CN115610707B - On-orbit docking method and docking system for spacecraft - Google Patents

Abstract

The embodiment of the invention discloses an on-orbit docking method and a docking system for a spacecraft, relates to the technical field of spacecraft devices, and is used to improve the docking tolerance of a spacecraft and reduce power consumption. The docking method includes: the main spacecraft used to capture the target spacecraft obtains the position information and attitude information of the target spacecraft through optical communication; Control the main spacecraft to approach the target spacecraft so that the target spacecraft is within the dockable distance; the control unit adjusts the attitude of the main spacecraft according to the position information and attitude information so that the target spacecraft is within the dockable angle range; the control unit Drive the main spacecraft to dock with the target spacecraft according to the position information and attitude information, and keep the target spacecraft on the main spacecraft. Through the docking method, the docking can be completed with high tolerance, high precision and low power consumption.

Description

A kind of on-orbit docking method and docking system for spacecraft

technical field

The invention relates to the technical field of spacecraft devices, in particular to an on-orbit docking method and a docking system for spacecraft.

Background technique

Space rendezvous and docking technology refers to the technology of two spacecraft rendezvous on the space orbit and structurally connected as a whole. Space rendezvous and docking technology can be widely used in the construction of various space facilities, on-orbit assembly, recovery, supply, Maintenance and rescue and other fields. In the space rendezvous and docking of the two spacecraft, the docking object can be a large spacecraft in orbit, or a spacecraft that is out of control or malfunctioning in space. The whole process can be roughly divided into ground guidance, automatic search, approach, Docking closes the four stages.

The docking mechanism in the prior art is mainly a collision docking mechanism, which realizes collision capture based on the relative motion between the docked spacecraft. The collision docking mechanism has high requirements for the attitude and orbit control accuracy of the spacecraft, and the docking impact force is relatively large. At the same time, it needs to consume a lot of fuel when adjusting the attitude and orbit, and may cause plume pollution.

Another form of docking in the prior art is to realize the docking of the spacecraft through magnetic capture. Magnetic capture refers to the attitude adjustment and distance approach of the final docking stage of the spacecraft through magnetic adsorption, and finally realizes the docking. The main forms of magnetic force are electromagnetic force docking and permanent magnetic force docking. The main problem of electromagnetic force docking is that it requires large power and consumes a lot of power. If you want to achieve long-term connection, you need long-term power supply or mechanical structure locking; permanent The main problem of magnet docking is that it is difficult to release after docking, and at the same time, the electromagnetic force cannot be adjusted during the docking process. Magnetic docking methods require high attitude control accuracy.

Contents of the invention

In order to solve the above technical problems, the embodiment of the present invention expects to provide an on-orbit docking method and a docking system for spacecraft, and the technical solution of the present invention is realized in this way:

In a first aspect, the present invention provides an on-orbit docking method for a spacecraft. The docking method includes the following steps: S101. The main spacecraft used to capture the target spacecraft obtains the target spacecraft by optical communication. position information and attitude information of the spacecraft; S102, the control unit installed in the active docking module on the main spacecraft controls the main spacecraft to approach the target spacecraft according to the position information and the attitude information, so as to Make the target spacecraft within a dockable distance range; S103, the control unit adjusts the attitude of the main spacecraft according to the position information and the attitude information, so that the target spacecraft is within a dockable angle range In; S104, the control unit drives the main spacecraft to dock with the target spacecraft according to the position information and the attitude information, and keeps the target spacecraft on the main spacecraft.

In a second aspect, the present invention provides an on-orbit docking system for a spacecraft, the docking system includes an active docking module and a passive docking module, the passive docking module is installed on the target spacecraft, and the active docking module mounted on a host spacecraft for docking with said target spacecraft,

The passive docking module includes a base, a target unit disposed on an end face of the base, and a connecting unit disposed on an end face of the base, wherein the target unit is configured to provide the main spacecraft with Attitude information and position information of the target spacecraft, the connection unit is configured to establish a connection with the main spacecraft in an electromagnetic connection;

The active docking module includes a control unit, a capture board, a tracking unit disposed on the capture board, and a capture unit disposed on the capture board, and the capture board is configured to have a first angle of inclination to any direction inclination angle, wherein the active docking module is configured such that: the tracking unit obtains the position information and the attitude information by means of optical communication, and the control unit reports to the The capture plate and the capture unit transmit a capture plate adjustment instruction and an electromagnetic adjustment instruction, the capture plate is tilted based on the capture plate adjustment instruction, and the capture unit is docked or separated from the connection unit based on the electromagnetic adjustment instruction , to realize the docking or separation of the host spacecraft and the target spacecraft.

