CN113772127A - Space debris racemization control method - Google Patents

Space debris racemization control method Download PDF

Info

Publication number
CN113772127A
CN113772127A CN202111066585.3A CN202111066585A CN113772127A CN 113772127 A CN113772127 A CN 113772127A CN 202111066585 A CN202111066585 A CN 202111066585A CN 113772127 A CN113772127 A CN 113772127A
Authority
CN
China
Prior art keywords
star
target
mother
tether
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111066585.3A
Other languages
Chinese (zh)
Other versions
CN113772127B (en
Inventor
单明贺
史玲玲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Technology BIT
Original Assignee
Beijing Institute of Technology BIT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN202111066585.3A priority Critical patent/CN113772127B/en
Publication of CN113772127A publication Critical patent/CN113772127A/en
Application granted granted Critical
Publication of CN113772127B publication Critical patent/CN113772127B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention discloses a space debris racemization control method, which is characterized in that space debris is captured based on a rope system, the rope system is a combination body consisting of a mother star, the space debris and a rope connected between the mother star and the space debris, the speed of a target and the speed of the mother star are monitored in the process of racemizing the target, namely the space debris, and when the speed of the target is greater than the speed of the mother star, the position of the mother star is adjusted through a propeller to prevent the target from colliding with the mother star. Compared with the traditional method for detecting the state of the tether and opening the propeller to adjust the position of the mother star once the tether is not straightened, the method avoids fuel waste of adjusting the position of the main star when the distance between the target and the main star is close but the speed is the same and the main star cannot collide, saves the consumption of the fuel of the main star, does not need to open all the propellers each time, further saves the fuel of the main star, is more favorable for maintaining the stability of the system and ensures the safe derailment of the target and the mother star.

