RU2521082C2 - Method for docking spacecrafts - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to active spacecraft (ASC) automatic docking to uncooperative passive spacecrafts (PSC). ASC includes self-homing space microtug (SMT) for delivery of towrope released from ASC and is equipped docking pin. PSC and ASC are pulled together using rope. On PSC cruising engine nozzle is used as docking device. Docking pin is inserted into and fixed to this nozzle. During docking, angle position of ASC and SMT and PSC bundle stabilisation is performed in inertial coordinate system with the centre located in ASC centre of mass. Synchronisation of SMT and PSC with ASC bundle angular velocity, as well as alignment of longitudinal axes of ASC and the mentioned bundle with direction of line connecting their centres of mass is performed using ASC and SMT engines. After SMT and PSC bundle has touched docking place on ASC the bundle is fixed using docking system installed on ASC.

EFFECT: wider range of possible docking to PSC conditions and simplification of docking process.

7 dwg

Description

The invention relates to rocket and space technology and can be used for docking spacecraft (SC), for example, with the removal of spent separating parts (OCH) of the last stages of space rockets (ILV) from orbits of launch into orbits of descent.

Known and widely developed are methods of 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 spacecraft, for example, patent RU No. 2131829, B64G 1/00 dated 02.23.1998.

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.

The closest in fact is the technical solution according to patent RU No. 2430861 B64G 1/64 dated 04.03. 2010 "A method for docking spacecraft and a device for its implementation."

The method is as follows. Before docking with a passive spacecraft (PKA), a gearing device is released on the cable, for example, an inflatable target with a high-strength mesh and light signaling. When approaching the AC with an active spacecraft (AKA), a missile connected to the AKA is launched using a cable equipped with energy-absorbing elements, the missile is homing to the light signals of the engagement device, and after it hits and engages with this device, they control the tension of the cable by release braking. At the same time, the cable tension does not exceed the limit value. After the release of the cable for the entire length, they begin to open the energy-absorbing elements made on this cable (for example, in the form of folds fixed by destructible fastening). The cable continues to lengthen with a tension not exceeding the limit value. With the joint movement of the spacecraft in the bundle by the AKA engines, the rotation of the bundle around its center of mass is eliminated, and after the separation of the spacecraft, the spacecraft is pulled by the cable to the AKA with a cable and docked.

Using this method for docking with passive objects such as VL orbital stages of ILV is difficult for a number of reasons, for example:

- the installation of the gearing device on a long-removed OCh seems to be a difficult operation;

- when winding the cable, the force is applied not to the center of mass of the RCA, but to the towing units, while disturbing moments arise that can lead to tangling of the cable;

- problems of manufacturing and operation of a cable with energy-absorbing elements, etc.

The technical result of the proposed solution is to expand the possibility of docking with a spacecraft (in this case, it is an OCH of the orbital rocket launcher, and instead of the term “rocket” the term “space micro-tow” (KMB) is used, which is more suitable for this case) without installing an engagement device and energy-absorbing elements cable with the maximum allowable difference in relative speeds, simplifying the docking process.

The achievement of the specified technical result when implementing the proposed method is ensured by the fact that after creating a mechanical ligament (KMB + PKA), the longitudinal axes of the AKA and the ligament (KMB + PKA) are combined with the direction of the line connecting their centers of mass, they stabilize the angular position of the AKA and the ligament (KMB + PKA) in the inertial coordinate system relative to the line connecting their centers of mass, using longitudinal accelerations developed by the AKA and KMB engines, the cable tension is reduced to the minimum after touching the ligament (K B + PKA) ACA seat for fixing ligaments performed by the system installed on ACA.

The invention is illustrated by drawings, where:

figure 1 - stages of docking AKA and PKA;

figure 2 - AKA with KMB, with a telescopic docking pin and a cable system;

figure 3 - launch KMB with AKA and guidance on the PKA;

figure 4 - creating a bunch (KMB + PKA);

5 is a complex movement of the ligament (KMB + PKA) and AKA;

6 - contraction of the ligament (KMB + PKA) and AKA;

Fig.7 - mechanical ligament (AKA + KMB + PKA).

Implementation of the proposed technical solution

AKA will be put into orbit optimized for docking with PKA, for example, at the minimum time required to complete the docking, with as little as possible discrepancy in the motion parameters of the SPACECRAFT (ensuring almost zero angular velocity of the AKA-PKA line of sight in the docking and contraction interval).

Upon reaching the minimum distance between the AKA and the PKA, the KMB with the homing head is released from the AKA, which is aimed at the PKA, in particular, at the nozzle of the RCH stage rocket engine. KMB is attached to a cable unwound from the AKA winch.

When the KMB approaches the PKA nozzle, the pin is extended by the amount of free play. After the pin passes through the critical section, the fixing device is opened, and when the fixing device touches the front wall of the camera nozzle, the device is turned on, which starts to retract the pin. After touching the tapering wall of the chamber with the disclosed locking device, the drive is turned off. To ensure the specified rigidity of the system connection (PKA + KMB), the drive is turned off when the specified moment is reached.

Thus, the telescopic pin is fixed in the combustion chamber of the mid-flight rocket engine and the PKA and KMB are pulled together, i.e. creation of a mechanical ligament (PKA + KMB).

The damping of the kinetic energy of the collision at the junction of the KMB and the PKA is not considered, since the mass of KMB is an order of magnitude smaller than the mass of the PCA, and the approach speeds are small (less than 1 m / s), in addition, the quenching of such energies does not present technical difficulties.

After creating a bunch (KMB + PKA), due to the difference in the velocity vectors (center of mass, around the center of mass) of the AKA and the PKA, there is a joint movement with rotation around the total center of mass.

The entire dynamic picture is considered in an inertial coordinate system, for example, corresponding to the time of separation of the KMB from the AKA and placed in the center of mass of the AKA and coinciding with its associated coordinate system.

Next, the longitudinal axes of the AKA and ligaments (KMB + PKA) are deployed until they are aligned with the line connecting the centers of mass of the AKA and ligaments (KMB + PKA), and they are stabilized in this position using AKA and KMB engines.

Using longitudinal accelerations developed by the AKA and KMB engines, the cable tension is reduced to a minimum, after touching the ligament (KMB + PKA) of the seat on the AKA, the ligament is fixed using the system installed on the AKA.

The AKA and KMB propulsion systems in the AKA-cable-KMB + PKA system play the role of a cable with energy-absorbing elements in the prototype.

After that, using the AKA engines, the ligament (AKA + KMB + OCH) is taken to the necessary point in outer space or provide entry to the Earth’s atmosphere.

The level of technology that ensures the strength of the used cable material, AKA winch design, power ratio of the KMB, tightening and fixing devices determines the technical and economic boundaries of the application of the proposed docking method.

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

1) AKA 1 (Fig. 2) maneuvers from the launch orbit or from the on-orbit to prepare for docking with optimization, for example, by minimizing the total time for the docking operation, relative motion parameters (minimizing the angular velocity of the AKA-PKA line of sight).

2) With AKA 1 at the moment of approaching with the PKA 2, the KMB3 with the homing head 4, tuned to the cut-off parameters of the nozzle of the chamber of the mid-flight engine 5 of the PKA 2, is released to the required distance.

KMB 3 stretches the cable 6 attached to it, wound on the winch 7 in the AKA 1 housing, using the KMB 8 propulsion system. The winch mechanism 7 provides timely supply of the cable 6 for its unwinding with the adjustment of the tension force of the cable 6.

4) Before approaching the nozzle of the chamber of the sustainer rocket engine 5 PKA 2 on the KMB 3 open the telescopic docking pin 9 with a retraction device and a locking device mounted on the tip of the telescopic docking pin 9 (figure 2). The tightening device can be performed, for example, based on a helical gear.

5) After the docking pin 9 enters the chamber of the rocket engine marching engine 5 of the PKA 2, the pin reaches the front wall of the combustion chamber 10 (Fig. 4), it engages by engaging the locking and retracting device of the telescopic pin 9.

Figure 5 shows:

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

V _c - instantaneous translational speed of the total center of mass;

V _AKA is the velocity vector of the center of mass of the AKA;

, - the radial and tangential components of the AKA velocity vector;

Vпка is the velocity vector of the center of mass of the PKA;

, - the radial and tangential components of the velocity vector of the PKA.

7) After stabilizing the movement of the ligament (KMB + PKA) and AKA 1 relative to the lines connecting their centers of mass, they pull together the AKA 1 and ligament (KMB + PKA) using a winch 7 installed on the AKA 1, including its electric motor in winding mode wire rope 6.

8) When pulling together the AKA 1 and the ligament (KMB + PKA), control the parameters of the movement of the ligament (KMB + PKA) and the AKA, adjusting the cable tension with a winch electric motor, eliminating excess cable tension using AKA, KMB engines.

9) After the formation of the ligament (AKA + KMB + PKA), a maneuver of withdrawal to the disposal orbit due to the AKA propulsion system is performed.

10) Upon reaching the movement parameters corresponding to the parameters of transition to the orbit of disposal, the PCA is undocked and separated using a reusable separation system installed on the KMB (the fixing device installed on the tip of the docking pin is restored to its initial position, the PCA fixation devices are opened on the KMB and the inclusion of pushers to separate the PKA from KMB) and maneuver (AKA + KMB) in the area of the next target.

Claims (1)

A method of docking spacecraft (SC), one of which is passive (PKA), and the other approaching it is active (AKA), including the use of a homing space micro-tugboat (KMB) to deliver a cable released from the AKA and equipped with a docking pin, with approaching the PCA to the minimum distance, docking, tightening the KMB + PKA and AKA mechanical ligament using a cable, characterized in that after creating the KMB + PKA mechanical ligament, the longitudinal axes of the AKA and KMB + PKA ligaments are combined with the direction of the line connecting their centers ss, stabilize the angular position of the AKA and the KMB + PKA ligament in an inertial coordinate system with a center located in the center of mass of the AKA, and using longitudinal accelerations developed by the AKA and KMB engines, reduce the cable tension to a minimum, and after touching the KMB + PKA seats on the AKA fix the ligament using a system installed on the AKA.

Images