CN115610707B - On-orbit docking method and docking system for spacecraft - Google Patents
On-orbit docking method and docking system for spacecraft Download PDFInfo
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- CN115610707B CN115610707B CN202211630260.8A CN202211630260A CN115610707B CN 115610707 B CN115610707 B CN 115610707B CN 202211630260 A CN202211630260 A CN 202211630260A CN 115610707 B CN115610707 B CN 115610707B
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- 230000005288 electromagnetic effect Effects 0.000 claims description 16
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
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- 229910052759 nickel Inorganic materials 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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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 for improving the docking tolerance of the spacecraft and reducing the power consumption. The butt joint method comprises the following steps: the main spacecraft is used for capturing the target spacecraft to obtain the position information and the attitude information of the target spacecraft in an optical communication mode; a control unit in an active docking module arranged 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 enable the target spacecraft to be in a dockable distance range; the control unit adjusts the attitude of the main spacecraft according to the position information and the attitude information so as to enable the target spacecraft to be in a butt joint angle range; and the control unit drives the main spacecraft to be in butt joint with the target spacecraft according to the position information and the attitude information, and keeps the target spacecraft on the main spacecraft. The butt joint method can finish butt joint with high tolerance, high precision and low power consumption.
Description
Technical Field
The invention relates to the technical field of spacecraft devices, in particular to an in-orbit docking method and a docking system for a spacecraft.
Background
The space rendezvous and docking technology refers to the technology that two spacecrafts meet on a space track and are structurally connected into a whole, and can be widely applied to the fields of construction of various space facilities, on-orbit assembly, recovery, supply, maintenance, rescue and the like. In two space vehicles which are intersected and butted in space, a butted object can be an on-orbit large space vehicle or a space vehicle out of control or having a fault in space, and the whole process can be roughly divided into four stages of ground guiding, automatic searching, approaching and butting and folding.
In the prior art, the docking mechanism is mainly in a collision type docking mechanism, collision capture is realized based on relative motion between docked spacecrafts, the collision type docking mechanism has the technical problems of high requirements on attitude orbit control precision of the spacecrafts and large docking impact force, and meanwhile, a large amount of fuel is consumed during attitude orbit adjustment and plume pollution is possibly caused.
In the other docking form in the prior art, docking of the spacecraft is realized through magnetic force capture, wherein the magnetic force capture means that attitude adjustment and distance approaching of the docking tail section of the spacecraft are realized through a magnetic force adsorption mode, and finally docking is realized. The main forms of the magnetic force comprise electromagnetic force butt joint and permanent magnetic force butt joint, and the electromagnetic force butt joint has the main problems that the butt joint needs high power and high power consumption, and long-time power supply or mechanical structure locking is needed if long-time connection is realized; the main problems of the permanent magnet butt joint are that the permanent magnet is difficult to release after butt joint, and meanwhile, the electromagnetic force in the butt joint process cannot be adjusted. The magnetic docking method has higher requirements on attitude control precision.
Disclosure of Invention
In order to solve the above technical problems, embodiments of the present invention are intended to provide an in-orbit docking method and a docking system for a spacecraft, and a technical solution of the present invention is implemented as follows:
in a first aspect, the present invention provides an in-orbit docking method for a spacecraft, the docking method comprising the steps of: s101, acquiring position information and attitude information of a target spacecraft by a main spacecraft for capturing the target spacecraft in an optical communication mode; s102, a control unit in an active docking module arranged 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 dockable distance range; s103, the control unit adjusts the attitude of the main spacecraft according to the position information and the attitude information so as to enable the target spacecraft to be in a range of a butt joint angle; and S104, the control unit drives the main spacecraft to be in butt joint 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 invention provides an in-orbit docking system for a spacecraft, the docking system comprising an active docking module and a passive docking module, the passive docking module being mounted on a target spacecraft, the active docking module being mounted on a master spacecraft for establishing a docking with the target spacecraft,
the passive docking module comprises a base, a target unit arranged on an end face of the base and a connection unit arranged on the end face of the base, wherein the target unit is configured to provide attitude information and position information of the target spacecraft to the main spacecraft, and the connection unit is configured to establish connection with the main spacecraft in an electromagnetic connection manner;
the active docking module includes a control unit, a capture plate configured to have an inclination angle inclined to an arbitrary direction by a first angle, a tracking unit disposed on the capture plate, and a capture unit disposed on the capture plate, wherein the active docking module is configured to: the tracking unit acquires the position information and the attitude information in an optical communication mode, the control unit transmits a capture plate adjusting instruction and an electromagnetic adjusting instruction to the capture plate and the capture unit respectively based on the position information and the attitude information, the capture plate tilts based on the capture plate adjusting instruction, and the capture unit is docked with or undocked from the connecting unit based on the electromagnetic adjusting instruction so as to realize docking or undocking of the main spacecraft and the target spacecraft.