Description

Space debris racemization control method
Technical Field
The invention relates to the technical field of aerospace, in particular to a space debris racemization control method.
Background
According to the recording of the United states satellite monitoring network, the number of space fragments larger than 10 centimeters in the current earth orbit exceeds twenty thousand, which undoubtedly forms a great threat to the in-orbit spacecraft. Flexible link capture is one of the most effective methods for active removal of space debris. The method is that after the target is captured, the main star is connected with the target through a flexible medium, usually a tether. The flexible connection capture method has the characteristics of light weight, low launching cost, long acting distance and the like. Common flexible connection capture methods include fly net capture, fly claw capture, harpoon capture, and the like. Due to the existence of the residual angular momentum of the space debris, the space debris tends to make a spinning motion in the space. After such targets are successfully captured by the flexible connection capture method, the targets need to be despuned through the tethers, otherwise the targets are easily wound around the tethers to collide with the main star.
In the existing rope system despinning control system, a control algorithm is often complex, the state of a rope system needs to be continuously detected by a traditional method, once the rope system is not straightened, a propeller is opened to adjust the position of a mother star so that the rope system is in the straightened state, the propeller needs to be continuously operated, however, the fact that the rope system is not straightened only means that the distance between the main star and a target is closer than the straightened state of the rope system, and if the speed is still synchronous, collision cannot occur, so that adjustment is carried out according to whether the rope system is straightened, and great waste of the fuel of the main star is caused.
Disclosure of Invention
In view of the above, the present invention provides a method for controlling despun of space debris, which can perform a limited number of actions through a limited number of thrusters, so as to reduce the angular velocity of a target to a value near zero in a short time, thereby greatly saving valuable fuel on a main satellite, preventing the target from colliding with the main satellite too closely, and ensuring the safety of a system composed of the main satellite and the target from derailing.
The specific technical scheme of the invention is as follows:
a space debris racemization control method is used for capturing space debris by a rope system, wherein the rope system is a combination body consisting of a mother star, the space debris and a rope connected between the mother star and the space debris; monitoring the speed of the target and the speed of the mother star in the process of despinning the target, namely the space debris, and adjusting the position of the mother star through a propeller to prevent the target from colliding with the mother star when the speed of the target is greater than the speed of the mother star; when the speed of the target is less than or equal to that of the mother star, the target does not collide with the mother star, and the position of the mother star does not need to be adjusted;
the speed of the target and the speed of the mother star both comprise speed components in x, y and z directions, and when the speed of the component of only one direction of the target is greater than the speed of the component of the mother star in the corresponding direction, only the propeller in the corresponding speed component direction is opened, and the position of the mother star is adjusted.
Further, the position of the mother satellite is adjusted by monitoring the speed of the target and the mother satellite, and the method comprises the following steps:
step one, establishing a combination dynamic model, which comprises a tether dynamic model, a mother-satellite dynamic model and a target dynamic model;
solving the momentum wheel output control moment of the mother satellite by using a PD control algorithm according to the mother satellite dynamic model, and controlling the posture of the mother satellite;
thirdly, controlling the position of the mother satellite through the propeller according to the monitored speed condition, wherein the thrust F of the propeller is determined according to the speed difference delta V between the target and the mother satellite and the time delta t expected by adjusting the speed differencethruThe size of (2).
Further, the tether dynamics model is represented as:
Figure BDA0003258643260000021
wherein m is the concentrated mass of the tether, r is the position vector of the tether,
Figure BDA0003258643260000022
the second derivative of the tether position vector r with respect to time; n is the number of nodes connected with the point P; t isjIs the pulling force of the corresponding tether to the point P, G is the space microgravity vector borne by the point P, FkThe point P is the number of the external forces borne by the point P, and the point P is the connecting point of the main rope and the sub-rope in the rope fastening;
the parent-star kinetic model is expressed as:
mSaS＝FS+Fthru,
Figure BDA0003258643260000031
