RU2676592C2 - Device for controlling motion of a spacecraft for cleaning space from garbage debris - Google Patents

Abstract

FIELD: space engineering.

SUBSTANCE: invention relates to space technology and can be used to control the movement of spacecraft in carrying out space purification from debris. Spacecraft contains a correcting propulsion system, an executive body for cleaning debris, angular control formers, garbage particle detection system, microcomputer, pitch, roll and yaw axis asymmetric control drivers, control devices and sensors of the kinetic moment components, connected in a certain manner. Device provides an economical mode of flow of the working fluid, allowing to increase the service life of the spacecraft to the required values, rapid turn around the center of mass, high survivability in view of the fact that when the failure of the angular control formers or asymmetric control drivers, the operability of the spacecraft remains.

EFFECT: implementation of space purification from debris.

5 cl, 7 dwg

Description

Appointment

The invention relates to space technology and can be used to control the movement of spacecraft (SC), in particular, carrying out the cleaning of space from debris.

State of the art

Space debris refers to all artificial objects and their fragments in space that are malfunctioning, do not function, and can never again serve any useful purposes, but which are a dangerous factor in influencing functioning spacecraft.

Currently, there are various methods and devices used on the spacecraft as an executive body for the collection and cleaning of debris in space (hereinafter - the executive organ for cleaning debris):

устройство выполнено на базе лазера, обеспечивающего генерацию и направленную передачу энергии для уничтожения объектов в космическом пространстве (патент РФ №2040448);

the device is made on the basis of a laser that provides the generation and directional energy transfer for the destruction of objects in outer space (RF patent No. 2040448);

на геоцентрической орбите размещают пространственную область, обладающую большей силой сопротивления и плотности, чем сила сопротивления и плотность атмосферы на данной орбите, обеспечивающей замедление частиц космического мусора, проходящих через данную область, и сброс замедленных частиц космического мусора с геоцентрической орбиты (см. патент, РФ, №2524325);

in a geocentric orbit, a spatial region is placed that has a greater drag and density force than the drag force and atmospheric density in a given orbit, which slows down space debris particles passing through this region and discharges decelerated particles of space debris from a geocentric orbit (see patent, Russian Federation No. 2524325);

устройство выполнено в виде малогабаритного космического буксира - сетки-захвата, имеющей в развернутом состоянии форму сегмента сферы для увода космического мусора с орбит полезных нагрузок (патент РФ №138497);

the device is made in the form of a small-sized space tug - a gripping grid, which in the expanded state has the shape of a segment of a sphere for removing space debris from the orbits of payloads (RF patent No. 138497);

обеспечивают торможение объектов космического мусора с целью их перевода на более низкую орбиту с последующим сгоранием в атмосфере, причем для торможения объектов космического мусора на пути следования объектов космического мусора создается препятствие в виде пространственно-распределенных частиц, оказывающих ударно-кинетическое воздействие на объекты космического мусора, причем в качестве материала частиц, оказывающих ударно-кинетическое воздействие, используют продукты окисления азота (патент РФ №2478062);

provide deceleration of space debris objects with a view to their transfer to a lower orbit and subsequent combustion in the atmosphere, and to decelerate space debris objects along the path of space debris objects, an obstacle is created in the form of spatially distributed particles that have a shock-kinetic effect on space debris objects, moreover, as a material of particles having a shock-kinetic effect, nitrogen oxidation products are used (RF patent No. 2478062);

устройство выполнено в виде поверхности из гибкой пленки, связанной с КА посредством тросов регулируемой длины, и контейнеров сбора мусора, в результате чего обеспечивается гашение относительной скорости частиц при взаимодействии космического мусора с материалом пленки, после чего эти частицы под действием центробежных сил поступают в контейнеры для сбора мусора (патент РФ №2046081);

the device is made in the form of a surface of a flexible film connected to the spacecraft by means of cables of adjustable length and containers for garbage collection, as a result of which the relative velocity of particles is quenched during the interaction of space debris with the film material, after which these particles under the action of centrifugal forces enter the containers for garbage collection (RF patent No. 2046081);

устройство выполнено в виде сформированного тормозного экрана, обеспечивающего торможение элементов космического мусора вследствие соударения с ним и перевод элементов космического мусора на более низкую орбиту, и последующее сгорание элементов космического мусора в атмосфере Земли (патент РФ №2586434); и т.д.

the device is made in the form of a formed brake screen, which ensures the deceleration of space debris elements due to collision with it and the transfer of space debris elements to a lower orbit, and the subsequent combustion of space debris elements in the Earth’s atmosphere (RF patent No. 2586434); etc.