The invention discloses an on-orbit docking method and a docking system for spacecraft. Different docking strategies are selected in different situations, the tolerance of docking attitude control is increased, and the target spacecraft is kept for a long time with low power consumption. On the main spacecraft, active separation of the main spacecraft and the target spacecraft can also be realized.

Description of drawings

Fig. 1 is a schematic diagram of an on-orbit docking system for a spacecraft disclosed in an embodiment of the present invention;

Fig. 2 is a schematic diagram of a passive docking module used for an on-orbit docking system of a spacecraft disclosed in an embodiment of the present invention;

FIG. 3 is a schematic diagram of an active docking module for an on-orbit docking system for a spacecraft disclosed in an embodiment of the present invention;

Fig. 4 is a schematic diagram of a capture plate used in an on-orbit docking system for a spacecraft disclosed in an embodiment of the present invention;

Fig. 5 is a partial schematic diagram of an active docking module for an on-orbit docking system for a spacecraft disclosed in an embodiment of the present invention;

6 is a flow chart of an on-orbit docking method for a spacecraft disclosed in an embodiment of the present invention;

Fig. 7 is a schematic diagram of establishing the angle between the capture plate and the base in an on-orbit docking method for a spacecraft disclosed in an embodiment of the present invention;

Fig. 8 is a schematic diagram of correcting the attitude of the base in an on-orbit docking method for a spacecraft disclosed by an embodiment of the present invention.

Wherein, the reference signs are: 1. Docking system; 10. Active docking module; 11. Capturing plate; 111. Rod-shaped member; 112. Universal ball assembly; 1121. Ball; 1122. Ball accommodating groove; 12. Tracking Unit; 13, capture unit; 131, electromagnetic effector; 1311, second permanent magnet; 1312, electromagnet; 20, passive docking module; 21, base; 22, target unit; 23, connection unit; 231, first Permanent magnets.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

The existing docking methods of spacecraft through electromagnetic capture can be divided into electromagnetic docking and permanent magnet docking. Among them, electromagnetic docking is to achieve docking by energizing the electromagnet to attract the armature. The main problem of electromagnet docking is the docking Higher power is required during the docking process, and the power consumption is larger. If you want to achieve long-term connection, you need to continue to supply power or add an additional mechanical device to provide mechanical structure locking, and the attitude control accuracy of the main spacecraft is required during the docking process. Permanent magnet docking is to use the mutual attraction between permanent magnets and permanent magnets or between permanent magnets and armatures to achieve docking. It is difficult to release after docking, and the electromagnetic force cannot be adjusted during the docking process.

Based on this, referring to accompanying drawing 1, it shows that the embodiment of the present invention discloses a kind of on-orbit docking system 1 for spacecraft, and described docking system 1 comprises active docking module 10 and passive docking module 20, described The passive docking module 20 is installed on the target spacecraft, and the active docking module 10 is installed on the main spacecraft for establishing docking with the target spacecraft.

Referring to accompanying drawing 2, it has shown the schematic diagram of described passive docking module 20, and described passive docking module 20 comprises base 21, the target unit 22 that is arranged on the end face of described base 21 and is arranged on the end face of described base 21 The connection unit 23 of the base 21, wherein the base 21 is configured into a disc shape and installed on the main body of the target spacecraft; the target unit 22 is arranged on the end face of the base 21, and the target unit 22 It is used to provide attitude information and position information of the target spacecraft to the main spacecraft; the connection unit 23 is arranged on the surface of the base 21, and the connection unit 23 is configured to be electromagnetically adsorbed to the The main spacecraft establishes a connection.

The target unit 22 is configured to provide the attitude information and the position information to the main spacecraft by means of optical signal transmission, the target unit 22 includes a signal light reflector, and the signal light reflector Configured to perform reflection processing on the signal light, the signal light reflector may be any device capable of reflecting light, such as a mirror. The target unit 22 includes at least one signal light reflector, which is convenient to reflect the signal light with more reflection angles and higher reflection intensity, and the at least one signal light reflector is along the circumference of the end surface of the base 21 uniformly arranged in the end face of the base 21, so that the target unit 22 can receive and reflect the signal light more uniformly and comprehensively. Preferably, referring to accompanying drawing 2, the number of the signal light reflector is twenty four.

