RU2430861C1 - Method of spaceship docking and device to this end - Google Patents

Abstract

FIELD: transport. ^ SUBSTANCE: invention relates to spaceship docking systems and may be used in whatever situations. Proposed method consists in the following. Prior to docking, passive spaceship release engagement device, for example, inflated target with high-strength screen and light signaling. Active spaceship approaching passive spaceship launches rocket fastened to active spaceship by rope provided with power absorbing elements. Said rocket has homing head and extending catchers to engage with said screen. Rocket is guided to light signals of said catcher and, rocket being engaged with said catcher, rope tension is adjusted to magnitude not exceeding limit value. Rope released completely, power-absorbing elements made on said rope (for example, folds locked by collapsible device) start opening. Rope goes on extending with tension not exceeding limit value. In coupled flight, active and passive rockets rotation about coupling mass center is eliminated. With rockets aligned, passive rocket is pulled to active rocket for them to be docked. Proposed device comprises above mentioned elements. ^ EFFECT: higher efficiency and reliability. ^ 3 cl, 12 dwg

Description

The invention relates to space technology and can be used for docking spacecraft in various situations, including contingencies.

Known and widely developed are methods for docking spacecraft in orbit and devices for their implementation, for example, the Igla system, androgynous systems Kurs, Kurs-MM. With all these methods, docking is carried out after combining the plane of the orbits of the docked vehicles and aligning their relative speeds. The final stage is soft docking, touching, locking with fixation by the docking nodes and subsequent tightening of the apparatuses. For example, the solution protected by the patent of the Russian Federation “Androgynous peripheral docking unit (APAS) and damper of the shock absorption-drive system for it” No. 2131829, B64G 1/00, 02.23.1998, Syromyatnikov B.C. Joint-Stock Company of the Open Type Rocket and Space Corporation Energia named after SP Korolev. This solution is selected as a prototype.

The disadvantage of this method is its limited use only for the conditions of a regular situation, which requires the mandatory combination of the planes of motion of the joined spacecraft and the alignment of their relative speeds.

A number of situations may arise when it is necessary to dock a spacecraft without the possibility of fulfilling this condition.

For example, when a spacecraft is docked in a circular orbit with a spacecraft in an elliptical orbit at the point of their meeting, or for urgent descent from the orbit of a manned spacecraft in the event of a brake engine failure or operations with a spacecraft that has lost control.

The aim of the proposed solution is to expand the possibility of docking spacecraft with the maximum allowable difference in relative speeds, which allows solving the docking problem in a wider range of scenarios.

Achieving the goal when implementing the proposed method is provided by using when docking the device combining spacecraft into a single mechanical system without first aligning the vectors of their speed, able to quench the kinetic energy of the difference in their motion.

The ability to absorb this kinetic energy is determined by the design of the active spacecraft, the characteristics of the materials that absorb the load, the fuel reserves on board the active spacecraft.

The invention consists in the following.

A method of docking spacecraft, one of which is passive and the other approaching it, is active, is that an engagement device is released from a passive spacecraft before docking, for example, an inflatable target with a high-strength grid and light signaling, which has power connection with a passive space apparatus, and from the active spacecraft when approaching the passive spacecraft to a minimum distance with a mismatch of their velocity vectors, a missile is connected associated with the issued act using a spacecraft with a cable with energy-absorbing elements, the rocket in homing mode is directed at the light signals of the gearing device until it enters the high-strength mesh and is pulled by the retractable elements of the rocket, they regulate the cable tension by braking at release, ensuring the cable tension does not exceed the limit value , and after the release of the entire length of the cable, the disclosure of energy-absorbing elements on it is used, ensuring its extension and not exceeding the limit value of the tension t dew, moreover, in the joint movement of the vehicles by the engines of the active spacecraft, rotation around the total center of mass is eliminated and, after the separation of the spacecraft is stopped, the passive spacecraft is pulled to the active spacecraft using a cable and docked.

A device for implementing the method of docking spacecraft, one of which is passive and the other active, equipped with engines, docking nodes, on-board control system, on-board on-board systems, is designed in such a way that the passive spacecraft is equipped with an output unit for the engagement device consisting of an inflatable target with a high-strength grid equipped with a signal beacon attached by a power halyard to the exhaust block, and the active spacecraft is equipped with a winch with a cable wound on it, at the end of which A rocket with a homing head and a brush with sliding hooks is attached to it, and the winch has devices for unwinding and winding the cable, regulating its braking, electrically connected to the onboard control system.