It is obvious that the efficiency of space collection and cleaning during spacecraft movement depends on the size of the spatial coverage area by the executive body for garbage cleaning and its orientation (“aiming”) for this garbage. Therefore, when controlling the motion of the spacecraft for maximum coverage of the spatial zone and the orientation of the executive body of garbage cleaning, it is necessary:

- obtaining the desired trajectory of the spacecraft (control the movement of the center of mass);

- orientation control, that is, obtaining the desired position of the spacecraft hull relative to external landmarks (control of rotational motion around the center of mass);

- providing a regime when these two types of control are implemented simultaneously.

This principle of spacecraft motion control is carried out in a spacecraft for cleaning space from debris according to RF patent No. 2040448, taken as a prototype.

A spacecraft for cleaning space from debris contains an executive body for cleaning debris (made in the form of a laser-based device that generates and directs energy to destroy objects in outer space), a system for detecting debris particles, a microcomputer, and an electric propulsion system for controlling the center’s movement mass control and rotational motion around the center of mass.

It is known that as electro-reactive engines for controlling the motion of the center of mass (to correct the motion of the spacecraft in order to eliminate errors in launching the spacecraft into the calculated orbit and periodically correct and maintain the orbit of the spacecraft), more powerful ones are needed than to control the rotational motion around the center of mass ( GG Gusev, AV, Pilnikov. The role and place of electric rocket engines in the Russian space program. Proceedings of the Moscow Aviation Institute electronic journal. Issue No. 60), however, their principle of operation is the same and they contain a working body that is consumed during operation, namely, at the time of creation of the controlling mechanical moment on the spacecraft (see patent, RF, No. 2567896).

Electric propulsion engines are a universal device for controlling spacecraft, in view of the fact that they are operational both in near space (altitude up to about 9000 km) and in geostationary orbit (altitude about 35786 km).

Near space should be understood as a space in which the action of the Earth's geomagnetic field is present, which allows it to be used to create external controlling mechanical effects on the spacecraft with the spacecraft’s magnetic systems.

During the motion of the center of mass of the spacecraft, the trajectory of which is provided by electric engines controlling the motion of the center of mass (hereinafter referred to as the corrective propulsion system), at the moment of detection of particles clogging the outer space along the path of movement, the debris particle detection system gives a signal to the microcomputer along which the microcomputer output it controls the electro-reactive engines of rotational motion around the center of mass (hereinafter referred to as the angular control formers) of the spacecraft and guides (“aims”) the executive the second organ for cleaning garbage on detected particles, which eliminates them (in the prototype, particles are destroyed by a laser beam).

The disadvantage of this device is the presence of a constant flow rate of the working fluid for rotational electric motors around the center of mass, which almost continuously ensures the search for debris particles and directs the debris cleaning executive body to the detected particles. Since the reserves of the working fluid on board the spacecraft are limited and not replenished, the electric propulsion engines of rotational motion around the center of mass have a limited service life. An increase in the spacecraft operation resource due to an increase in the working fluid reserves can lead to an unacceptable increase in the spacecraft mass and dimensions.

The aim of the invention is to increase the life of the spacecraft by saving the working fluid.

Disclosure of invention

The essence of the proposed device for controlling the motion of a spacecraft for cleaning space from debris is to provide technical savings in the flow of the working fluid for electric propulsion engines controlling the rotational motion of the spacecraft around the center of mass, which increases the life of the spacecraft. At the same time, higher spacecraft survivability and the efficiency of space debris cleaning are achieved.

The device includes a corrective propulsion system, an executive body for cleaning debris mounted on the spacecraft body, and their control inputs connected to the outputs of the microcomputer, angular control shapers installed on the spacecraft body along the pitch, roll and yaw axes having inputs connected to the first microcomputer port, a system for detecting debris particles connected to the first input of the microcomputer.