The invention discloses an on-orbit docking method and a docking system for a spacecraft, which select different docking strategies under different conditions, increase the tolerance of docking attitude control, keep a target spacecraft on a main spacecraft for a long time with low power consumption and realize the active separation of the main spacecraft and the target spacecraft.
Drawings
FIG. 1 is a schematic illustration of an in-orbit docking system for a spacecraft as disclosed in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a passive docking module for an in-orbit docking system for a spacecraft as disclosed in an embodiment of the invention;
FIG. 3 is a schematic diagram of an active docking module of an in-orbit docking system for a spacecraft as disclosed in an embodiment of the present invention;
FIG. 4 is a schematic illustration of a capture plate for an in-orbit docking system for a spacecraft as disclosed in an embodiment of the present invention;
FIG. 5 is a partial schematic view of an active docking module of an in-orbit docking system for a spacecraft as disclosed in an embodiment of the present invention;
FIG. 6 is a flowchart of an in-orbit docking method for a spacecraft as disclosed in an embodiment of the present invention;
FIG. 7 is a schematic diagram of an angle between a capture plate and a base established in an in-orbit docking method for a spacecraft according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a base being corrected in an in-orbit docking method for a spacecraft according to an embodiment of the present invention.
Wherein the reference numerals are: 1. a docking system; 10. an active docking module; 11. a capture plate; 111. a rod-like member; 112. a universal ball assembly; 1121. a ball; 1122. a ball receiving groove; 12. a tracking unit; 13. a capturing unit; 131. an electromagnetic effector; 1311. a second permanent magnet; 1312. an electromagnet; 20. a passive docking module; 21. a base; 22. a target unit; 23. a connection unit; 231. a first permanent magnet.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The existing docking modes of the spacecraft through electromagnetic capture can be divided into electromagnetic docking and permanent magnet docking, wherein the electromagnetic docking is realized by electrifying an electromagnet to attract an armature, the main problems of the electromagnet docking are that large power is needed during docking, the consumed electric quantity is large, continuous power supply is needed or an additional mechanical device is added to provide mechanical structure locking if long-time connection is realized, and the requirement on the attitude control precision of the main spacecraft is high in the docking process. The permanent magnet type butt joint is realized by utilizing mutual attraction between the permanent magnet and the permanent magnet or between the permanent magnet and the armature, is difficult to release after butt joint, and has unadjustable electromagnetic force in the butt joint process.
Based on this, referring to fig. 1, an embodiment of the invention is shown disclosing an in-orbit docking system 1 for a spacecraft, the docking system 1 comprising an active docking module 10 and a passive docking module 20, the passive docking module 20 being mounted on a target spacecraft, the active docking module 10 being mounted on a main spacecraft for establishing a docking with the target spacecraft.
Referring to fig. 2, which shows a schematic view of the passive docking module 20, the passive docking module 20 includes a base 21, a target unit 22 disposed on an end surface of the base 21, and a connection unit 23 disposed on an end surface of the base 21, wherein the base 21 is configured in a disc shape and is mounted on a body of the target spacecraft; the target unit 22 is arranged on the end face of the base 21, and the target unit 22 is used for providing attitude information and position information of the target spacecraft to the main spacecraft; the connection unit 23 is disposed on the surface of the base 21, and the connection unit 23 is configured to establish connection with the main spacecraft in an electromagnetic absorption manner.
The target unit 22 is configured to provide the attitude information and the position information to the host spacecraft by means of optical signal transmission, and the target unit 22 includes a signal light reflector configured to reflect signal light, which may be any device capable of reflecting light, such as a mirror. The target unit 22 includes at least one signal light reflector for reflecting the signal light with more reflection angles and higher reflection intensity, and the at least one signal light reflector is uniformly arranged in the end surface of the base 21 along the circumferential direction of the end surface of the base 21 so that the target unit 22 can receive and reflect the signal light more uniformly and more comprehensively, preferably, the number of the signal light reflectors is 24, see fig. 2.