The cable of the active spacecraft is made with energy-absorbing elements along the length, for example, in the form of folds fastened with a fixing fastener, the shear strength of which when opening the energy-absorbing element is less than the tensile strength of the main section of the cable.

Passive spacecraft (PKA) is equipped with an engagement device - a system with a small mass as simple and inexpensive as possible, the main element of which is an inflatable target, a target on a solid halyard.

The active spacecraft (AKA) is specialized for docking by the proposed method and is equipped with a system including a rocket with a homing head attached to a cable and a winch with an electric drive system with an electric motor for unwinding and winding, having a braking device, cable tension sensors and electrically connected to the onboard control system .

In accordance with the proposed method, the docking problem is solved without prior alignment of the velocity vectors of the abutting spacecraft. The ability to compensate for the difference in the velocity vectors of the passive and active spacecraft depends on the design characteristics of the active spacecraft, which determine its ability to absorb kinetic energy, which must be extinguished after the formation of a bunch of spacecraft moving with different velocity vectors.

Before docking, a passive spacecraft releases a gearing device. The engagement device is an inflatable target with a high-strength mesh and light alarm, mounted on a power cable. An inflatable target is inflated using compressed gas, spreading its power wicker shell and turn on the signal beacon on it.

The AKA will be put into orbit optimized for docking with the PKA, for example, at the minimum time required to complete the docking, with the smallest possible discrepancy in the motion parameters of the spacecraft.

A missile with a homing head is launched from the AKA, which is aimed at the inflatable target of the PKA gearing device. The rocket is attached to a cable unwound from the AKA winch.

Before approaching the target of a passive spacecraft on a rocket, a brush of retractable hooks is opened and the engine is turned on to reduce the speed of the meeting with the target to an acceptable design value.

When hit by an inflatable target, the retractable brush hooks create engagement and, accordingly, a bunch of spacecraft PKA and AKA.

In some cases, to increase the reliability of the engagement, a PKA power cable capture is used with a second-level capture system.

After a reliable engagement is created, the cable of the PCA and AKA bundles is tensioned, since the velocity vectors of the PCA and AKA differ. The combination of PKA and AKA goes into a state of joint complex movement with rotation around the total center of gravity.

In order to prevent excess rotation speed and, accordingly, overload from centrifugal forces, as well as to prevent breakage of the bundle when the tension forces are exceeded, the cable is unwound (pitted) from the winch of the active spacecraft. The on-board control system AKA with the help of a braking device when bleeding provides the calculated tension force on the cable.

The length of the cable wound around the winch coil determines the amount of energy absorption breaking the cable of the PCA and AKA bundles, which depends on the difference in the magnitude and direction of the motion vectors of the PCA and AKA.

To increase the ability to absorb this energy, the cable of the active spacecraft is equipped with additional elements of energy absorption. For this, the cable is made along the entire length with periodic energy-absorbing elements, for example, loop-shaped, twisted or folded, bonded with adhesive or cross-linking compounds. The main property of these elements is their successive rupture, that is, opening, under axial load. The tensile strength of the periodic element of the cable should be less than the strength of the main section of the cable. Thus, with an axial load exceeding the tensile force during the bleeding of the cable, after it is completely unwound, the energy-absorbing elements of the cable begin to break from the AKA winch, for example, its folds open after breaking the fold-fastening material. The cable is lengthened by alternately tearing energy-absorbing elements. An additional function of the energy-absorbing elements is the safety protection of the cable from instantaneous off-design jerks in the joint movement of the AKA and PKA.

The absorption energy of the kinetic energy of the difference between the PKA and the AKA by the cable Е _Т due to energy-absorbing elements is defined as the energy needed to break one element, Е ₁ times the number of these elements n along the entire length of the cable.

E _T = E ₁ × n.

The absorption energy of the kinetic energy of the difference between the PKA and AKA winch braking device E _L is defined as the braking force (average) F on the length of the unwinding of the cable l.

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The total energy of energy absorption E _sum by braking the winch and breaking the cable elements determines the possibilities of joining the PKA and AKA without first aligning their velocity vectors.

E _sum = E _L + E _T.

After the repayment of the forces stretching the cable, the stage of pulling the apparatuses begins. To do this, include the winch in the mode of winding the cable. At the same time, the speed of rotation of the bunch of devices by AKA engines is monitored and quenched.

After tightening, a docking is carried out, holding the capture of the PKA and fixing the devices. After that, using the AKA engines, they take the bunch to the necessary point in outer space or provide entry into the earth's atmosphere.