An introduction to the device on each axis - pitch, roll and yaw: of the kinetic moment component sensor and an asymmetric control driver connected in series with the spacecraft body and a control device of asymmetric control drivers (hereinafter referred to as the control device) connected to the second port of the microcomputer, allows to save the flow rate of the working fluid for electric propulsion engines that control the rotational motion of the spacecraft around the center of mass. In this case, the kinetic moment component sensor is connected to the second input of the microcomputer and the spacecraft body.

Asymmetric control shapers, the operating life of which is not related to the flow of the working fluid, provide the formation of controlling mechanical moments acting on the spacecraft body in one or another direction in pitch, yaw and roll, providing the required rotation of the spacecraft around the center of mass. In this case, electric propulsion engines that control the rotational motion of the spacecraft around the center of mass may not participate in the rotation and, thus, not consume the working fluid. Electric propulsion engines controlling the rotational motion of the spacecraft around the center of mass are switched on (form the controlling mechanical moment on the spacecraft) only if necessary, to ensure the fast maneuver of the spacecraft, acting on it together with an asymmetric control shaper, or to reset the kinetic moment of the spacecraft accumulated due to external parasitic forces in order to maintain the angular velocity of the spacecraft within the permissible specified limits. It is known that if the spacecraft’s hull is affected by moments of some external disturbances (aerodynamic drag, light pressure, gravitational forces, meteor dust, magnetic and plasma effects or other external forces), then the hull acquires over time some angular velocity around the axis, the direction of which is determined by the direction of the total disturbing moment (see AG Iosifyan, Electromechanics in space. Cosmonautics, astronomy "No. 3, 1977) and this" parasitic "speed spine can be eliminated only by the external torque.

Graphic illustration

Figure 1 shows, as a graphic illustration, a structural diagram of a spacecraft motion control device for cleaning space from debris, figure 2 shows a first embodiment of an asymmetric control shaper, figure 3 shows a second embodiment of an asymmetric control shaper, and figure 4 shows a third embodiment the execution of the asymmetric control shaper, in figure 5 is a sequence diagram of the operation of the spacecraft’s motion control device for cleaning space from debris, in figures e 6 is a sequence diagram of the operation of the spacecraft motion control device for cleaning space from debris for the second embodiment of asymmetric control shapers, figure 7 is a sequence diagram of the spacecraft motion control device for cleaning space from debris for the third embodiment of asymmetric control shapers.

The implementation of the invention

On the structural diagram of a device for controlling the motion of a spacecraft for cleaning space from debris (Fig. 1), the following positions are indicated:

1 - corrective propulsion system KDU;

2 - shaper angular control FUU;

3 - housing (spacecraft);

4 - an executive body for the cleaning of garbage of IOOM;

5 - a system for detecting debris particles of the MIMO;

6 - microcomputer;

7 - asymmetric shaper control AFU;

8 - control device UU;

9 - sensor component of the kinetic moment of DCCM.

In the proposed device there are three identical channels, indicated by a dash-dot line:

10 - axis Z (pitch);

11 - axis X (roll);

12 - Y axis (yaw).

Corrective propulsion system KDU 1, the executive body for cleaning waste IOOM 4 are installed on the spacecraft 3 body and their control inputs are connected to the outputs of the microcomputer 6. One of the inputs of the microcomputer 6 is connected to the output of the system for detecting debris particles SOCHM 5.

The FUU 2 angular control formers are installed on the spacecraft body 3 along the axes of pitch, roll and yaw, and their inputs are connected to the first port (RA) of the microcomputer 6.

On the axes of pitch, roll and yaw introduced asymmetric control shapers AFU 7, connected through the input control devices UU 8 with the second port (RV) of the microcomputer 6. The second input of the microcomputer 6 is connected to the input of the kinetic moment component of the DCCM 9 mounted on the body 3 of the spacecraft .