Referring to fig. 1 and 2, the connection unit 23 includes a first permanent magnet 231 connected with the main spacecraft in an electromagnetic connection manner, and the magnetic field direction and the magnetic field strength of the first permanent magnet 231 are fixed. Preferably, the connection unit 23 includes at least one first permanent magnet 231 to ensure electromagnetic connection strength, the at least one first permanent magnet 231 is uniformly disposed on the end surface of the base 21 along a circumferential direction of the end surface of the base 21, and the at least one first permanent magnet 231 is configured to be arranged around the signal light reflector. Preferably, referring to fig. 2, the number of the first permanent magnets 231 is 4, and 0 °, 90 °, 180 °, and 270 °, respectively, disposed on the end surface of the base 21. In another embodiment of the present invention, the connection unit 23 further includes a ring-shaped ferromagnetic body disposed in an end surface of the base 21, the ferromagnetic body surrounding the signal light emitter, and the first permanent magnet 231 disposed on the ferromagnetic body, wherein the ferromagnetic body is made of a magnetic material, such as iron or nickel.
Referring to fig. 3 to 4, which respectively show a schematic view of the active docking module 10 and a schematic view of the capture board 11, the active docking module 10 includes a control unit (not shown), a capture board 11, a tracking unit 12 disposed on the capture board 11, and a capture unit 13 disposed on the capture board 11, the capture board 11 is configured to have an inclination angle inclined to an arbitrary direction by a first angle, wherein the active docking module 10 is configured to: the tracking unit 12 acquires the position information and the attitude information in an optical communication manner, the control unit transmits a capture board adjustment instruction and an electromagnetic adjustment instruction to the capture board 11 and the capture unit 13 respectively based on the position information and the attitude information, the capture board 11 tilts based on the capture board adjustment instruction, and the capture unit 13 is docked with or undocked from the connection unit 23 based on the electromagnetic adjustment instruction to enable docking or undocking of the main spacecraft with the target spacecraft. In another embodiment of the invention, the active docking module 10 further comprises bellows for reducing the impact on the target spacecraft when docking is established.
The capture plate 11 is mounted on the main body of the main spacecraft, the capture plate 11 is configured to be capable of inclining to any direction by a first angle, referring to fig. 4, which shows a structural schematic diagram of the capture plate 11, the capture plate 11 is mounted on the main body of the main spacecraft through a rod-shaped member 111 and a ball gimbal assembly 112, wherein the capture plate 11 is integrally connected with the ball gimbal assembly 112 through the rod-shaped member 111, the capture plate 11 can incline to any direction by a certain angle by means of the movement of the ball 1121 in the ball receiving groove 1122, and when the size of the first angle needs to be adjusted according to actual conditions or working requirements, the size of the openings of the ball 1121 and the ball receiving groove 1122 in the ball gimbal assembly 112 is adjusted. Preferably, the first angle is 30 °, and the action range of the capture plate 11 is a spherical cone with a spherical center angle of 60 °.
The tracking unit 12 comprises a signal light emitter and a signal light receiver, wherein the signal light emitter is used for emitting signal light to the target spacecraft, specifically, the signal light emitter is used for emitting signal light to the signal light reflector, and preferably, the signal light emitter is composed of an LED lamp group. The signal light receiver is configured to receive the signal light reflected by the signal light reflector, and resolve a current position of the target spacecraft and an attitude of the target spacecraft from the reflected signal light, and preferably, the signal light receiver is configured by a binocular camera. In another embodiment of the present invention, in order to reduce the error of the signal light receiver in identifying the signal light, the signal light receiver is disposed in the center of the capture plate 11, and in addition, in order to protect the precise optical elements in the signal light receiver, the capture plate 11 includes a cover plate for protecting the signal light receiver, and a hole for passing the common signal light is disposed on the cover plate at a position corresponding to the signal light receiver and the signal light emitter.