The level of technology that ensures the strength of the used material of the cable of its design, the AKA winch design determines the technical and economic boundaries of the application of the proposed docking method.

The essence of the method and device for its implementation is illustrated by the drawings:

figure 1 - stages of docking AKA and PKA;

figure 2 - PKA with gearing device;

figure 3 - PKA with released inflatable target;

figure 4 - AKA;

figure 5 - launch missiles with AKA and pointing it at the target;

6 is a rocket speed equalization and the release of retractable brush hooks;

Fig.7 - the creation of the engagement of the ligament PKA and AKA;

Fig - complex movement of the ligament PKA and AKA;

Fig.9 - shooting PKA during rotation of the ligament (option);

figure 10 - the contraction of spacecraft with steady motion of the ligament;

11 - capture PKA and its transportation;

Fig - device energy-absorbing element of the cable AKA (option).

The implementation of the proposed method of docking spacecraft is to perform the following operations.

The stages of docking AKA and PKA are shown in figure 1 (simplified).

1 - stage of production of an inflatable PKA target and launch of an AKA rocket;

2 - meshing retractable hooks of a rocket with an inflatable target net, creating a bunch of AKA and PKA;

3 - the difference between AKA and PKA in the bundle, unwinding the cable from the winch of the AKA in the braking mode;

4 - discrepancy between AKA and PKA in conjunction with braking due to rupture of energy-absorbing elements;

5 - pulling together the bundle of PKA and AKA by winding the cable onto the AKA winch;

6 - docking AKA and PKA, joint movement.

1) From the passive spacecraft 7 (FIG. 2), if it is necessary to dock, the inflatable target 8 is released on the power halyard 9, for which the lid 10 of the container 11 is opened, the inflatable target is thrown out, providing tension to the power halyard, the target is inflated using balloon 12, include a signal beacon 13 (figure 3) on an inflatable target.

2) The active spacecraft 14 (Fig. 4) maneuvers from the launch orbit or from the on-orbit to prepare for docking with optimization, for example, according to the criterion of saving the total time for the docking operation.

3) From the active spacecraft 14 (Fig. 5), at the moment of approaching the PKA, a missile 15 with a homing head 16 tuned to the parameters of the signal beacon 13 of the PKA target 8 is launched to the required distance. The rocket stretches the cable 17 attached to it, wound on the winch 18 in the AKA housing, with the help of the marching engine 19. The winch mechanism 20 ensures the timely supply of the cable 17 for its unwinding with the adjustment of the cable tension force.

4) Before approaching the target 8, the RCA on the rocket open the brush 21 (Fig. 6) with strong hooks 22 and turn on the braking motor 23 to adjust and reduce the speed of the rocket.

5) After the missile 15 hits the target 8 of the PKA, the hooks of the brush 22 (Fig.7) create engagement with the target and combine the spacecraft into a single mechanical system - a bunch of PKA and AKA. To increase the reliability of the engagement, it is possible to create an additional grip of the halyard 9 PKA.

6) After creating the connection PKA 7 and AKA 14 (Fig. 8), the bundle of the PKA and AKA system goes into the resulting complex movement.

On Fig shown:

ω _C - instantaneous angular rotation around the total center of mass of the AKA and PKA;

Vc is the instantaneous translational velocity of the total center of mass;

V _aka - velocity vector of the center of mass of the AKA;

V ^p _aka , V ^τ _aka - radial and tangential components of the velocity vector AKA;

V _pca is the velocity vector of the center of mass of the PCA;

V ^ρ _pc , V ^τ _pc - the radial and tangential components of the AKA velocity vector.

The cable is ejected from the winch in the braking mode, controlling the tension force and movement parameters of the PKA and AKA ligaments so as not to exceed the allowable axle load and allowable overloads on the spacecraft on the cable.

After using the length of the cable unwound from the winch to repay the energy from the difference between the velocity vectors of the ACA and the ACA breaking their bundle, the energy absorbing properties of the ACA cable 17 are used to further extinguish this difference when alternately breaking its energy absorbing elements 24 (A in Fig. 8) without damage to the main section of the cable.

7) After stabilizing the movement of the PKA and the AKA (Fig. 9) in their bundle (eliminating their mutual divergence), the spacecraft 7 and 14 are pulled together using the AKA winch, including its electric motor, in the cable winding mode.

8) When the system moves in the contraction mode, it is possible to achieve the necessary direction and speed of the spacecraft (Fig. 10) to achieve the goal (for example, to enter the Earth’s atmosphere for descent). In this case, turn on the system of shooting the cable at the calculated time and the PKA receives the necessary impulse to move in a given direction.