The principle of operation of KDU 1 and FUU 2, controlled by a microcomputer 6, and their arrangement on the spacecraft, are well known and widely described in various sources of information. For example, a description of the operation of KDU 1 and its location on the spacecraft is given in an article published in the journal Proceedings of the Moscow Aviation Institute (VP Khodnenko, MV Kolosova. Corrective propulsion system based on a stationary plasma engine 100 for advanced space meteorological apparatus. Electronic journal "Transactions of Moscow Aviation Institute. Issue No. 60). The arrangement of the FUU 2 jet engines along the axes in the associated spacecraft coordinate system is given in the book - (B.V. Raushenbakh, E.N. Tokar. Control of the orientation of spacecraft. Orientation of artificial satellites in gravitational and magnetic fields. "Science", M. 1974. p. 111-113).

The operation of the MSCF 5 and IOOM 4 is presented in the prototype, in addition, the methods and devices that can be used on the spacecraft as IOOM 4 are widely presented in the description of the claimed device above.

The control unit UU 8 can be made in the form of an electronic key and provides the inclusion and deactivation of the AFU 7 by the signals received from the microcomputer 6.

As a sensor, the components of the kinetic moment of DCMC 9 installed on the spacecraft 3 body, you can use the angular velocity sensor (see RF patent No. 2281232). For example, it is possible to use sensors based on microelectromechanical systems (MEMS) manufactured by the Micropribor Laboratory Company, Zelenograd.

Device Description

When describing the device, we will consider the operation of one channel, for example, along the Z axis (10), because the operation of the remaining two identical channels, the X axis (11) and the Y axis (12) is similar.

In the associated coordinate system of the OXYZ spacecraft (the origin coincides with the center of mass of the spacecraft; the remaining axes are located along the spacecraft axis), the following angles are determined:

roll - rotation around the axis OX;

yaw - rotation around the axis OY;

pitch - rotation around the OZ axis.

The device operates as follows.

When the spacecraft moves along the trajectory of the center of mass of the spacecraft provided by KDU 1 (which is included only periodically to correct and maintain the orbit of the spacecraft), the angular control shapers of the FUU 2 perform the function of the turns of the spacecraft around the center of mass, thereby providing a spatial coverage zone of the MNF 5 and IOOM 4 , as well as orienting OSIM 4 to garbage for its collection or disposal. Therefore, FUU 2 is almost always in working condition, ensuring the formation of a mechanical moment on the spacecraft and at the same time consuming the working fluid. The constant flow rate of the working fluid, taking into account its limited supply (which is not replenished in space), has a limited resource of FUU 2, and therefore a limited resource of effective spacecraft operation.

For unloading FUU 2, i.e. To reduce the time of its working state (flow rate of the working fluid), the AFU 7 serves, which can provide controlled turns of the spacecraft around the center of mass without spending the working fluid.

The AFU 7 is turned on and off by the signal of the microcomputer 6 through the control unit 8. The angle of rotation is controlled by the microcomputer 6 by the signals from the DKKM 9 angular velocity sensors.

As a microcomputer 6, you can use, for example, domestic single-chip microcomputers of the 1816 series, which includes the following integral elements: microprocessor, RAM, ROM, data input and output devices (see patent, RF, N 2571728).

In the microcomputer 6 from the Central computer receives command and program information (KPI). The exchange of the central computer (local controller) with the microcomputer is carried out via the multiplex exchange channel (GOST R 52070-2003 requirement), and with the ground control center (or from the control center from the geostationary orbit) by telemetry (TM).

The controlled turns of the spacecraft around the center of mass with the help of AFU 7 are carried out both in the search mode for debris particles and in the orientation mode for this debris, i.e. when debris particles are detected by the signal of the MFIC 5 entering the microcomputer 6, a controlled rotation of the spacecraft around the center of mass is formed to orient (guide) IOOM 4 to these debris particles.

FUU 2 is turned on to reset the kinetic moment of the spacecraft in order to maintain the angular velocity of the spacecraft in an acceptable specified range from - ω _amax to + ω _amax , determined by the values of kinetic moments accumulated due to external perturbations. When the angular velocity of the spacecraft + ω _amax or - ω _{amax is reached,} according to the signals from DCCM 9, the microcomputer 6 includes FUU 2 to reset the kinetic moment of the spacecraft.