The capturing unit 13 includes at least one independently operating electromagnetic effector 131, referring to fig. 1 and 5, fig. 5 shows a partial schematic view of the active docking module 10, corresponding to the at least one first permanent magnet 231, all the electromagnetic effectors 131 are uniformly disposed in the capturing plate 11 along the circumferential direction of the capturing plate 11 in a manner similar to the arrangement of the first permanent magnets 231 on the base 21, and preferably, each of the at least one first permanent magnets 231 has one electromagnetic effector 131 corresponding thereto. The electromagnetic effector 131 includes a second permanent magnet 1311 and an electromagnet 1312 configured as one body, and the second permanent magnet 1311 is configured to attract the first permanent magnet 231 with a first attraction force. When the electromagnet 1312 is energized, a corresponding magnetic field can be generated to attract or repel the first permanent magnet 231, specifically, when the electromagnet 1312 is energized with a forward current, the direction of the magnetic field generated by the coil in the electromagnet 1312 is the same as the direction of the magnetic field of the first permanent magnet 231, and an attracting force is generated between the electromagnet 1312 and the first permanent magnet 231; when the electromagnet 1312 is energized with a reverse current, the direction of the magnetic field generated by the coil in the electromagnet 1312 is opposite to the direction of the magnetic field 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 the current is applied to the electromagnet 1312, the magnitude of the attraction force or the repulsion force between the electromagnet 1312 and the first permanent magnet 231 can be changed by adjusting the magnitude of the current, and for convenience of control, the current applied to the electromagnetic effector 131 is schematically divided into 0, first, and second stages, which are respectively 0%,50%, and 100% of the peak current, and when the first-stage forward current is applied to the electromagnetic effector 131, a magnetic field having the same intensity as that of the second permanent magnet 1311 can be generated, and the electromagnet 1312 attracts the first permanent magnet 231 with a second attraction force, which is equal to that of the first attraction force.
The control unit is electrically connected to the tracking unit 12, and after the signal light receiver analyzes the position information and the attitude information, the control unit sends out an adjustment instruction to the capture board 11 and the capture unit 13 respectively according to the position information and the attitude information, wherein the capture board 11 tilts based on the adjustment instruction, and the capture unit 13 energizes the electromagnetic effector 131 or de-energizes the electromagnetic effector 131 based on the adjustment instruction, so as to change the attraction force or the repulsion force of the electromagnetic effector 131 on the first permanent magnet 231, thereby realizing the docking or the undocking of the capture unit 13 and the connection unit.
Based on the in-orbit docking system 1 for a spacecraft disclosed in the above embodiment, the following embodiment takes the first angle of 30 ° as an exemplary illustration, and referring to fig. 6, it shows a flowchart of an in-orbit docking method for a spacecraft disclosed in the embodiment of the present invention, and the docking method includes:
s101, acquiring position information and attitude information of a target spacecraft by a main spacecraft for capturing the target spacecraft in an optical communication mode;
s102, a control unit in an active docking module arranged 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 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 in a butt joint angle range;
and S104, the control unit drives the main spacecraft to be in butt joint 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 the attitude information of the target spacecraft in an optical communication manner, a signal light emitter of a tracking unit 12 installed in the active docking module 10 emits signal light to the target spacecraft; the signal light is reflected via a signal light reflector of a target unit 22 in a passive docking module 20 mounted on the target spacecraft, the signal light being captured by a signal light receiver mounted to 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 a distance between the capture plate 11 installed in the active docking module 10 and an end surface of the base 21 installed in the passive docking module 20 according to the position information and the attitude information, and when the control unit judges that the distance is greater than a first preset docking distance, the control unit controls an attitude and orbit control unit to drive the active spacecraft to approach the target spacecraft so that the distance is less than the first preset docking distance. In a process that the main spacecraft approaches the target spacecraft, the main spacecraft approaches the target spacecraft through its attitude and orbit control unit, and in order to satisfy a distance condition capable of establishing a docking, a distance between the capture plate 11 and an end face of the base 21 is schematically divided into three stages, specifically, a long distance: more than 1m; middle distance: 0.1m to 1m; and (3) short-distance: if the distance is less than 0.1m, illustratively, the first preset docking distance is 1m, the control unit judges whether the distance enters 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 to maneuver to approach the target spacecraft until the distance is less than 1m, and then the control unit controls the main spacecraft to stop maneuvering.