wherein m isSMass of the dominant star, aSAcceleration of the main star, FSThe pulling force of the tether on the principal star, FthruFor thrust of the propeller, JSInertia matrix, omega, of the dominant starSIs the angular velocity of rotation of the main satellite, tauSMoment, tau, generated by the pulling force and torsion of the tether to the main starcThe control moment generated by the main star momentum wheel,
Figure BDA0003258643260000032
angular velocity ω of rotation of the main satelliteSA first derivative with respect to time;
the target kinetic model is represented as:
mTaT＝FT,
Figure BDA0003258643260000033
wherein m isTIs a target mass ofTAcceleration as a target, FTIs the tether tension to which the target is subjected, JTInertia matrix, omega, for the target in its body coordinate systemTIs a target rotational angular velocity, τTThe moment generated by the tensile force of the sub-rope on the target,
Figure BDA0003258643260000034
is a target angular velocity of rotation omegaTFirst derivative with respect to time.
Further, the parent-star attitude is represented by an Euler angle phiS＝[α,β,γ]TDescribing that Euler angles corresponding to a z-x-z rotation mode are respectively alpha, beta and gamma;
the momentum wheel output control torque is expressed as:
Figure BDA0003258643260000035
Figure BDA0003258643260000036
Figure BDA0003258643260000037
wherein alpha isSd,βSd,γSdRepresenting the desired parent star euler angle,
Figure BDA0003258643260000038
representing the first derivative of the parent star euler angle with respect to time,
Figure BDA0003258643260000039
indicating the first derivative of the desired parent star euler angle with respect to time,
Figure BDA00032586432600000310
representing the second derivative of the expected parent-star Euler angle with respect to time, parameter kp> 0 represents the proportional control gain, kd> 0 for differential control gain, τcx,τcy,τczRepresenting the components of the momentum wheel control torque in the x, y, z directions, JSx,JSy,JSzRepresenting the components, tau, of the principal inertia matrix in the x, y, z directionsSx,τSy,τSzThe moment generated by the tether to the main star has components in the x, y and z directions.
Further, the thrust F of the propeller is determined according to the speed difference delta V between the target and the mother star and the time delta t expected by adjusting the speed differencethruThe size of (a) is specifically:
the speed difference between the target and the mother star is expressed as: Δ V ═ VTx-vSx,vTy-vSy,vTz-vSz]Wherein v isTx，vTy，vTzRespectively representing the velocity components, v, of the target velocity in three directions, x, y, zSx,vSy,vSzRespectively representing the velocity components of the speed of the mother satellite in the x, y and z directions;
thrust of the propeller:
Figure BDA0003258643260000041
wherein m isSThe mass of the mother star.
Further, when only the velocity component of the target and the mother star in the tether direction, i.e., the x-axis direction is considered, Δ V ═ VTx-vSx,0,0]At this time, the propeller at the position corresponding to the x-axis direction is only required to be opened.
Further, the tether system further comprises a tether ejection device and a spring damping unit; the tether ejection device is mounted on the main star; the tether and the spring damping unit are stored in the tether ejection device, and when the space debris needs to be captured, the tether ejection device is triggered, and the tether and the spring damping unit are ejected together;
the tether comprises a main rope and a sub rope; the main rope is connected with the main star, and the sub-ropes are connected with the space debris;
the spring damping unit is arranged on the main rope and the sub-rope.
Furthermore, the number of the sub ropes is n, and n sub ropes are connected with the main rope at the same point P; wherein n is a positive integer greater than or equal to 2;
the main rope is provided with a plurality of spring damping units, and each sub-rope is provided with one spring damping unit.
Has the advantages that:
(1) the speed of the target and the speed of the mother star are monitored, when the speed of the target is greater than the speed of the mother star, the position of the mother star is adjusted through the propeller, and compared with a method that the tether state is detected by a traditional method, once the tether is not straightened, the propeller is opened to adjust the position of the mother star so as to straighten the tether, the fuel waste of adjusting the position of the main star when the distance between the target and the main star is shortened but the speed is the same and the collision cannot occur is avoided, and the fuel consumption of the main star is saved; the speed components of the speed in the x direction, the y direction and the z direction are monitored, the speed components can be adjusted according to the speed change condition of the components in the independent directions, all the propellers do not need to be opened at every time, main satellite fuel is further saved, meanwhile, the stability of the system is better maintained, and the safe derailment of the target and the mother satellite is guaranteed.
(2) The flexibility of the tether is fully considered, a dynamic model is established for the tether, the state of a system main body can be clearly mastered, distance factors are still considered while the speed is monitored, and the phenomenon that the speed is the same all the time but the distance is closer and closer to each other and the collision is direct is avoided.