In addition, if necessary, the FUU 2 can be switched on to ensure the fast rotation of the spacecraft around the center of mass (quick maneuver) together with the AFU 7.

The asymmetric control driver AFU 7 can be made, for example, in the form of the device shown in FIG. 2, and containing components indicated by the positions:

13 - electric motor ED;

14 - wave gear;

15 - flywheel.

When considering the operation of such a device, we will use the cyclogram shown in FIG. 5. The laws of change on the cyclogram are conventionally shown in the form of straight lines connecting extreme values.

The wave gearbox BP 14 and flywheel 15 are made on the rotor shaft of the electric motor 13, controlled by UU 8 and mounted on the spacecraft 3, the vector of the kinetic moment of the rotor of the electric motor 13 is parallel to the axis of the spacecraft OZ.

When the electric motor ED 13 (time range 1a is the acceleration section, inclusion is the time t ₁ ), the flywheel 15 spins up with the dynamic moment M _d (its angular velocity Ω increases) through the wave reducer 14 and accumulates kinetic energy.

It is known that by changing the rotation speed (angular velocity) of the flywheel, i.e. by creating a controlling mechanical moment acting on the spacecraft’s hull, one can change its angular velocity and thus control the rotation of the spacecraft around the center of mass (see B.V. Raushenbakh, E.N. Tokar. Control of the orientation of spacecraft. Orientation of artificial satellites in gravitational and magnetic fields. "Science", M., 1974. p. 107). The rotation of the spacecraft is controlled by exchanging the kinetic moment between the inertial mass-flywheel and the spacecraft. This rotation is based on the law of conservation of angular momentum of the system of bodies (KA - flywheel).

If we assume that external moments do not act on such a system of bodies, then the law of conservation of angular momentum for the case of plane rotational motion relative to some axis is formulated as

where J _a , J _m, respectively, the moments of inertia of the spacecraft and flywheel,

ω _a , Ω _m respectively their current angular velocity,

ω _a (0), Ω _m (0) initial values of angular velocities

(Scientific and Technical Bulletin of the St. Petersburg State University of Information Technologies, Mechanics and Optics, 2009, No. 5 (63), p. 48).

The products J _a ⋅ω _a and J _m ⋅Ω _m are called the angular momentum of the spacecraft and the flywheel, respectively.

From the expression (1) it can be seen that any change in the angular speed of rotation of the flywheel ΔΩ _m = Ω _m -Ω _m (0) leads to a change in the angular velocity of the spacecraft Δω _a = ω _a -ω _a (0), but in the opposite direction and in the ratio determined by the moments of inertia.

The unwinding of the flywheel (increase in speed) is carried out under the action of a dynamic moment (electric motor torque 13)

where H (t) = J _m ⋅Ω _m (t) is the kinetic moment,

Δt is the time of the change in the angular velocity of the flywheel (ΔΩ _m ).

The dynamic moment is determined by the following ratio (see patents, RF, 2521617, 1840286):

where M _em - the electromagnetic moment of the electric motor,

M _s - the moment of resistance to rotation of the rotor of the electric motor.

Usually in practice, M _em significantly exceeds M _s .

The value of M _{with is} determined by the manufacturing technology, the quality of the thrust bearings, the load on the bearings, the ambient pressure, the temperature, the operating time, the stray electromagnetic forces in the electric motor 13, and also the resistance of the wave gearbox BP 14, which depends on its efficiency (Efficiency).

Depending on the gear ratio of the wave gear (the ratio of the speed of rotation of the shaft at the input to the speed of rotation of the shaft at the output), its efficiency, equal to the ratio of the mechanical output power to the input power, can vary, however, for a selected constant value of the gear ratio of the wave gear, it is a constant ( see GOST R 50891-96, developed by the All-Russian Scientific Research Institute of Standardization and Certification in Mechanical Engineering) and is, for example, 0.8 with a gear ratio of 100.

From the expressions (1, 2) we obtain

A change in the angular velocity of the spacecraft Δω _а in accordance with expression (4) from the initial value in the range from - ω _amax to + ω _amax to the maximum value (time range 1a) leads to a proportional (integral dependence) increase in the rotation angle of the spacecraft ϕ from the current value ϕ _t to the maximum, determined by the turn-off time of the ED 13 (time t ₂ ) by the signal of the microcomputer 6 supplied to the ED 13 through the control unit 8.

When the electric motor ED 13 is switched off (time range 2c, braking area), a significant proportion of the kinetic energy accumulated by the flywheel 15 is “taken” by the BP 14 wave gearbox and released as thermal energy, because it has significant mechanical braking. This is explained by the design features of the BP 14 wave gearbox, namely, the presence of a wave generator in it in the form of a rotating cam, an eccentric, or other mechanism stretching the flexible element until it engages with the stationary element and taking into account the fact that the wave transmission is combined with the electric motor, then off electric motor ED 13 the braking moment of the wave gear 14 increases significantly. As a result, the exchange rate of the kinetic moment between the inertial mass-flywheel and the spacecraft’s body increases significantly, and in this regard, the rotation angle of the spacecraft ϕ in the time range 2c changes insignificantly. The angular speed of the flywheel Ω at the end of this time range (time t ₃ ) acquires the initial zero value, and the angular velocity of the spacecraft ω _{а and,} in accordance with expression (1), the initial value of the time range 1a (without taking into account external disturbing influences on the spacecraft).

Thus, a controlled angle of rotation of the spacecraft around the center of mass is realized, which is formed by the signals of microcomputer 6. The angle of rotation is controlled by the microcomputer 6 taking into account the signals from the sensors of the kinetic moment component DCKM 9 (angular velocity sensor).

In an uncontrolled mode (time range 3s, 6s), the spacecraft moves with an angular velocity around the center of mass under the influence of the kinetic moment accumulated due to external disturbances.

On time ranges 4a and 5c, a controlled angular rotation of the spacecraft around the center of mass is shown, which, according to the principle of operation, is similar to that considered in time ranges 1a and 2b, only with rotation in the opposite direction.

To maintain the angular velocity of the spacecraft in the range from ω _amax to + ω _amax , determined by the values of kinetic moments accumulated due to external perturbations, when the angular velocity of the spacecraft + ω _amax or - ω _{amax is reached} , the signals from DCCM 9 of the microcomputer 6 include FUU 2 to reset the kinetic spacecraft moment.

The asymmetric control driver AFU 7 can also be made in the form of the device shown in FIG. 3, and containing components designated by the positions:

13 - electric motor ED;

15 - flywheel;

16 - generator

17 - managed key;

18 - load.

When considering the operation of this device, we will use the cyclogram shown in FIG. 6. The laws of change on the cyclogram are shown conventionally in the form of straight lines connecting extreme values.

The flywheel 15 and the generator 16 are made on the rotor shaft of the electric motor ED 13, controlled by UU 8 and installed on the spacecraft body 3, and the vector of the kinetic moment of the rotor of the electric motor 13 is parallel to the axis of the spacecraft OZ.

The output of the generator 16 through a managed microcomputer 6 key 17 is connected to the load 18.

When the motor 13 is turned on (the time range 1a ₁ is the acceleration portion, the inclusion is the time t ₁ ), the flywheel 15 spins up with the dynamic moment M _d (its angular velocity Ω increases) and accumulates kinetic energy.

The controlled key 17 is closed, the generator 16 is in an unloaded state and the selection of kinetic energy from the flywheel 15 by the generator 16 is negligible. In accordance with expression (1) is an increase in the angular speed ω _and SC. A change in the angular velocity of the spacecraft Δω _a from an initial value ranging from - ω _amax to + ω _amax to a maximum value (time range 1a ₁ ) leads to a proportional (integral dependence) increase in the angle of rotation of the spacecraft ϕ from the current value ϕ _t to the maximum, determined by the turn-off time of the ED 13 (time t ₂ ) by the signal of the microcomputer 6 supplied to the ED 13 through the control unit 8.

When the electric motor ED 13 is turned off (time range 1a ₂ , inertial motion section), the flywheel 15 is slightly braked (its angular velocity Ω decreases), because the generator 16 is in an unloaded state and the “selection” of kinetic energy from the flywheel 15 is insignificant (the rotation resistance of the rotor of the electric motor ED 13, determined by the manufacturing technology, the quality of the thrust bearings, the load on the bearings, the ambient pressure, the temperature, the operating time is insignificant). The increase in the angle of rotation of the spacecraft ϕ in this time range 1a ₂ slightly slows down.

When the controlled key 17 is turned on by the signal of the microcomputer 6 (time t ₃ ), the load 18 is connected to the output of the generator 16 and in the time range 2c (the braking section), a significant fraction of the stored kinetic energy by the flywheel 17 is “taken” by the loaded generator 16 and is released as thermal energy to load 18 (or converted to a spacecraft power supply system). As a result, the exchange rate of the kinetic moment between the inertial mass-flywheel and the spacecraft’s body increases significantly, and in this regard, the rotation angle of the spacecraft ϕ in the time range 2c changes insignificantly. The angular speed of the flywheel Ω at the end of this time range (time t ₄ ) acquires the initial zero value, and the angular velocity of the spacecraft ω _{а and,} in accordance with expression (1), the initial value of the time range 1a ₁ (without taking into account external disturbing influences on the spacecraft).

In an uncontrolled mode (time range 3s, 6s), the spacecraft moves with an angular velocity around the center of mass under the influence of the kinetic moment accumulated due to external disturbances.

On time ranges 4a and 5c, a controlled angular rotation of the spacecraft around the center of mass is shown, which, according to the principle of operation, is similar to that considered in time ranges 1a ₁ , 1a ₂ and 2b, only with the rotation in the opposite direction and in the absence of a section of inertia (controlled key 17 opens immediately upon reaching a certain value of the angular speed of the flywheel Ω).

The asymmetric control driver AFU 7 can also be made in the form of the device shown in FIG. 4, and containing components designated by the positions:

19 - reversible electric motor RED;

15 - flywheel.

When considering the operation of this device, we will use the sequence diagram shown in FIG. 7. The laws of change on the cyclogram are conventionally shown in the form of straight lines connecting extreme values.

The flywheel 15 is made on the shaft of the RED rotor 19, controlled by UU 8 and mounted on the spacecraft body 3, and the kinetic moment of the RED 19 rotor is parallel to the axis of the OZ spacecraft.

When RED 19 is turned on (time range 1a ₁ is the acceleration section, inclusion is time t ₁ ), the flywheel 15 spins up with the dynamic moment M _d (its angular velocity Ω increases) and accumulates kinetic energy.

In accordance with expression (1) is an increase in the angular speed ω _and SC. A change in the angular velocity of the spacecraft Δω _a from an initial value ranging from - ω _amax to + ω _amax to a maximum value (time range 1a ₁ ) leads to a proportional increase (integral dependence) of the rotation angle of the spacecraft ϕ from the current value ϕ _t to the maximum determined by the turn off time RED 19 (time t ₂ ) according to the signal of the microcomputer 6, arriving at RED 19 through UU 8.

When the RED 19 is switched off (time range 1a ₂ , inertial motion section), the flywheel 15 is not braked (its angular velocity Ω decreases), since resistance to rotation of the rotor RED 19, determined by the manufacturing technology, the quality of the thrust bearings, the load on the bearings, ambient pressure, temperature, operating time, etc. very slightly. The increase in the angle of rotation of the spacecraft ϕ in this time range 1a ₂ practically does not slow down.

The braking section (time range 2c) is provided by the braking mode of the RED 19 by anti-inclusion (reverse braking), i.e. electric countercurrent braking is provided - this is braking by changing the direction of the moment developed by the RED 19, in the opposite direction of rotation (time t ₃ ) due to, for example, changing the polarity of the voltage supplied to the armature winding. As a result of anti-start braking, the engine stops quickly (the angular speed of the flywheel Ω acquires a zero value) and at the time of stopping (time t ₄ ) the RED 19 is disconnected from the voltage to prevent the rotor from rotating in the opposite direction (for this, the RED 19 must have, for example, a built-in rotor speed sensor, as, for example, in the DM1-20 flywheel engine, made on the basis of a controlled torque non-contact direct current motor manufactured by VNIIEM Corporation JSC, Moscow).