Referring to accompanying drawings 1 and 2, the connection unit 23 includes a first permanent magnet 231 that establishes a connection with the main spacecraft in an electromagnetic connection, the magnetic field direction of the first permanent magnet 231 is fixed, and the magnetic field strength is fixed . Preferably, the connection unit 23 includes at least one first permanent magnet 231 to ensure the strength of the electromagnetic connection, and the at least one first permanent magnet 231 is uniformly arranged on the end surface of the base 21 along the circumference of the end surface of the base 21 , the at least one first permanent magnet 231 is configured to be arranged around the signal light reflector. Preferably, referring to FIG. 2 , there are four first permanent magnets 231 , which are respectively arranged at 0°, 90°, 180° and 270° on the end surface of the base 21 . In another embodiment of the present invention, the connection unit 23 further includes a ring-shaped ferromagnet disposed in the end surface of the base 21, the ferromagnet surrounds the signal light transmitter, and the first permanent magnet 231 It is arranged on the ferromagnet, wherein the ferromagnet is made of magnetic material, such as iron or nickel.

Referring to accompanying drawings 3 to 4, they respectively show a schematic diagram of the active docking module 10 and a schematic diagram of the capture board 11, the active docking module 10 includes a control unit (not shown), a capture board 11, and a The tracking unit 12 on the capture board 11 and the capture unit 13 arranged on the capture board 11, the capture board 11 is configured to have an inclination angle inclined to any direction at a first angle, wherein the active docking module 10 is configured such that: the tracking unit 12 obtains the position information and the attitude information by means of optical communication, and the control unit sends the capture board 11 and the attitude information to the capturing board 11 and the attitude information respectively based on the position information and the attitude information. The capture unit 13 transmits a capture plate adjustment instruction and an electromagnetic adjustment instruction, the capture plate 11 is tilted based on the capture plate adjustment instruction, and the capture unit 13 is docked or separated from the connection unit 23 based on the electromagnetic adjustment instruction to realize The docking or undocking of the host spacecraft and the target spacecraft. In another embodiment of the present invention, the active docking module 10 further includes a bellows, and the bellows is used to reduce the impact of impact on the target spacecraft when docking is established.

The capture plate 11 is installed on the main body of the main spacecraft, and the capture plate 11 is configured to be able to incline to any direction at a first angle of inclination, referring to accompanying drawing 4, which shows the capture plate 11 Schematic diagram of the structure, the capture plate 11 is installed on the main body of the main spacecraft through a rod-shaped member 111 and a universal ball assembly 112, wherein the capture plate 11 is connected to the universal ball assembly 112 through a rod-shaped member 111 Connected as a whole, the catch plate 11 can be tilted towards any direction at a certain angle by means of the movement of the ball 1121 in the ball accommodating groove 1122. When it is necessary to adjust the size of the first angle according to the actual situation or work requirements, then Adjust the size of the openings of the ball 1121 and the ball accommodating groove 1122 in the universal ball assembly 112 . Preferably, if the first angle is 30°, the working range of the capture plate 11 is a spherical cone with a center angle of 60°.

The tracking unit 12 includes a signal light transmitter and a signal light receiver, the signal light transmitter is used to send a signal light to the target spacecraft, specifically, the signal light transmitter sends a signal light to the signal light reflector For the signal light, preferably, the signal light transmitter is composed of LED lamp groups. The signal light receiver is used to receive the signal light reflected and processed by the signal light reflector, and analyze the current position of the target spacecraft and the attitude of the target spacecraft from the reflected signal light , Preferably, the signal light receiver is composed of a binocular camera. In another embodiment of the present invention, in order to reduce the error of the signal light receiver identifying the signal light, the signal light receiver is arranged at the center of the capture plate 11. In addition, in order to protect the signal light receiver Precise optical components, the capture board 11 includes a cover plate for protecting the signal light receiver, the position on the cover plate corresponding to the signal light receiver and the signal light transmitter is provided with a public signal The hole through which light passes.