(3) The momentum wheel output control moment of the mother star is solved by utilizing a PD control algorithm, the posture of the mother star is controlled in the processes of racemization and mother star position adjustment, the stability of the system is further ensured, and the possibility that the target collides with the mother star is further reduced.
Drawings
FIG. 1 is a schematic diagram of a composite model of the present invention.
FIG. 2 is a schematic view of the target oscillation in the racemization process.
Fig. 3 is a graph of simulated variation of the target angular velocity.
Detailed Description
A space debris racemization control method is characterized in that space debris is captured based on a rope system, the rope system is a combination body composed of a mother star, the space debris and a rope connected between the mother star and the space debris, in the process of racemizing the target, namely the space debris, the speed of the target and the mother star is monitored, and when the speed of the target is greater than that of the mother star, the position of the mother star is adjusted through a propeller to prevent the target from colliding with the mother star; when the speed of the target is less than or equal to that of the mother star, the target does not collide with the mother star, and the position of the mother star does not need to be adjusted. Meanwhile, the speed components of the speed in the x direction, the y direction and the z direction are monitored, the speed can be adjusted according to the speed change condition of the components in the single direction, all the propellers do not need to be opened every time, and the main fuel is further saved.
The invention is described in detail below by way of example with reference to the accompanying drawings.
As shown in fig. 1, which is a schematic view of a combined body model of the present invention, the tether system is a combined body composed of a mother star, a space piece and a tether connected between the mother star and the space piece.
Monitoring the speed of the target and the speed of the mother star in the process of despinning the target, namely the space debris, and adjusting the position of the mother star through a propeller to prevent the target from colliding with the mother star when the speed of the target is greater than the speed of the mother star;
the speed of the target and the speed of the mother star comprise speed components in the x direction, the y direction and the z direction, when the speed of the component of only one direction of the target is greater than the speed of the component of the mother star in the corresponding direction, only the propeller in the corresponding speed component direction is opened, and the position of the mother star is adjusted.
Monitoring the speed of a target and a mother satellite, adjusting the position of the mother satellite, firstly establishing a dynamic model, controlling the posture of the mother satellite, and adjusting the position of the mother satellite to ensure that the target does not collide with the mother satellite, and specifically comprises the following steps:
step one, establishing a combination dynamic model, which comprises a tether dynamic model, a mother-satellite dynamic model and a target dynamic model.
The tether dynamics model is expressed as:
Figure BDA0003258643260000061
wherein m is the concentrated mass of the tether, r is the position vector of the tether,
Figure BDA0003258643260000062
the second derivative of the tether position vector r with respect to time; n is the number of nodes connected with the point P; t isjIs the pulling force of the corresponding tether to the point P, G is the space microgravity vector borne by the point P, FkThe point P is the number of the external forces applied to the point P, and the point P is the connecting point of the main rope and the sub-rope in the tether, as shown in figure 1.
Since the rope units can only bear tension and can not bear pressure, the rope mechanics model is
Figure BDA0003258643260000071
In the formula I0L is the original length and the current length of the tether respectively; k is the tensile stiffness of the tether, c is the tether tensile damping coefficient, rjIs the distance between the point P and each connecting point,
Figure BDA0003258643260000072
then is the unit direction vector pointing from point P to each connection point.
The main star, namely the mother star and the target are regarded as rigid bodies, and the main star can control the self pose under the action of the momentum wheel and the propeller, and the mother star dynamic model is expressed as follows:
mSaS＝FS+Fthru, (3)
Figure BDA0003258643260000073
wherein m isSMass of the dominant star, aSAcceleration of the main star, FSThe pulling force of the tether on the principal star, FthruFor thrust of the propeller, JSInertia matrix, omega, of the dominant starSIs the angular velocity of rotation of the main satellite, tauSMoment, tau, generated by the pulling force and torsion of the tether to the main starcThe control moment generated by the main star momentum wheel,
Figure BDA0003258643260000074
angular velocity ω of rotation of the main satelliteSFirst derivative with respect to time.
The kinetic equation of the target has a similar form to the principal star, and the target kinetic model is expressed as:
mTaT＝FT, (4)
