RU2788620C2 - Method for docking spacecrafts to rotating spaceship and device for its implementation - Google Patents

Abstract

FIELD: space technology.

SUBSTANCE: group of inventions relates to space technology, more specifically to systems for docking spacecrafts. A method for docking specialized spacecrafts-shuttles to a large manned spacecraft (hereinafter – MSC) in the form of toroid consists in that the shuttle, before docking, is stabilized by speed and direction tangent to an outer contour of toroid towards its rotation. After convergence, docking rods (hereinafter – DR) are retracted from the shuttle, equipped with rollers for capture of surfaces of power transport rails (hereinafter – PTR). PTR are installed on the surface of toroid, from both sides. Next, the shuttle is redocked from docking rods to docking locks installed on DR, which rigidly fix its position on toroid.

EFFECT: docking to rotating MSC without change in speed of rotation of MSC.

2 cl, 4 dwg

Description

The invention relates to space technology and can be used for docking spacecraft (SC) with a rotating spacecraft or space station.

Methods for docking spacecraft in orbit and devices for their implementation are known and widely developed, for example, the Igla system, androgynous systems Kurs, Kurs-MM. With all these methods, docking is carried out after alignment of the plane of the orbits of the docking vehicles and alignment of their relative velocities. The final stage is a soft docking, touch, capture with fixation by the docking nodes and subsequent contraction of the spacecraft. For example, the solution protected by the patent of the Russian Federation “Androgynous peripheral docking unit (APAS) and damper of the shock-absorbing drive system for it” No. 2131829, B64G 1/00, 23.02.1998, Syromyatnikov B.C. Open Joint Stock Company Rocket and Space Corporation Energia named after S.P. Queen.

The disadvantage of the known method are the requirements for high accuracy of execution at all stages of docking, tk. otherwise, there is a high level of risk of an emergency.

A technical solution is known according to the patent RU 2601522 C1 B64G 1/64 B25J 1/08 dated 11/10/2016 "Space service vehicle in orbit of an automatic space vehicle and a method for docking a service space vehicle with a faulty rotating space vehicle".

The solution is as follows. A method for docking a servicing spacecraft (SSC) with a faulty rotating spacecraft (SC), including their rendezvous, alignment of the longitudinal axes, docking using regular SC and SSC docking units and the SSC propulsion system, characterized in that after approaching and aligning the SSC longitudinal axis with the axis of rotation of the spacecraft, the turntable with the spacecraft capture manipulator is rotated to an angular velocity that coincides in magnitude and direction with the speed of rotation of the spacecraft, the spacecraft is captured by the manipulator for capturing the spacecraft, the relative rotation of the spacecraft and the spacecraft is stopped using the braking device of the turntable and the power plant of the spacecraft, stop capturing the spacecraft, move the spacecraft until rendezvous and docking using a standard docking station.

The disadvantages of this method of docking SC with a rotating manned spacecraft are: the impossibility of docking to a larger rotating spacecraft; the need to decelerate a rotating spacecraft; an active spacecraft must be larger and perform a number of energy-consuming maneuvers.

The task is to provide multiple dockings to a constantly rotating large spacecraft by other (smaller) serving spacecraft-shuttles.

The purpose of the proposed solution is to create a method of multiple dockings to a rotating spacecraft without affecting its normal operation, which remains passive during docking.

Achieving the goal when implementing the proposed method provides docking to the outer contour of the spacecraft. This docking method was developed for a manned spacecraft (PCA) in the form of a torus, continuously rotating to simulate gravity.

The essence of the invention is as follows.

The method of docking specialized spacecraft-shuttles to a large manned spacecraft (PCS) in the shape of a torus is that the shuttle during the rendezvous is stabilized in speed and direction tangentially to the outer contour of the torus in the direction of its rotation, as a result of which the shuttle has almost zero horizontal and vertical speeds relative to the surface of the torus at the point of contact, docking rods (SSHCh) are extended from the shuttle, equipped with rollers to grip the surfaces of power transport rails (STR) installed on the surface of the torus, on both sides, then the shuttle is re-docked from the docking rods to the docking locks that rigidly fix its position on the torus. Further, to undock the shuttle, simply open the locks and the centrifugal force will pull the shuttle away from the torus.

The device for implementing the method of docking the spacecraft-shuttle to a continuously rotating spacecraft is made in such a way that the spacecraft is equipped with power transport rails along the entire outer contour of the torus, integrated into the power outer ring of the torus, spaced along the entire length of the STR with landing emitters, along which the shuttle is oriented, equipped with navigation sensors, correction engines, the main propulsion system, docking rods, equipped with rollers for gripping and moving STR surfaces, docking locks, rigidly fixing the position of the shuttle on the torus.

The essence of the method and the device for its implementation are illustrated by the diagrams:

fig. 1 - a diagram of the long-range approach of the shuttle with the PKA; fig. 2 - diagram of the docking of the shuttle with the PKA (transverse view); fig. 3 - moment of docking of the shuttle to the SV (longitudinal view); fig. 4 - carrying out the movement of goods between the shuttle and the airlock docking module (SHSM) PKA.

Designations accepted:

1 - packaging of goods transported to the shuttle;

2 - frame structure of the cargo compartment of the shuttle;

3 - docking locks of the shuttle;

4 - docking rods of the shuttle (SSHCh) with controlled rotation in two planes;

5 - servo drives (on electric motors) for turning - exhibitions into the desired positions of structural elements and rotation of the SSHCh rollers;

6 - shuttle navigation sensors;

7 - landing emitters STR PKA;

8 - rollers of the docking unit;

9 - rails of the PKA docking system;

10 - landing site;

11 - the basis of the power circuit STR;

12- PCA module case;

13 - docking-passage hatch of the airlock docking module (SHSM);

14 - the main propulsion system of the shuttle;

15 - corrective propulsion system (KDU);

16 - gateway docking module (SHSM) PKA;

17 - segment modulators of the PCA torus.

Due to the uniform rotation of the torus, each section of the STR will have the same and constant linear velocity tangentially to the arc of the STR (V ₁ in Fig. 1).

Guidance with subsequent stabilization of the shuttle in the initial point A is carried out as follows:

a) a "path" of luminous central landing emitters [cPI] (pos. 7, fig. 2, on the axis of symmetry of the torus) is received by central navigation sensors [cND] (pos. 6. fig. 2, on the axis of symmetry of the shuttle) and must be seen as a straight line segment. This is achieved by correcting the position of the shuttle by the corrective propulsion system [KDU] of the shuttle (pos.15, Fig. 3);

b) then the KDU is turned and the axis of the shuttle is aimed at the extreme “outgoing” point of this “luminous straight segment” from the CPI;

c) then the main engine (pos.14, Fig. 3) is turned on, giving the shuttle speed V ₂ (Fig. 1) towards the extreme point of the CPI track;

d) in this case, this visible extreme point of the CPI track will be point B (Fig. 1) of the “touch” of the line AB (the trajectory of the shuttle approaching the PCA), and the speed vectors of the shuttle approaching the PCA (V ₂ =V ₃ ) will be equal to the linear velocity STR PKA V ₁ .

Docking steps:

1) the shuttle is stabilized in terms of coordinates, flight speed and direction in a certain position (point A of Fig. 1) relative to the PCA. Point A of the initial position is in the plane of rotation of the RCA, the shuttle turns and stabilizes in the direction tangentially to the outer contour of the torus in the direction of its rotation;

2) then the remote control of the shuttle (pos. 14) gives it an impulse in the set direction at a speed equal to the speed of the outer contour of the PCA;

3) this will allow the shuttle to fly up to the RCA so that, at a minimum distance from it, the shuttle body will have almost zero (both longitudinal and transverse) speed relative to the STR elements located under it (pos. 10);

4) at this moment, docking rods (pos. 4), equipped with rollers (pos. 8) for “landing” on the landing surfaces (pos. 10) of the STR on both sides, are extended from the shuttle;

5) servo drives, manipulator (pos. 5) must deploy the SHCh (pos. 4) and rollers (pos. 8) quickly enough to drive inside the STR, simultaneously ensuring the “sticking” of the shuttle to the RCA STR, and the ability to move the shuttle along these STR . The design feature of the STR is such that they have a "castle" effect: the rollers easily enter them and can roll inside the rails, but cannot exit;

6) along the STR, the docked shuttle will roll to the desired airlock docking module (SHSM) (pos.13) of the RCA, stop above it, pull up to the rails and rigidly dock with docking locks. Further, the acceptance and transfer of goods between the shuttle and the SHSM is carried out (Fig. 4);

7) to undock the shuttle, it is only necessary to move the rollers (pos. 8) out of the “lock rails” (pos. 9) and open the docking locks. Further, the centrifugal force itself will begin to divert the shuttle from the PCA.

Claims (2)

1. A method for docking specialized spacecraft-shuttles to a large manned spacecraft (PSV) in the form of a torus, which consists in the fact that the shuttle during the rendezvous is stabilized in speed and direction tangentially to the outer contour of the torus in the direction of its rotation, setting almost zero horizontal and vertical speed relative to the surface of the torus at the point of contact, docking rods (SSHCh) are extended from the shuttle, equipped with rollers for gripping the surfaces of power transport rails (STR) installed on the surface of the torus, on both sides, after which the shuttle is re-docked from the docking rods to the docking locks , which rigidly fix its position on the torus, and to undock the shuttle, simply open the locks and the centrifugal force will pull the shuttle away from the torus. 2. A device for implementing the method of docking a spacecraft-shuttle to a continuously rotating spacecraft, designed in such a way that the spacecraft is equipped with power transport rails along the entire outer contour of the torus, integrated into the power outer ring of the torus, spaced along the entire length of the STR by landing emitters along which the shuttle is oriented equipped with navigation sensors, correction engines, the main propulsion system, docking rods equipped with rollers for gripping the surfaces of the STR and moving along them, docking locks that rigidly fix the position of the shuttle on the torus.

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