The capture unit 13 includes at least one independently working electromagnetic effector 131, see accompanying drawings 1 and 5, and accompanying drawing 5 shows a partial schematic view of the active docking module 10, corresponding to the at least one first permanent The magnet 231, all the electromagnetic effectors 131 are arranged in the capture plate 11 evenly along the circumference of the capture plate 11 in a manner similar to the arrangement of the first permanent magnet 231 on the base 21, preferably , each of the at least one first permanent magnet 231 has an electromagnetic effector 131 corresponding thereto. The electromagnetic effector 131 includes a second permanent magnet 1311 and an electromagnet 1312 configured as a whole, and the second permanent magnet 1311 is configured to attract the first permanent magnet 231 with a first adsorption force. After the electromagnet 1312 is energized, it can generate a corresponding magnetic field to attract or repel the first permanent magnet 231. Specifically, when the electromagnet 1312 is supplied with a forward current, the coil in the electromagnet 1312 generates The direction of the magnetic field is the same as the direction of the magnetic field of the first permanent magnet 231, and an adsorption force is generated between the electromagnet 1312 and the first permanent magnet 231; when the electromagnet 1312 is fed with a reverse current, the The direction of the magnetic field generated by the coil in the electromagnet 1312 is opposite to that of the first permanent magnet 231 , and a repulsive force is generated between the electromagnet 1312 and the first permanent magnet 231 . In addition, when passing current to the electromagnet 1312, the magnitude of the attraction or repulsion force between the electromagnet 1312 and the first permanent magnet 231 can be changed by adjusting the magnitude of the current. Schematically, in order to facilitate control , the current passing through the electromagnetic effector 131 is divided into 0 gear, first gear, and second gear, which are respectively 0%, 50%, and 100% of the peak current. When the electromagnetic effector 131 is passed into a gear positive When the current is directed, a magnetic field with the same strength as the second permanent magnet 1311 can be generated, and the electromagnet 1312 adsorbs the first permanent magnet 231 with a second adsorption force, which is the same as the first adsorption force. equal.

The control unit is electrically connected to the tracking unit 12, and when the signal light receiver parses out the position information and the attitude information, the control unit sends information to the The capture board 11 and the capture unit 13 issue adjustment instructions respectively, wherein the capture board 11 is tilted based on the adjustment instruction, and the capture unit 13 energizes the electromagnetic effector 131 or makes the electromagnetic effector 131 is powered off, so as to change the attraction force or repulsion force of the electromagnetic effector 131 to the first permanent magnet 231, so as to realize the docking or separation of the capture unit 13 and the connection unit.

Based on the on-orbit docking system 1 for spacecraft disclosed in the above-mentioned embodiments, the first angle is selected as 30° in the following embodiments as an example, see accompanying drawing 6, which shows the present invention A flow chart of an on-orbit docking method for a spacecraft disclosed in the embodiment, the docking method includes:

S101. The main spacecraft used to capture the target spacecraft obtains the position information and attitude information of the target spacecraft through optical communication;

S102. The control unit installed in the active docking module on the main spacecraft controls the main spacecraft to approach the target spacecraft according to the position information and the attitude information, so that the target spacecraft is in a possible position Within the docking distance;

S103. The control unit adjusts the attitude of the main spacecraft according to the position information and the attitude information, so that the target spacecraft is within a dockable angle range;

S104. The control unit drives the main spacecraft to dock with the target spacecraft according to the position information and the attitude information, and keeps the target spacecraft on the main spacecraft.

When the main spacecraft obtains the position information and attitude information of the target spacecraft through optical communication, the signal light emitter of the tracking unit 12 installed in the active docking module 10 sends a signal to the target spacecraft. Signal light; the signal light is reflected by the signal light reflector of the target unit 22 installed in the passive docking module 20 on the target spacecraft, and the signal light is received by the signal light installed on the tracking unit 12 The signal light receiver analyzes the signal light to obtain the position information and the attitude information, and transmits the position information and the attitude information to the control unit.

After the control unit obtains the position information and the attitude information, the control unit calculates the capture board 11 installed in the active docking module 10 according to the position information and the attitude information. The distance between the end faces of the base 21 in the passive docking module 20, when the control unit judges that the distance is greater than the first preset docking distance, the control unit controls the attitude and orbit control stand-alone to drive the main spacecraft closer to the target spacecraft so that the distance is less than the first preset docking distance. During the process of the main spacecraft approaching the target spacecraft, the main spacecraft approaches the target spacecraft through its own attitude and orbit control unit. In order to satisfy the distance condition for establishing docking, schematically, the The distance between the capture plate 11 and the end surface of the base 21 is divided into three stages, specifically, the long distance: >1m; the middle distance: 0.1m-1m; the short distance: <0.1m, schematically, The first preset docking distance is 1m, and the control unit judges whether the distance meets the middle distance condition according to the position information, and when the distance does not meet the middle distance condition, the control unit controls The main spacecraft maneuvers to approach the target spacecraft until the control unit controls the main spacecraft to stop maneuvering after the distance is less than 1 m.