Figure BDA0003258643260000075
wherein m isTIs targeted toMass, aTAcceleration as a target, FTIs the tether tension to which the target is subjected, JTInertia matrix, omega, for the target in its body coordinate systemTIs a target rotational angular velocity, τTThe moment generated by the tensile force of the sub-rope on the target,
Figure BDA0003258643260000076
is a target angular velocity of rotation omegaTFirst derivative with respect to time.
Wherein the content of the first and second substances,
Figure BDA0003258643260000077
and step two, solving the momentum wheel output control moment of the mother satellite by using a PD control algorithm according to the mother satellite dynamic model, and controlling the posture of the mother satellite.
In order to make the solar sailboard and the antenna pointing direction of the mother star not influenced by the target capturing process, the posture of the mother star should be controlled to be consistent before and after the target is captured. The parent-satellite attitude adopts the Euler angle phiS＝[α,β,γ]TDescribing that the Euler angles corresponding to the z-x-z rotation mode are respectively alpha, beta and gamma, the Euler angle change rate and the angular velocity have the relationship of
Figure BDA0003258643260000081
In the formula, ωx,ωy,ωzIs the component of the angular velocity of the mother star around the coordinate axis in the body coordinate system.
Assume that the initial value of the Euler angle of the satellite is set to phiS0＝[90°,90°,90°]TAnd the variation range of satellite attitude and angular velocity is very small, the above formula is linearized to obtain the corresponding relationship between the Euler angular rate and angular velocity,
Figure BDA0003258643260000082
the mother-star attitude dynamics equation in the formula (3) is developed and written into a component form,
Figure BDA0003258643260000083
Figure BDA0003258643260000084
Figure BDA0003258643260000085
the simplified attitude dynamics control equation can be obtained by substituting the formula (7) into the formula (8) and neglecting the quadratic term,
Figure BDA0003258643260000086
Figure BDA0003258643260000087
Figure BDA0003258643260000088
by adopting the traditional PD control algorithm, the output control torque of the power wheel can be obtained as follows:
Figure BDA0003258643260000091
Figure BDA0003258643260000092
Figure BDA0003258643260000093
wherein alpha isSd,βSd,γSdRepresenting the desired parent star euler angle,
Figure BDA0003258643260000097
representing the first derivative of the parent star euler angle with respect to time,
Figure BDA0003258643260000094
indicating the first derivative of the desired parent star euler angle with respect to time,
Figure BDA0003258643260000095
representing the second derivative of the expected parent-star Euler angle with respect to time, parameter kp> 0 represents the proportional control gain, kd> 0 for differential control gain, τcx,τcy,τczRepresenting the components of the momentum wheel control torque in the x, y, z directions, JSx,JSy,JSzRepresenting the components, tau, of the principal inertia matrix in the x, y, z directionsSx,τSy,τSzThe moment generated by the tether to the main star has components in the x, y and z directions.
Thirdly, controlling the position of the mother satellite through the propeller according to the monitored speed condition, wherein the thrust F of the propeller is determined according to the speed difference delta V between the target and the mother satellite and the time delta t expected by adjusting the speed differencethruThe size of (2).
It is assumed that after the primary star successfully catches the target, the relative speed of the primary star and the target along the tether direction is zero. And the target tends to pull the tether during rotation to create tension in the tether. This pulling force will result in a decrease in acceleration of the primary star in the tether direction and an increase in acceleration of the target in the tether direction, such that the velocity of the target in the tether direction will tend to be greater than the primary star. It is important to apply a control party to the mother satellite in this configuration to prevent the target from colliding with the main satellite.
The following control conditions and control laws are designed:
controlling conditions: v. ofT＞vSI.e. the speed of the target is greater than the speed of the mother-star
Control law:
ΔV＝[vTx-vSx,vTy-vSy,vTz-vSz]
Figure BDA0003258643260000096
the speed difference between the target and the mother star is expressed as: Δ V ═ VTx-vSx,vTy-vSy,vTz-vSz]Wherein v isTx，vTy，vTzRespectively representing the velocity components, v, of the target velocity in three directions, x, y, zSx,vSy,vSzRespectively representing the velocity components of the speed of the mother satellite in the x, y and z directions;
thrust of the propeller:
Figure BDA0003258643260000101
wherein m isSThe mass of the mother star.
In a specific embodiment, as shown in fig. 1, the target is considered to be a symmetrical cube, the pulling force applied is also symmetrical, the sub-ropes of the tether have 4 pieces, which are symmetrically connected to the target, and then the pulling force applied to the target from the tether can be automatically cancelled in the z direction, and only a small amount of fine adjustment is needed in the y direction due to the reciprocating swing of the target. Therefore, when only the velocity components of the target and the mother star in the tether direction, i.e., the x-axis direction are considered, Δ V ═ VTx-vSx,0,0]At this time, the propeller at the position corresponding to the x-axis direction is only required to be opened.
