direction;
the motor is connected with the controller in a matched mode, is arranged in the tether system sub-satellite through the controller and is driven by the power supply of the spatial tether system tether end satellite, and the motor and the controller are used for changing the direction angle of the propelling force of the propeller on the satellite;
the controller is used for storing a control program and outputting a control instruction; the controller controls the in-plane motion and the out-of-plane motion of the space tether system by controlling the propeller and the motor.
2. The vector propulsion device for the control of the rotational motion of a spatial tether system of claim 1, wherein the rotation speed sensor is a laser type rotation speed sensor.
3. The vector propulsion device for spatial tether system rotational motion control of claim 1, wherein the propeller is an ion propeller.
4. The vector propulsion device for controlling the rotating motion of the spatial tether system as claimed in claim 1, wherein the motor is a direct current motor capable of realizing forward and reverse rotation and speed regulation.
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| CN202010765375.2A CN111924140B (en) | 2020-08-03 | 2020-08-03 | Vector propulsion device for controlling rotary motion of space tether system |
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| CN202010765375.2A CN111924140B (en) | 2020-08-03 | 2020-08-03 | Vector propulsion device for controlling rotary motion of space tether system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113173266A (en) * | 2021-04-16 | 2021-07-27 | 中国科学院合肥物质科学研究院 | Plasma vector propeller without moving part |
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| US5845880A (en) * | 1995-12-09 | 1998-12-08 | Space Power, Inc. | Hall effect plasma thruster |
| JP2002357159A (en) * | 2001-05-31 | 2002-12-13 | Nec Corp | Universal head type thruster device |
| WO2008139166A1 (en) * | 2007-05-09 | 2008-11-20 | Anthony Cuthbert | Propulsion systems |
| US20130292516A1 (en) * | 2012-05-03 | 2013-11-07 | Thales | Propulsion System for Satellite Orbit Control and Attitude Control |
| CN106660641A (en) * | 2014-06-19 | 2017-05-10 | 空中客车防务和空间公司 | Method for controlling the orbit of a satellite in earth orbit, satellite and system for controlling the orbit of such a satellite |
| US20180155064A1 (en) * | 2016-12-05 | 2018-06-07 | Airbus Defence and Space GmbH | Pointing mechanism for use in an electric propulsion system of a spacecraft and electric propulsion system for use in a spacecraft |
| CN110667891A (en) * | 2019-10-16 | 2020-01-10 | 北京前沿探索深空科技有限公司 | Attitude control device and flat-plate satellite |
-
2020
- 2020-08-03 CN CN202010765375.2A patent/CN111924140B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5845880A (en) * | 1995-12-09 | 1998-12-08 | Space Power, Inc. | Hall effect plasma thruster |
| JP2002357159A (en) * | 2001-05-31 | 2002-12-13 | Nec Corp | Universal head type thruster device |
| WO2008139166A1 (en) * | 2007-05-09 | 2008-11-20 | Anthony Cuthbert | Propulsion systems |
| US20130292516A1 (en) * | 2012-05-03 | 2013-11-07 | Thales | Propulsion System for Satellite Orbit Control and Attitude Control |
| CN106660641A (en) * | 2014-06-19 | 2017-05-10 | 空中客车防务和空间公司 | Method for controlling the orbit of a satellite in earth orbit, satellite and system for controlling the orbit of such a satellite |
| US20180155064A1 (en) * | 2016-12-05 | 2018-06-07 | Airbus Defence and Space GmbH | Pointing mechanism for use in an electric propulsion system of a spacecraft and electric propulsion system for use in a spacecraft |
| CN110667891A (en) * | 2019-10-16 | 2020-01-10 | 北京前沿探索深空科技有限公司 | Attitude control device and flat-plate satellite |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113173266A (en) * | 2021-04-16 | 2021-07-27 | 中国科学院合肥物质科学研究院 | Plasma vector propeller without moving part |
| CN113173266B (en) * | 2021-04-16 | 2024-04-09 | 中国科学院合肥物质科学研究院 | Plasma vector propeller without moving parts |
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| CN111924140B (en) | 2022-09-30 |
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