As a result, the exchange rate of the kinetic moment between the inertial mass-flywheel and the spacecraft’s body increases significantly, and in this regard, the rotation angle of the spacecraft ϕ in the time range 2c changes insignificantly. The angular velocity of the spacecraft ω _a in accordance with expression (1) at the end of this time range (time t ₄ ) is the initial value of the time range 1a ₁ (without taking into account external disturbing influences on the spacecraft).

In an uncontrolled mode (time range 3s, 6s), the spacecraft moves with an angular velocity around the center of mass under the influence of the kinetic moment accumulated due to external disturbances.

On time ranges 4a and 5c, a controlled angular rotation of the spacecraft around the center of mass is shown, which, according to the principle of operation, is similar to that considered in time ranges 1a ₁ , 1a ₂ and 2b, only with the rotation in the opposite direction and in the absence of a section of inertia (braking mode RED 19 turns on immediately when a certain value of the angular speed of the flywheel Ω) is reached.

When using RED 19 in reverse braking mode, it should be taken into account that RED 19 must withstand currents exceeding short-circuit currents, and, in addition, to reduce its overloads during braking, it is necessary to optimize the choice of maximum rotor speeds Ω.

The angular control shaper FUU 2 can also be made in the form of a magnetic system for resetting the kinetic moment (A. P. Kovalenko. Magnetic control systems for spacecraft. M., Mashinostroyenie, 1975, pp. 103-105).

This angular control shaper FUU 2 can only be used for near space, due to the fact that, as the executive bodies in these magnetic systems, for example, electromagnets that form magnetic moments that interact with the Earth’s geomagnetic field create external mechanical control moments on the spacecraft .

To maintain the angular velocity of the spacecraft in the range from - ω _amax to + ω _amax (see Fig. 5), determined by the values of kinetic moments accumulated due to external perturbations, when the angular velocity of the spacecraft + ω _amax or - ω _{amax is reached} by signals with DCCM 9 microcomputer 6 includes FUU 2 to reset the kinetic moment of the spacecraft.

The main advantage of this shaper of angular control of the FUU 2 is the lack of a working fluid that limits the life of the spacecraft.

Thus, the proposed device for controlling the motion of a spacecraft for cleaning space from debris provides an economical mode of consumption of the working fluid, which allows to increase the life of the spacecraft to the required values, while achieving higher cleaning efficiency, due to the fact that the rotary flywheel provides a smoother and more accurate rotation KA than jet engines.

In addition, this device allows for quick rotation around the center of mass (quick maneuver), as well as high survivability, since in case of failure of either the angular control shapers or asymmetric control shapers, the spacecraft’s operability, albeit with less efficiency, saved.

Claims (5)

1. A device for controlling the motion of a spacecraft for cleaning space from debris, including a corrective propulsion system, an executive body for cleaning debris mounted on the spacecraft’s body, and their control inputs connected to the outputs of the microcomputer, angular control shapers mounted on the spacecraft’s body along the axes of pitch, roll and yaw, having inputs connected to the first port of the microcomputer, a system for detecting debris particles connected to the first input of the microcomputer, distinguishing the fact that on each axis - pitch, roll and yaw - the following are introduced: a kinetic moment component sensor and an asymmetric control driver connected in series with the spacecraft body and a control device connected to the second port of the microcomputer, while the sensor is a kinetic component moment is connected to the second input of the microcomputer and the spacecraft body. 2. The device according to claim 1, characterized in that the asymmetric control driver is made in the form of series-connected: an electric motor mounted on the spacecraft’s body, a wave gear and a flywheel. 3. The device according to claim 1, characterized in that the asymmetric control driver is made in the form of a series-connected electric motor, a flywheel and a generator mounted on the rotor shaft of the electric motor, as well as a series-connected controlled key and load, and the input of the controlled key is connected to the output of the generator, and its control input - with the output of the microcomputer. 4. The device according to claim 1, characterized in that the asymmetric control driver is made in the form of a reversible electric motor and a flywheel rotor mounted on its shaft. 5. The device according to claim 1, characterized in that the angular control driver is made in the form of a magnetic system for resetting the kinetic moment.

Images