At this time, the control condition is vTx＞vSx，
The control law is as follows:
ΔV＝[vTx-vSx,0,0],
Figure BDA0003258643260000102
in the configuration, the tether is in a relaxed state, the target angular velocity is not zero, and the racemization process is not finished. The control law expects the mother star to reach the target linear velocity along the x axis within the time delta t by calculating the speed difference between the mother star and the target, and therefore the required propeller thrust is obtained. Under the thrust action, the tether is tensioned and can apply a despin moment to the target, so that the target is despin.
As shown in fig. 2, the swing state of the racemization process target is shown, wherein a small cube represents the target, a large cube represents the mother star, and a tether is arranged between the small cube and the mother star. Fig. 2(a) shows an initial state, with the target not swinging and the tether in tension. Fig. 2(b) shows that the target swings clockwise, the tether is loosened, the speed of the target is greater than that of the mother star at this time, the propeller needs to be triggered to generate a certain pushing force to straighten the tether, the straightened tether generates a pulling force, and the target can reduce the rotating speed of the target to zero and reversely rotate counterclockwise under the action of the pulling force. Fig. 2(c) shows that the parent star performs despinning when rotating the target counterclockwise, when the rotating speed of the target is subjected to the despinning process of the previous step and then rotates counterclockwise, and the target speed exceeds the velocity of the parent star again, the propeller triggers and generates a corresponding propelling force according to the control rate to perform secondary despinning process on the target, and the process is repeated until the rotating speed of the target is reduced to a certain range and the velocity difference between the target and the parent star is reduced to 0 or close to 0, and the system is recovered to be stable.
The target uniaxial rotation derotation was simulated according to the simulation parameters of table 1.
TABLE 1 simulation parameters
Figure BDA0003258643260000111
The initial angular velocity of the target is 0.3rad/s around the z-axis, and a target angular velocity change process diagram shown in fig. 3 is obtained through racemization simulation, wherein the angular velocities in the x and y directions are not changed, the two lines are overlapped to be 0, the angular velocity in the z direction crosses a straight line x equal to 0 each time, which indicates that the propeller is triggered and the target angular velocity direction is switched, as can be seen from fig. 3, racemization operation is performed four times within 150 seconds, the angular velocity of the target decreases a little after undergoing racemization operation each time, and the system returns to a stable state until the angular velocity decreases to the vicinity of 0. Therefore, the system only needs 4 times of triggering actions of the propeller to reduce the target from 0.3rad/s to the vicinity of 0, and the fuel is greatly saved.
The invention relates to a space debris racemization control method, which is based on a rope system which is a combination body consisting of a mother star, space debris and a rope connected between the mother star and the space debris. As shown in fig. 1, the tether system further includes a tether ejection device and a spring damping unit; the tether ejection device is mounted on the main star, the tether and the spring damping unit are stored in the tether ejection device, and when space debris needs to be captured, the tether ejection device is triggered, and the tether and the spring damping unit are ejected together.
The tying rope comprises a main rope and a sub rope, the main rope is connected with the main star, and the sub rope is connected with the space debris; the spring damping unit is arranged on the main rope and the sub-rope.
The number of the sub ropes is n, and the n sub ropes are connected with the main rope at the same point P; wherein n is a positive integer greater than or equal to 2; as shown in fig. 1, the number of the sub-ropes is 4, the number of the sub-ropes is related to the shape of the space debris, and it should be ensured that the space debris receives uniform and symmetrical pulling force of the sub-ropes.
A plurality of spring damping units are arranged on the main rope, and each sub-rope is provided with one spring damping unit. In the specific implementation process, a plurality of spring damping units can be arranged on the sub ropes if needed. As shown in fig. 1, 3 spring damping units are arranged on the main rope, and any integral number can be arranged in the specific implementation process.
The above embodiments only describe the design principle of the present invention, and the shapes and names of the components in the description may be different without limitation. Therefore, a person skilled in the art of the present invention can modify or substitute the technical solutions described in the foregoing embodiments; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (8)