After the departure of the spacecraft in a predetermined direction, the cable is rolled up onto the spacecraft in accordance with the requirements to prevent clogging of near-Earth space and returned to the position of completion of the operation.

9) When the devices are pulled together, they control the movement parameters of the PCA and AKA linkage, adjusting the cable tension by the winch electric motor, eliminating the excess of the rotation speed of the PSA and AKA linkage using AKA engines.

10) In the case of the implementation of the main version of the PKA and AKA (11) tighten and provide docking.

After the spacecraft is fixed, a combination of PKA and AKA with the help of the AKA remote control is delivered to a given point in space or braking is performed to enter the Earth's atmosphere.

A device for implementing the proposed method contains the following basic elements.

A release unit for the target engagement device is installed on the PCA, which comprises a housing 7 with a hinged lid 10, an inflatable target 8 having a high-strength net with a boost cylinder 12 attached to a coiled power halyard 9 connected by a housing 7, an ejection charge of the inflatable target 25, a signal beacon 13 operating, for example, in the optical range.

The AKA is equipped with a homing missile, tuned to the frequency and frequency of the signals of the signal beacon 13 of the inflatable target 8. The missile has a retractable brush brush block, the main engine 19, correction engines, braking engines 23, and a cable shooting system.

The winch 18 with a drum with a wound cable 17 has a mechanism 20 with a brake system and a cable winding system, which includes an electric motor and a gearbox.

The winch electric motor is electrically connected to the onboard control system AKA, which processes the initial data of the situation, the parameters of movement and the state of the cable according to the indications of the orientation system, communication, cable tension sensors and a set of necessary indicators.

The AKA cable 17 is made with energy-absorbing elements 24, for example, in a simple embodiment in the form of folds stitched or glued 25 (Fig. 12), so that the tensile strength of the folds does not exceed the tensile strength of the main section of the cable.

A positive property of the application of the proposed method and device is to obtain a social effect, which consists in increasing the safety of space activities. This effect is achieved by expanding the ability to eliminate unforeseen and abnormal cases in flight of spacecraft related to the control of their movement, for example, failure of the brake control system, orientation system, accidents on board, etc.

In a number of variants, this method can be used in the standard version, as providing the best economic efficiency. The magnitude of the economic effect is determined by a number of design and technological factors, such as the mass ratio of the PKA and the AKA, the maturity of the gripping system, the traction characteristics of the winch, the properties of the cable material, and others.

For example, such a method can be used to pick up and redirect small spacecraft, to correct the motion of a space station, etc.

Implementation of the proposed method is possible in combination with existing spacecraft docking methods and nodes for their implementation as an additional means of ensuring security.

Claims (3)

1. A method of docking spacecraft, one of which is passive and the other approaching it is active, characterized in that an engagement device is released from the passive spacecraft before docking, for example, an inflatable target with a high-strength grid and light signaling, which has power connection with the passive spacecraft, and from the active spacecraft when approaching the passive spacecraft to a minimum distance, if the vectors of their velocities do not coincide, they launch a rocket connected with a cable, release the active spacecraft and equipped with energy-absorbing elements, direct the rocket in homing mode to the light signals of the engagement device until the rocket’s retractable elements get into its high-strength net and engage the rocket elements in it, regulate the cable tension by braking at launch, ensuring the cable tension not exceeding the limit values, and after the release of the cable for the entire length, the disclosure of energy-absorbing elements on it is used to ensure the extension of the cable with a tension not exceeding limit values, wherein the joint movement of the active devices spacecraft engines eliminate rotation around their common center of mass, and after termination of divergence apparatuses tighten the passive to the active unit via a cable and produces docking. 2. A device for implementing the method of docking spacecraft, one of which is passive and the other active, equipped with engines, docking nodes, on-board control system, on-board flight systems, characterized in that the passive spacecraft is equipped with an exhaust unit for the engagement device, consisting of an inflatable target with a high-strength grid equipped with a signal beacon attached by a power halyard to the exhaust block, and the active spacecraft is equipped with a winch with a cable wound around it, at the end of which ikreplena missile homing head and a brush with sliding hooks, and the device has a winch for winding and unwinding the cable and adjusting its braking electrically connected to the onboard control system. 3. The device according to claim 2, characterized in that the cable of the active spacecraft is made with energy-absorbing elements along the length, for example, in the form of folds fastened with a fixing fastener, whose shear strength when opening the energy-absorbing element is less than the tensile strength of the main section cable .

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