When the distance is less than the first distance, the control unit calculates and obtains the angle between the initial surface of the capture board 11 and the end surface of the base 21 according to the position information and the attitude information, wherein the The initial surface of the capture plate 11 refers to the position and space state of the master spacecraft when the current position information and the attitude information are obtained, the spatial position and the space state of the surface of the capture plate 11. Attitude, when the control unit judges that the included angle is greater than the first preset docking angle, the control unit controls the attitude and orbit control unit to adjust the attitude of the main spacecraft so that the included angle is smaller than the first preset docking angle. A preset docking angle. It should be noted that after the main spacecraft adjusts its attitude, it needs to re-acquire the spatial position and attitude of the capture board 11 to calculate a new included angle. After the main spacecraft stops maneuvering, in order to meet the attitude condition for establishing docking, the control unit obtains the included angle according to the attitude information and makes a judgment. Schematically, refer to FIG. 7 , which shows a schematic diagram of the angle between the capture board 11 and the base 21 in space, wherein the tracking unit 12 for acquiring the position information and the attitude information is located at The center of the capture plate 11, therefore the coordinate axis is established with the center of the capture plate 11 as the coordinate origin, the vector from the origin to the center of the end face of the base 21 is r, and the vector perpendicular to the end face of the base 21 is n, By calculating the product of the vector r and the vector n and setting the range of the product according to the first preset angle to determine whether the posture condition is satisfied to establish docking, schematically, the first preset angle is selected as 90°, correspondingly, When the product is zero, the attitude satisfies the condition for establishing docking; on the contrary, when the product is greater than zero, the main spacecraft needs to adjust its attitude and then judge again.

When the attitude of the main spacecraft satisfies the attitude condition for establishing docking, it starts to establish docking, and when the control unit judges that the included angle is greater than a second preset docking angle, schematically, selects the second preset angle It is equal to the first angle of 30 degrees. At this time, only relying on the inclination of the capture plate 11 cannot realize that the capture plate 11 is parallel to the end surface of the base 21. Therefore, the control unit issues the first electromagnetic adjustment command and The first capture plate adjustment instruction, the capture plate 11 tilts toward the base 21 at a maximum angle based on the first capture plate adjustment command, that is, the capture plate 11 tilts toward the base 21 at a first angle of 30° All the electromagnetic effectors 131 of the capture unit 13 installed in the active docking module 10 correct the posture of the base 21 according to the first electromagnetic adjustment command so that the capture plate 11 and the end surface of the base 21 parallel,

In the process of correcting the posture of the base 21 so that the capture plate 11 is parallel to the end surface of the base 21, the capture unit 13 is controlled by partitions, see accompanying drawing 8, which shows the A schematic diagram of posture correction by the base 21, the control unit divides all the electromagnetic effectors 131 into one type of electromagnetic effectors according to the distance between each electromagnetic effector 131 and its corresponding area on the base 21 And the second type of electromagnetic effector, wherein, any one of the electromagnetic effectors 131 of the first type of electromagnetic effector is closer to the base 21 than any one of the second type of electromagnetic effectors 131, wherein , the control strategy of half-break and half-open is adopted for the capture unit 13, and all the electromagnetic effectors 131 are divided into two semicircular areas according to the distance between the electromagnetic effectors 131 and their corresponding areas on the base 21, wherein, the A area The electromagnetic effect device 131 in is the first type of electromagnetic effect device, and the electromagnetic effect device 131 in the B area is the second type of electromagnetic effect device. Correspondingly, the base 21 is also divided into A' corresponding to the A area. region and the B' region corresponding to the B region, it should be noted that dividing all the electromagnetic effectors 131 into two semicircular regions according to the distance between the electromagnetic effectors 131 and the base 21 is only an embodiment of the present invention , all the electromagnetic effectors 131 can also be divided into more regions to provide more precise and detailed control,