1. The space debris racemization control method is characterized in that the space debris racemization control method is used for capturing space debris by a rope system, wherein the rope system is a combination body consisting of a mother star, the space debris and a rope connected between the mother star and the space debris; monitoring the speed of the target and the speed of the mother star in the process of despinning the target, namely the space debris, and adjusting the position of the mother star through a propeller to prevent the target from colliding with the mother star when the speed of the target is greater than the speed of the mother star; when the speed of the target is less than or equal to that of the mother star, the target does not collide with the mother star, and the position of the mother star does not need to be adjusted;
the speed of the target and the speed of the mother star both comprise speed components in x, y and z directions, and when the speed of the component of only one direction of the target is greater than the speed of the component of the mother star in the corresponding direction, only the propeller in the corresponding speed component direction is opened, and the position of the mother star is adjusted.
2. The control method of claim 1, wherein adjusting the position of the mother star by monitoring the speed of the target and the mother star comprises the steps of:
step one, establishing a combination dynamic model, which comprises a tether dynamic model, a mother-satellite dynamic model and a target dynamic model;
solving the momentum wheel output control moment of the mother satellite by using a PD control algorithm according to the mother satellite dynamic model, and controlling the posture of the mother satellite;
thirdly, controlling the position of the mother satellite through the propeller according to the monitored speed condition, wherein the thrust F of the propeller is determined according to the speed difference delta V between the target and the mother satellite and the time delta t expected by adjusting the speed differencethruThe size of (2).
3. The control method according to claim 2,
the tether dynamics model is represented as:
Figure FDA0003258643250000011
wherein m is the concentrated mass of the tether, r is the position vector of the tether,
Figure FDA0003258643250000012
the second derivative of the tether position vector r with respect to time; n is the number of nodes connected with the point P; t isjIs the pulling force of the corresponding tether to the point P, G is the space microgravity vector borne by the point P, FkThe point P is the number of the external forces borne by the point P, and the point P is the connecting point of the main rope and the sub-rope in the rope fastening;
the parent-star kinetic model is expressed as:
mSaS＝FS+Fthru,
Figure FDA0003258643250000021
wherein m isSMass of the dominant star, aSAcceleration of the main star, FSThe pulling force of the tether on the principal star, FthruFor thrust of the propeller, JSInertia matrix, omega, of the dominant starSIs the angular velocity of rotation of the main satellite, tauSMoment, tau, generated by the pulling force and torsion of the tether to the main starcThe control moment generated by the main star momentum wheel,
Figure FDA0003258643250000022
angular velocity ω of rotation of the main satelliteSA first derivative with respect to time;
the target kinetic model is represented as:
mTaT＝FT,
Figure FDA0003258643250000023
wherein m isTIs a target mass ofTAcceleration as a target, FTIs the tether tension to which the target is subjected, JTTarget in its body coordinate systemLower inertia matrix, ωTIs a target rotational angular velocity, τTThe moment generated by the tensile force of the sub-rope on the target,
Figure FDA0003258643250000024
is a target angular velocity of rotation omegaTFirst derivative with respect to time.
4. The control method of claim 2, wherein the mother-star attitude is in terms of an euler angle ΦS＝[α,β,γ]TDescribing that Euler angles corresponding to a z-x-z rotation mode are respectively alpha, beta and gamma;
the momentum wheel output control torque is expressed as:
Figure FDA0003258643250000025
Figure FDA0003258643250000026
Figure FDA0003258643250000027
wherein alpha isSd,βSd,γSdRepresenting the desired parent star euler angle,
Figure FDA0003258643250000028
representing the first derivative of the parent star euler angle with respect to time,
Figure FDA0003258643250000029
indicating the first derivative of the desired parent star euler angle with respect to time,
Figure FDA00032586432500000210
representing the second derivative of the expected parent-star Euler angle with respect to time, parameter kp> 0 represents the proportional control gain, kd> 0 for differential control gain, τcx,τcy,τczRepresenting the components of the momentum wheel control torque in the x, y, z directions, JSx,JSy,JSzRepresenting the components, tau, of the principal inertia matrix in the x, y, z directionsSx,τSy,τSzThe moment generated by the tether to the main star has components in the x, y and z directions.
5. A control method according to claim 2, characterized in that the thrust F of the thruster is determined as a function of the speed difference av between the target and the mother-son and of the time Δ t desired for adjusting the speed differencethruThe size of (a) is specifically:
the speed difference between the target and the mother star is expressed as: Δ V ═ VTx-vSx,vTy-vSy,vTz-vSz]Wherein v isTx，vTy，vTzRespectively representing the velocity components, v, of the target velocity in three directions, x, y, zSx,vSy,vSzRespectively representing the velocity components of the speed of the mother satellite in the x, y and z directions;
thrust of the propeller:
Figure FDA0003258643250000031
wherein m isSThe mass of the mother star.
6. The control method according to claim 5, wherein Δ V ═ V [ V ] when only velocity components of the target and the mother star in the tether direction, i.e., the x-axis direction, are consideredTx-vSx,0,0]At this time, the propeller at the position corresponding to the x-axis direction is only required to be opened.
7. The control method of claim 1, wherein the tether system further comprises a tether ejector and a spring damping unit; the tether ejection device is mounted on the main star; the tether and the spring damping unit are stored in the tether ejection device, and when the space debris needs to be captured, the tether ejection device is triggered, and the tether and the spring damping unit are ejected together;
the tether comprises a main rope and a sub rope; the main rope is connected with the main star, and the sub-ropes are connected with the space debris;
the spring damping unit is arranged on the main rope and the sub-rope.
8. The control method according to claim 7, wherein the number of the sub ropes is n, and n sub ropes are connected to the main rope at the same point P; wherein n is a positive integer greater than or equal to 2;
the main rope is provided with a plurality of spring damping units, and each sub-rope is provided with one spring damping unit.
CN202111066585.3A 2021-09-13 2021-09-13 Space debris racemization control method Active CN113772127B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111066585.3A CN113772127B (en) 2021-09-13 2021-09-13 Space debris racemization control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111066585.3A CN113772127B (en) 2021-09-13 2021-09-13 Space debris racemization control method