When the distance is smaller than the first distance, the control unit calculates and obtains an included angle between an initial surface of the capture plate 11 and the end surface of the base 21 according to the position information and the attitude information, where the initial surface of the capture plate 11 refers to a spatial position and an attitude of the surface of the capture plate 11 in a position state and a spatial state of the main spacecraft when the current position information and the attitude information are obtained, and when the control unit judges that the included angle is larger than a first preset docking angle, the control unit controls the attitude control unit to adjust the attitude of the main spacecraft so that the included angle is smaller than the first preset docking angle, and it needs to be noted that, after the main spacecraft adjusts the attitude, the spatial position and the attitude of the capture plate 11 need to be obtained again to calculate a new included angle. And when the main spacecraft stops maneuvering, the control unit obtains the included angle according to the attitude information and judges the included angle in order to meet the attitude condition capable of establishing butt joint. Schematically, referring to fig. 7, a schematic diagram of an included angle between the capture plate 11 and the base 21 in a space is shown, where the tracking unit 12 for acquiring the position information and the attitude information is located at the center of the capture plate 11, so that a coordinate axis is established with the center of the capture plate 11 as a coordinate origin, a vector from the origin to the center of the end surface of the base 21 is r, and a vector perpendicular to the end surface of the base 21 is n, and a range of the product is set according to the first preset angle to determine whether the attitude condition satisfies the condition of establishing the butt joint, illustratively, the first preset angle is selected to be 90 °, accordingly, when the product is zero, the attitude satisfies the condition of establishing the butt joint, and conversely, when the product is greater than zero, the main spacecraft needs to perform the attitude adjustment and then performs the determination again.
When the attitude of the main spacecraft meets the attitude condition for establishing the docking, the docking is started, and the control unit judges that the included angle is larger than a second preset docking angle, the second preset angle is selected to be equal to the first angle by 30 degrees schematically, at this time, the capture plate 11 cannot be parallel to the end surface of the base 21 only depending on the inclination of the capture plate 11, so that the control unit sends a first electromagnetic adjustment instruction and a first capture plate adjustment instruction, the capture plate 11 tilts towards the base 21 at the maximum angle based on the first capture plate adjustment instruction, that is, the inclination angle of the capture plate 11 to the base 21 is 30 degrees, all electromagnetic effectors 131 of the capture unit 13 installed in the active docking module 10 correct the attitude of the base 21 according to the first electromagnetic adjustment instruction so that the capture plate 11 is parallel to the end surface of the base 21,
in the process of posture correction of the base 21 so that the capture plate 11 is parallel to the end face of the base 21, the strategy of zone control is adopted for the capture unit 13, see fig. 8, which shows a schematic diagram of posture correction of the base 21, the control unit divides all the electromagnetic effectors 131 into one type of electromagnetic effector and two types of electromagnetic effectors according to the distance between each electromagnetic effector 131 and its corresponding region on the base 21, wherein any electromagnetic effector 131 in the one type of electromagnetic effector is closer to the base 21 than any electromagnetic effector 131 in the two types of electromagnetic effectors, wherein the control strategy of half-break and half-pass is adopted for the capture unit 13, all the electromagnetic effectors 131 are divided into two semicircular regions according to the distance between the electromagnetic effector 131 and its corresponding region on the base 21, wherein the electromagnetic effectors 131 in the a region are the one type of electromagnetic effectors, the electromagnetic effectors 131 in the B region are the two types of electromagnetic effectors, accordingly, the base 21 is also divided into the corresponding a region a and the corresponding B region of the a region, and the distance between the two semicircular regions of the electromagnetic effectors 131 and the two semicircular regions of the electromagnetic effectors 131 is more precise examples, and the invention can be implemented according to the present invention,
the first type of electromagnetic effector is powered off according to the first electromagnetic adjustment instruction, the second type of electromagnetic effector is powered on according to the first electromagnetic adjustment instruction, that is, the electromagnetic effector 131 in the area a stops supplying power, the second permanent magnet 1311 in the area a is only used for adsorbing the first permanent magnet 231 in the area a ', and the electromagnetic effector 131 in the area B is powered on by the forward current, so that the electromagnet 1312 in the area B and the second permanent magnet 1311 jointly adsorb the first permanent magnet 231 in the area B', and when the adsorption force generated in the area B is larger, the moving speed of the area B 'on the base 21 is larger than that in the area a', so that the base 21 rotates under the action of the capture unit 13, thereby correcting the posture of the base 21, and enabling the capture plate 11 to be parallel to the end face of the base 21. It should be noted that when a forward current is applied to the electromagnetic effect device 131 in the B region, based on the degree of adjustment of the posture of the base 21, when the included angle is greater than a third preset angle, a second-level forward current is applied to the two types of electromagnetic effect devices, when the included angle is smaller than the third preset angle, a first-level forward current is applied to the two types of electromagnetic effect devices, illustratively, the third preset angle is selected to be 60 °, when the included angle is greater than 30 ° and smaller than 60 °, a first-level forward current is applied to the electromagnetic effect device 131 in the B region, when the included angle is greater than 60 ° and smaller than 90 °, a second-level forward current is applied to the electromagnetic effect device 131 in the B region, and when the posture correction of the base 21 is completed, that is, after the capturing plate 11 is parallel to the end surface of the base 21, all the electromagnetic effect devices 131 of the capturing unit 13 are applied with forward currents to adsorb the connecting unit 23 and drive the base 21 to approach the capturing plate 11;
when the control unit judges that the included angle is smaller than a second preset docking angle, that is, the included angle is smaller than 30 degrees, the control unit sends a second electromagnetic adjustment instruction and a second capture plate adjustment instruction, the capture plate 11 inclines towards the base 21 based on the second capture plate adjustment instruction so that the capture plate 11 is parallel to the end face of the base 21, all the electromagnetic effectors 131 are connected with forward currents based on the second electromagnetic adjustment instruction and adsorb the first permanent magnets 231 of the connection units 23 installed in the passive docking module 20, and preferably two-gear forward currents are connected to drive the base 21 to be close to the capture plate 11;
during the process that the base 21 approaches the capture plate 11, for the purpose of energy saving, the control unit determines that, when the distance between the capture plate 11 and the end face of the base 21 is equal to or less than a second preset docking distance, all of the electromagnetic effectors 131 are powered off, and the first permanent magnet 231 is attracted only by the second permanent magnet 1311 in the electromagnetic effectors 131 to drive the base 21 to approach until contacting the capture plate 11, so that the base 21 is held on the capture plate 11 to achieve docking of the target spacecraft with the host spacecraft, illustratively, the second preset docking distance is the close distance, that is, when the distance between the capture plate 11 and the end face of the base 21 is less than 0.1m, the capture unit 13 is powered off to attract the first permanent magnet 231 by the second permanent magnet 1311, drive the base 21 to approach and contact the capture plate 11, and hold the base 21 on the capture plate 11 by the second permanent magnet 1311 without continuously powering on the electromagnetic effectors 131 for energy saving.
When the main spacecraft needs to be separated from the target spacecraft after the docking of the main spacecraft and the target spacecraft is established, a strategy of zone control is still adopted for all the electromagnetic effectors 131, the control unit sends out a third electromagnetic adjustment instruction, based on the third electromagnetic adjustment instruction, all the electromagnetic effectors 131 corresponding to the first permanent magnets 231 are divided into first electromagnetic effectors, and all the electromagnetic effectors 131 not corresponding to the first permanent magnets 231 are divided into second electromagnetic effectors. Adopting a strategy of partition control, and introducing a second-gear reverse current to the first electromagnetic effector, so that a first repulsive force is generated between a first electromagnet in the first electromagnetic effector and the first permanent magnet 231, wherein the first repulsive force is greater than the first adsorption force, and is used for neutralizing the first adsorption force and repelling the first permanent magnet 231; in order to prevent the second electromagnetic effect from affecting separation, a first-gear reverse current is introduced into the second electromagnetic effect, and the magnetic field generated by the second electromagnet neutralizes the magnetic field of the second permanent magnet 1311 in the second electromagnetic effect, so that the total magnetic field of the second electromagnetic effect is zero and no force is applied to the connecting unit 23. After the electrification is finished, the control unit controls the attitude and orbit control single machine to drive the main spacecraft to leave the target spacecraft, so that the main spacecraft is separated from the target spacecraft.
According to the invention, the first permanent magnet is arranged in the passive butt joint module, so that the attraction force of the active butt joint module and the passive butt joint module is increased, the passive butt joint module is favorably released smoothly, different control strategies are applied to the active butt joint module according to different conditions, the tolerance of the posture can be increased, and the butt joint with high precision and low impact is favorably completed.
It should be noted that: the technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. An in-orbit docking method for a spacecraft, characterized in that the docking method comprises the following steps:
s101, acquiring position information and attitude information of a target spacecraft by a main spacecraft for capturing the target spacecraft in an optical communication mode;
s102, a control unit in an active docking module arranged 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 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 in a butt joint angle range;
s104, the control unit drives the main spacecraft to be in butt joint with the target spacecraft according to the position information and the attitude information, and the target spacecraft is kept on the main spacecraft;
the control unit drives the main spacecraft to be in butt joint with the target spacecraft according to the position information and the attitude information, and keeps the target spacecraft on the main spacecraft, and the control method comprises the following steps:
the control unit adjusts a capture plate arranged in the active docking module to be parallel to a base in a passive docking module arranged on the target spacecraft according to the position information and the attitude information;
all electromagnetic effectors of the capturing unit installed in the active docking module are electrified with forward currents, so that all the electromagnetic effectors adsorb the first permanent magnets of the connecting unit installed in the passive docking module, and the base is driven to be close to the capturing plate;
and when the distance between the capture plate and the end face of the base is equal to or less than a second preset butt joint distance, all the electromagnetic effectors are powered off, and second permanent magnets in all the electromagnetic effectors adsorb the first permanent magnets to drive the base to approach until the base contacts the capture plate, so that the base is kept on the capture plate, and the butt joint is completed.
2. The docking method according to claim 1, wherein the main spacecraft for capturing the target spacecraft obtains the position information and attitude information of the target spacecraft in optical communication, comprising the steps of:
s201, a signal light emitter of a tracking unit installed in the active docking module emits signal light to the target spacecraft;
s202, the signal light is reflected through a signal light reflector of a target unit in the passive docking module, and the signal light is captured by a signal light receiver installed on the tracking unit;
s203, the signal light receiver analyzes the signal light to obtain the position information and the posture information, and transmits the position information and the posture 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 so that the target spacecraft is within a dockable distance range, comprising the steps of:
s301, the control unit obtains the distance between the capture plate and the end face of the base according to the position information and the posture information;
and S302, when the control unit judges that the distance is greater than a first preset docking distance, the control unit controls an attitude and orbit control single machine to drive the main spacecraft to approach the target spacecraft so that the distance is smaller than the first preset docking distance.
4. A docking method according to claim 3, characterized in that the control unit adjusts the attitude of the main spacecraft in dependence on the position information and the attitude information so that the target spacecraft is within a dockable angular range, comprising the steps of:
s401, the control unit obtains an included angle between the initial surface of the capture plate and the end surface of the base according to the position information and the posture information;
s402, when the control unit judges that the included angle is larger than a first preset butt joint angle, the control unit controls the attitude and orbit control single machine to adjust the attitude of the main spacecraft so that the included angle is smaller than the first preset butt joint angle.
5. The docking method according to claim 4, wherein the control unit adjusts a capture plate installed in the active docking module to be parallel to a base in a passive docking module installed on the target spacecraft according to the position information and the attitude information, comprising the steps of:
s501, when the control unit judges that the included angle is larger than a second preset butt joint angle, the control unit sends out a first electromagnetic adjusting instruction and a first capture plate adjusting instruction, the capture plate inclines towards the base at the largest angle based on the first capture plate adjusting instruction, all the electromagnetic effectors correct the posture of the base based on the first electromagnetic adjusting instruction so that the capture plate is parallel to the end face of the base, and then all the electromagnetic effectors pass in forward current based on the first electromagnetic adjusting instruction;
s502, when the control unit judges that the included angle is smaller than a second preset butt joint angle, the control unit sends a second electromagnetic adjusting instruction and a second capture plate adjusting instruction, the capture plate inclines towards the base based on the second capture plate adjusting instruction so that the capture plate is parallel to the end face of the base, and then all the electromagnetic effectors are led in the forward current based on the second electromagnetic adjusting instruction.
6. The docking method according to claim 5, wherein all of the electromagnetic effectors perform posture correction of the base so that the capture plate is parallel to the end surface of the base based on the first electromagnetic adjustment instruction, comprising the steps of:
s601, dividing all the electromagnetic effectors into a first-class electromagnetic effector and a second-class electromagnetic effector by the control unit according to the distance between each electromagnetic effector and the corresponding region of each electromagnetic effector on the base, wherein any one of the first-class electromagnetic effectors is closer to the base than any one of the second-class electromagnetic effectors;
s602, the first-class electromagnetic effect device is powered off according to the first electromagnetic adjusting instruction, the second-class electromagnetic effect device is powered on with forward current according to the first electromagnetic adjusting instruction, when the included angle is larger than a third preset angle, the second-class electromagnetic effect device is powered on with second-gear forward current, and when the included angle is smaller than the third preset angle, the second-class electromagnetic effect device is powered on with first-gear forward current;
s603, the second type of electromagnetic effector drives the corresponding area on the base to move with the adsorption force larger than that of the first type of electromagnetic effector, so that the base rotates to realize posture correction, and the capture plate is parallel to the end face of the base.
7. The docking method of claim 6, further comprising:
s105, the control unit sends out a third electromagnetic adjusting instruction, on the basis of the third electromagnetic adjusting instruction, second-gear reverse current is conducted to all electromagnetic effectors corresponding to the first permanent magnet, and first-gear reverse current is conducted to all electromagnetic effectors not corresponding to the first permanent magnet;
and S106, the control unit controls the attitude and orbit control single machine to drive the main spacecraft to leave the target spacecraft, so that the main spacecraft is separated from the target spacecraft.
8. An in-orbit docking system for a spacecraft, the docking system comprising an active docking module and a passive docking module, the passive docking module being mounted on a target spacecraft, the active docking module being mounted on a main spacecraft for establishing a docking with the target spacecraft, characterized in that:
the passive docking module comprises a base, a target unit arranged on an end face of the base and a connection unit arranged on an end face of the base, wherein the target unit is configured to provide attitude information and position information of the target spacecraft to the main spacecraft, and the connection unit is configured to establish a connection with the main spacecraft in an electromagnetic connection manner, wherein the connection unit comprises at least one first permanent magnet;
the active docking module includes a control unit, a capture plate configured to have an inclination angle inclined to an arbitrary direction by a first angle, a tracking unit provided on the capture plate, and a capture unit provided on the capture plate, wherein the active docking module is configured to: the tracking unit acquires the position information and the attitude information in an optical communication mode, the control unit transmits a capture plate adjusting instruction and an electromagnetic adjusting instruction to the capture plate and the capture unit respectively based on the position information and the attitude information, the capture plate tilts based on the capture plate adjusting instruction, the capture unit is docked with or undocked from the connecting unit based on the electromagnetic adjusting instruction so as to realize docking or undocking of the main spacecraft and the target spacecraft, the capture unit comprises at least one electromagnetic effector which works independently and is formed into a whole by an electromagnet and a second permanent magnet,
the docking system is configured to: the second permanent magnet attracts first permanent magnet, the electro-magnet is based on the electromagnetic adjustment instruction changes with the mode of adjusting the direction and/or the intensity of letting in electric current the magnetic field direction and/or the magnetic field intensity of electromagnetic effect ware, wherein, when capture the board with when the interval between the terminal surface of base is equal to or is less than the second and predetermines the butt joint distance, whole the electromagnetic effect ware cuts off the power supply, the second permanent magnet adsorbs first permanent magnet drive the base is close to until the contact capture the board, thereby will the base keeps on the capture board, accomplish the butt joint.
9. The docking system as recited in claim 8, wherein the target unit comprises a signal light reflector, the tracking unit comprises a signal light emitter and a signal light receiver, the docking system configured to: the signal light emitter emits signal light to the signal light reflector, 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, and the tracking unit transmits the position information and the attitude information to the control unit.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000142598A (en) * | 1998-11-13 | 2000-05-23 | Nec Eng Ltd | Device and method for coupling/decoupling space craft using electric magnet |
| CN103407586B (en) * | 2013-08-30 | 2016-04-20 | 中国人民解放军国防科学技术大学 | Electromagnetic butt joint system |
| EP3584178A4 (en) * | 2017-02-15 | 2020-11-25 | Astroscale Japan Inc. | Capturing system, space navigation body, and plate-like body |
| US20180229865A1 (en) * | 2017-02-15 | 2018-08-16 | Astroscale Japan Inc. | Capturing system, space vehicle and plate |
| CN109466808B (en) * | 2018-12-14 | 2021-04-09 | 哈尔滨工业大学 | Electromagnetic docking device and method based on linear motor |
| CN209351628U (en) * | 2018-12-30 | 2019-09-06 | 中国科学院沈阳自动化研究所 | Spatial electromagnetic docking facilities |
| CN115402540B (en) * | 2022-11-02 | 2023-02-28 | 哈尔滨工业大学 | Adaptation device for assisting in orbital transfer and orbital transfer method |
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