The first type of electromagnetic effector is powered off according to the first electromagnetic adjustment command, and the second type of electromagnetic effector is powered on according to the first electromagnetic adjustment command, that is, the electromagnetic effector 131 in the A area stops power supply , rely only on the second permanent magnet 1311 in the A region to attract the first permanent magnet 231 in the A' region, and pass forward current to the electromagnetic effector 131 in the B region, so that the electromagnet 1312 in the B region and the second permanent magnet The magnets 1311 jointly attract the first permanent magnet 231 in the B' area. When the adsorption force generated by the B area is greater, the moving speed of the B' area on the base 21 is greater than that of the A' area, so the base 21 will be in the capture unit 13 Under the action of rotation, the attitude of the base 21 is corrected so that the capture plate 11 is parallel to the end surface of the base 21 . It should be noted that when the forward current is applied to the electromagnetic effector 131 in the B area, based on the degree of adjustment to the attitude of the base 21, when the included angle is greater than the third preset angle, the second type electromagnetic The effector passes through the second-grade forward current. When the included angle is smaller than the third preset angle, the second-type electromagnetic effector passes through the first-grade forward current. Schematically, the third preset angle is selected. If the angle is 60°, when the included angle is greater than 30° and less than 60°, a forward current is passed to the electromagnetic effector 131 in the B area, and when the included angle is greater than 60° and less than 90°, the electromagnetic effector 131 in the B area is passed to the B The electromagnetic effectors 131 in the area are connected to the second gear forward current. When the base 21 completes the posture correction, that is, after the capture plate 11 is parallel to the end face of the base 21, all the electromagnetic effectors 131 of the capturing unit 13 are connected to the Forward current to attract the connection unit 23 and drive the base 21 close to the capture plate 11;

When the control unit judges that the included angle is smaller than the second preset docking angle, that is, when the included angle is smaller than 30°, the control unit sends a second electromagnetic adjustment command and a second capture plate adjustment command, and the capture The plate 11 is tilted toward the base 21 based on the second capture plate adjustment command so that the capture plate 11 is parallel to the end surface of the base 21, and all the electromagnetic effectors 131 are connected to the base 21 based on the second electromagnetic adjustment command. The forward current absorbs the first permanent magnet 231 installed on the connecting unit 23 in the passive docking module 20, preferably through the second forward current to drive the base 21 close to the capture plate 11;

In the process of the base 21 approaching the capture plate 11, for the purpose of saving energy, the control unit judges that when the distance between the capture plate 11 and the end surface of the base 21 is equal to or less than the second When the docking distance is preset, all the electromagnetic effectors 131 are powered off, and only the second permanent magnet 1311 in the electromagnetic effector 131 absorbs the first permanent magnet 231 to drive the base 21 close until it touches the The capture plate 11, so as to keep the base 21 on the capture plate 11 to realize the docking of the target spacecraft and the main spacecraft, schematically, the second preset docking distance is the near distance, that is, when the distance between the capture plate 11 and the end face of the base 21 is less than 0.1 m, in order to save energy, the capture unit 13 is powered off to attract the first permanent magnet 231 through the second permanent magnet 1311, and drive The base 21 is close to and contacts the capture plate 11 , and the base 21 is held on the capture plate 11 by the second permanent magnet 1311 , without continuously energizing the electromagnetic effector 131 .

When the main spacecraft is docked with the target spacecraft and needs to be separated from the target spacecraft, the strategy of partition control is still adopted for all electromagnetic effectors 131, and the control unit sends a third electromagnetic adjustment command, Based on the third electromagnetic adjustment command, all the electromagnetic effectors 131 corresponding to the first permanent magnet 231 are divided into first electromagnetic effectors, and all the electromagnetic effectors 131 are not connected to all electromagnetic effectors. The first permanent magnet 231 is divided into second electromagnetic effectors corresponding to the electromagnetic effectors 131 . Adopting the strategy of partition control, passing a second-grade reverse current to the first electromagnetic effector, so that the first electromagnet in the first electromagnetic effector and the first permanent magnet 231 generate a first repulsive force, The first repulsion force is greater than the first adsorption force, the first repulsion force is used to neutralize the first adsorption force, and is also used to repel the first permanent magnet 231; in order to prevent the second electromagnetic The effector affects the separation, and a reverse current is passed into the second electromagnetic effector, and the magnetic field generated by the second electromagnet neutralizes the magnetic field of the second permanent magnet 1311 in the second electromagnetic effector, so that the The total magnetic field of the second electromagnetic effector is zero, and does not produce any force with the connecting unit 23 . After the power is turned on, the control unit controls the stand-alone attitude and orbit control unit to drive the main spacecraft away from the target spacecraft, so as to separate the main spacecraft from the target spacecraft.

The present invention installs the first permanent magnet in the passive docking module to increase the attractive force between the active docking module and the passive docking module, and at the same time facilitates the smooth release of the passive docking module. The control strategy can increase the attitude tolerance, which is conducive to the completion of high-precision, low-impact docking.

It should be noted that: the technical solutions described in the embodiments of the present invention can be combined arbitrarily if there is no conflict.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (9)

1. an on-orbit docking method for spacecraft, characterized in that, the docking method may further comprise the steps: S101. The main spacecraft used to capture the target spacecraft obtains the position information and attitude information of the target spacecraft through optical communication; S102. The control unit installed in the active docking module on the main spacecraft controls the main spacecraft to approach the target spacecraft according to the position information and the attitude information, so that the target spacecraft is in a possible position Within the docking distance; S103. The control unit adjusts the attitude of the main spacecraft according to the position information and the attitude information, so that the target spacecraft is within a dockable angle range; S104. The control unit drives the main spacecraft to dock with the target spacecraft according to the position information and the attitude information, and keeps the target spacecraft on the main spacecraft; Wherein, the control unit drives the main spacecraft to dock with the target spacecraft according to the position information and the attitude information, and keeps the target spacecraft on the main spacecraft, including the following steps: The control unit adjusts the capture plate installed in the active docking module to be parallel to the base of the passive docking module installed on the target spacecraft according to the position information and the attitude information; All the electromagnetic effectors of the capture unit installed in the active docking module pass forward current, so that all the electromagnetic effectors absorb the first permanent magnet of the connecting unit installed in the passive docking module, thereby driving all the base is close to the capture plate; When the distance between the capture plate and the end surface of the base is equal to or less than the second preset docking distance, all the electromagnetic effectors are powered off, and the second permanent magnets in all the electromagnetic effectors absorb the The first permanent magnet drives the base close until it touches the capture plate, so as to keep the base on the capture plate and complete the docking. 2. The docking method according to claim 1, wherein the main spacecraft used to capture the target spacecraft obtains the position information and attitude information of the target spacecraft in the form of optical communication, comprising the following steps: S201. The signal light emitter of the tracking unit installed in the active docking module sends a signal light to the target spacecraft; S202. The signal light is reflected by the signal light reflector of the target unit in the passive docking module, and the signal light is captured by the signal light receiver installed on the tracking unit; S203. The signal light receiver analyzes the signal light to obtain the position information and the attitude information, and transmits the position information and the attitude information to the control unit. 3. The docking method according to claim 2, wherein the control unit installed in the active docking module controls the main spacecraft to approach the target spacecraft according to the position information and the attitude information device, so that the target spacecraft is within a dockable distance range, comprising the following steps: S301. The control unit obtains the distance between the capture plate and the end surface of the base according to the position information and the attitude information; S302. When the control unit judges that the distance is greater than the first preset docking distance, the control unit controls the attitude and orbit control unit to drive the main spacecraft close to the target spacecraft, so that the distance is smaller than the first preset docking distance. A preset docking distance. 4. The docking method according to claim 3, wherein the control unit adjusts the attitude of the main spacecraft according to the position information and the attitude information, so that the target spacecraft is at a dockable angle Scope, including the following steps: S401. The control unit obtains an angle between an initial surface of the capture plate and an end surface of the base according to the position information and the attitude information; S402. When the control unit judges that the included angle is greater than the first preset docking angle, the control unit controls the attitude and orbit control unit to adjust the attitude of the main spacecraft so that the included angle is smaller than the first preset docking angle. A preset docking angle. 5. The docking method according to claim 4, wherein the control unit adjusts the capture board installed in the active docking module and the capture board installed in the target spacecraft according to the position information and the attitude information. Parallel to the pedestal in the passive docking module on the top, include the following steps: S501. When the control unit judges that the included angle is greater than the second preset docking angle, the control unit sends a first electromagnetic adjustment command and a first capture plate adjustment command, and the capture plate is adjusted based on the first capture plate Instruct the maximum angle tilt towards the base, all the electromagnetic effectors correct the attitude of the base based on the first electromagnetic adjustment command so that the capture plate is parallel to the end face of the base, and then, all the The electromagnetic effector supplies the forward current based on the first electromagnetic adjustment instruction; S502. When the control unit judges that the included angle is smaller than the second preset docking angle, the control unit sends a second electromagnetic adjustment command and a second capture plate adjustment command, and the capture plate is adjusted based on the second capture plate instruction to tilt toward the base so that the capture plate is parallel to the end face of the base, and then all the electromagnetic effectors are supplied with the forward current based on the second electromagnetic adjustment instruction. 6. The docking method according to claim 5, characterized in that, all of the electromagnetic effectors correct the posture of the base based on the first electromagnetic adjustment command so that the capture plate and the base The end faces are parallel, including the following steps: S601. According to the distance between each electromagnetic effector and its corresponding area on the base, the control unit divides all the electromagnetic effectors into a first-class electromagnetic effector and a second-type electromagnetic effector, wherein, Any one of the first type of electromagnetic effectors is closer to the base than any one of the second type of electromagnetic effectors; S602. The first type of electromagnetic effector is powered off according to the first electromagnetic adjustment command, and the second type of electromagnetic effector is powered on according to the first electromagnetic adjustment command. When the included angle is greater than the third preset When the angle is set, the second type of electromagnetic effector passes through the second-grade forward current, and when the included angle is smaller than the third preset angle, the second-type electromagnetic effector passes through the first-grade forward current; S603. The second type of electromagnetic effector drives the corresponding area on the base to move with an adsorption force greater than that of the first type of electromagnetic effector, so that the base rotates to achieve posture correction, so that the capture plate and the The end faces of the base are parallel. 7. The docking method according to claim 6, wherein the method further comprises: S105. The control unit issues a third electromagnetic adjustment command. Based on the third electromagnetic adjustment command, the electromagnetic effectors corresponding to the first permanent magnets among all the electromagnetic effectors are fed with a second-speed reverse current, and all Among the electromagnetic effectors, the electromagnetic effectors that do not correspond to the first permanent magnet pass through a reverse current; S106. The control unit controls the stand-alone attitude and orbit control unit to drive the main spacecraft away from the target spacecraft, so as to separate the main spacecraft from the target spacecraft. 8. An on-orbit docking system for a spacecraft, the docking system includes an active docking module and a passive docking module, the passive docking module is installed on the target spacecraft, and the active docking module is installed on a On the main spacecraft on which the target spacecraft is docked, it is characterized in that: The passive docking module includes a base, a target unit disposed on an end face of the base, and a connecting unit disposed on an end face of the base, wherein the target unit is configured to provide the main spacecraft with the The attitude information and position information of the target spacecraft, the connection unit is configured to establish a connection with the main spacecraft in an electromagnetic connection, wherein the connection unit includes at least one first permanent magnet; The active docking module includes a control unit, a capture board, a tracking unit disposed on the capture board, and a capture unit disposed on the capture board, and the capture board is configured to have an inclination of a first angle in any direction , wherein, the active docking module is configured to: the tracking unit obtains the position information and the attitude information by means of optical communication, and the control unit sends information to the captured information based on the position information and the attitude information respectively. The plate and the capture unit transmit a capture plate adjustment command and an electromagnetic adjustment command, the capture plate is tilted based on the capture plate adjustment command, and the capture unit is docked or separated from the connection unit based on the electromagnetic adjustment command, to To achieve the docking or separation of the main spacecraft and the target spacecraft, the capture unit includes at least one independently working electromagnetic effector, the electromagnetic effector is constructed as a whole by an electromagnet and a second permanent magnet, The docking system is configured such that: the second permanent magnet attracts the first permanent magnet, and the electromagnet changes the electromagnetic effector by adjusting the direction and/or intensity of the incoming current based on the electromagnetic adjustment command The magnetic field direction and/or magnetic field strength, wherein, when the distance between the capture plate and the end surface of the base is equal to or less than the second preset docking distance, all the electromagnetic effectors are powered off, and the second The permanent magnet attracts the first permanent magnet and drives the base close until it touches the capture plate, so as to keep the base on the capture plate and complete the docking. 9. The docking system according to claim 8, wherein the target unit includes a signal light reflector, the tracking unit includes a signal light transmitter and a signal light receiver, and the docking system is configured as follows: The signal light transmitter transmits signal light to the signal light reflector, and the signal light is processed by the signal light reflector and then captured and analyzed by the signal light receiver to obtain the position information and the attitude information , the tracking unit transmits the position information and the attitude information to the control unit.

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