Publications (2)

Publication Number Publication Date
CN113772127A true CN113772127A (en) 2021-12-10
CN113772127B CN113772127B (en) 2023-12-08

Family

ID=78842695

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111066585.3A Active CN113772127B (en) 2021-09-13 2021-09-13 Space debris racemization control method

Country Status (1)

Country Link
CN (1) CN113772127B (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6116544A (en) * 1997-09-12 2000-09-12 Tethers Unlimited, Inc. Electrodynamic tether and method of use
US20100193640A1 (en) * 2009-01-30 2010-08-05 The Boeing Company Method and apparatus for satellite orbital change using space debris
CN106114919A (en) * 2016-08-01 2016-11-16 北京理工大学 A kind of space junk rope system pulls racemization and method for cleaning
CN107364589A (en) * 2017-07-04 2017-11-21 上海宇航系统工程研究所 Racemization control method of being diversion based on more tether tie points to Spatial Instability target
CN107643689A (en) * 2017-10-19 2018-01-30 北京理工大学 A kind of rope system towing stable control method of space junk
CN109319171A (en) * 2018-10-19 2019-02-12 北京航空航天大学 A kind of space junk transverse direction angular speed inhibits and spin direction control method
CN109987258A (en) * 2019-01-28 2019-07-09 西北工业大学深圳研究院 A kind of racemization method after robot for space capture noncooperative target
CN112597587A (en) * 2020-12-23 2021-04-02 北京理工大学 Swing suppression method for recovery of failure satellite tether

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6116544A (en) * 1997-09-12 2000-09-12 Tethers Unlimited, Inc. Electrodynamic tether and method of use
US20100193640A1 (en) * 2009-01-30 2010-08-05 The Boeing Company Method and apparatus for satellite orbital change using space debris
CN106114919A (en) * 2016-08-01 2016-11-16 北京理工大学 A kind of space junk rope system pulls racemization and method for cleaning
CN107364589A (en) * 2017-07-04 2017-11-21 上海宇航系统工程研究所 Racemization control method of being diversion based on more tether tie points to Spatial Instability target
CN107643689A (en) * 2017-10-19 2018-01-30 北京理工大学 A kind of rope system towing stable control method of space junk
CN109319171A (en) * 2018-10-19 2019-02-12 北京航空航天大学 A kind of space junk transverse direction angular speed inhibits and spin direction control method
CN109987258A (en) * 2019-01-28 2019-07-09 西北工业大学深圳研究院 A kind of racemization method after robot for space capture noncooperative target
CN112597587A (en) * 2020-12-23 2021-04-02 北京理工大学 Swing suppression method for recovery of failure satellite tether

Also Published As

Publication number Publication date
CN113772127B (en) 2023-12-08

Similar Documents

Publication Publication Date Title
CN108820264B (en) Rope system dragging method for clearing space debris
CN107364589B (en) Flying around and despinning control method for space instability target based on multi-rope connecting points
Zhang et al. Dynamics and offset control of tethered space-tug system
Zhang et al. Dynamics and control of a tethered space-tug system using Takagi-Sugeno fuzzy methods
CN111552326B (en) Method and system for restraining and controlling attitude nutation of off-orbit target towed by space debris ropes
CN112597587A (en) Swing suppression method for recovery of failure satellite tether
Lee et al. Modeling and control of quadrotor UAV subject to variations in center of gravity and mass
Meng et al. Approach modeling and control of an autonomous maneuverable space net
Shan et al. Post-capture control of a tumbling space debris via tether tension
Liu et al. Dynamics of tether-tugging reorbiting with net capture
CN107651224B (en) Step-by-step despinning control method for space instability target based on single-rope connecting point
CN111736459B (en) Tether vibration rapid suppression control method without initial value dependence
US5067673A (en) Essentially passive method for inverting the orientation of a dual spin spacecraft
Shan et al. Velocity-based detumbling strategy for a post-capture tethered net system
Ishijima et al. The on-orbit maneuvering of large space flexible structures by free-flying robots
Sonneveldt et al. Summary of the advanced supersonic parachute inflation research experiments (ASPIRE) sounding rocket tests with a disk-gap-band parachute
CN113772127A (en) Space debris racemization control method
CN106054907B (en) Attitude stabilization method for failure spacecraft with tether structure
Sun et al. Nutation damping and spin orientation control of tethered space debris
Sun et al. Tether attachment point stabilization of noncooperative debris captured by a tethered space system
Darabi et al. Coupled rotational and translational modeling of two satellites connected by a tether and their robust attitude control using optimal offset approach
EP3643621B1 (en) Satellite attitude control system using eigen vector, non-linear dynamic inversion, and feedforward control
Torres et al. A super-twisting sliding mode control in a backstepping setup for rendezvous with a passive target
Liu et al. A research on strategy of plume impingement de-tumbling technology
Cheng et al. Active control of aerial refueling hose-drogue dynamics with the improved reel take-up system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant