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CN113277125A - Intermittent pulse pseudo-continuous thrust off-orbit mode of tethered satellite - Google Patents

Intermittent pulse pseudo-continuous thrust off-orbit mode of tethered satellite Download PDF

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CN113277125A
CN113277125A CN202110550867.4A CN202110550867A CN113277125A CN 113277125 A CN113277125 A CN 113277125A CN 202110550867 A CN202110550867 A CN 202110550867A CN 113277125 A CN113277125 A CN 113277125A
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tether
space
thrust
orbit
distance
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赵国伟
孙亮
王凯旋
李德金
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Beihang University
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Beihang University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • 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
    • B64G1/648—Tethers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • 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
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/242—Orbits and trajectories

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention discloses an intermittent pulse pseudo-continuous thrust off-track mode in space tether dragging transfer, provides a safe, stable and efficient orbit transfer mode suitable for a tether assembly, and belongs to the technical field of satellite orbit transfer design. When the space tug works, the space tug and the waste satellite are connected through the tether, the space tug is provided with the tether retracting device, the tether is retracted through the tether retracting device to keep continuous small tension of the tether, and the waste satellite is out of orbit under the action of the tether tension. The space tug provides sequential pulse orbit control thrust, the orbit control thrust of the space tug is larger than the tension of the tether, and the space tug controls the on-off of the orbit control thrust by judging the distance and the relative speed between the space tug and the abandoned satellite, so that the change of the relative distance between the space tug and the abandoned satellite in a set interval is ensured. The specific implementation process of an intermittent pulse pseudo-continuous thrust off-track mode in space tether dragging transfer comprises four stages: an acceleration away section, a deceleration away section, an acceleration approach section, and a deceleration approach section.

Description

Intermittent pulse pseudo-continuous thrust off-orbit mode of tethered satellite
Technical Field
The invention relates to a space tether dragging orbit transfer mode, belongs to the technical field of satellite orbit transfer design, and can be applied to orbit design in space tether dragging transfer.
Background
In recent years, tethered robots and space flying nets are used for clearing space abandoned satellites, space tugs (mission satellites) release capturing devices (mechanical arms or flying nets) through flexible tethers, and after the space abandoned satellites are captured by the capturing devices, the space tugs and the abandoned satellites form tethered assemblies. The space rope system dragging and transferring refers to an orbital maneuver process that the space tug carries out orbital maneuver to drag the abandoned satellite without the trackless control capability to a tomb orbit or to destroy the atmosphere. Because the abandoned satellite has no attitude control and orbit control capability, under the orbit control thrust disturbance of the space tug, the attitude overturn can occur to cause the tether to be wound, stretched and even collided with the space tug. In order to ensure the safety of the rope system assembly in the towing process, a rope retracting and releasing device is generally arranged on the space tug, and the rope is retracted and released through the rope retracting and releasing device so as to adjust the tension of the rope to realize the position maintenance and the swing suppression of the abandoned satellite.
At present, the orbit transfer of the rope system assembly still adopts the traditional satellite orbit maneuvering mode: pulse orbital transfer or continuous thrust orbital transfer. The pulse orbital transfer saves fuel consumption and has wide engineering application, but the pulse thrust has larger disturbance to the rope system combination body, the free sliding section can not provide the rope system tension, and the positions of two stars are difficult to control; the continuous thrust orbital transfer has small disturbance to the tether assembly and can provide continuous tether tension, but when the thrust is larger, the continuous thrust lifts (or lowers) the same orbit altitude, and the fuel consumption waste is more, while the space tug is generally configured with larger orbital control thrust to ensure enough orbit maneuverability under dangerous conditions. Therefore, aiming at the characteristics of the rope system combination body, a safe, stable and efficient rail transfer mode suitable for the rope system combination body is researched, and the method is of great importance for future wide application of the rope system combination body.
Disclosure of Invention
The invention provides an intermittent pulse pseudo-continuous thrust off-track mode suitable for space rope system dragging transfer, which can realize the safe, stable and efficient transfer of a rope system assembly to a target track. The intermittent pulse pseudo-continuous thrust off-track mode can be used for the rail lifting task and the rail lowering task of a rope system assembly, the rail lifting and the rail lowering are considered to be a dynamic reverse process, the rail lifting process is taken as an example in the following description, and the intermittent pulse pseudo-continuous thrust off-track mode is realized through the following technical scheme:
the space tug and the waste satellite are distributed in tandem along the flight direction, the space tug and the waste satellite are connected through a tether, the space tug is provided with a tether retracting device, the tether retracting device retracts the tether to realize tether tension adjustment, and the space tug can provide orbit control thrust (hereinafter referred to as orbit control thrust) along the tether connecting line direction. In the working process of the intermittent pulse pseudo-continuous thrust off-orbit mode, the outer space tug retracts the tether through the tether retraction device to keep continuous small tension of the tether, the tension is dozens of times to one of times of the rail control thrust of the outer space tug, the outer space tug controls the on-off of the rail control thrust through judging the distance between the outer space tug and the abandoned satellite and the relative speed, the rail control thrust is started when the distance between the outer space tug and the abandoned satellite is smaller than a set distance, and the rail control thrust is closed when the relative far-away speed between the outer space tug and the abandoned satellite reaches a set maximum far-away speed. In the working process of the intermittent pulse pseudo-continuous thrust off-orbit mode, the outer space tug provides sequential pulse orbit control thrust, the outer space tug receives and releases the tether through the tether receiving and releasing device to keep continuous small tension of the tether, and the abandoned satellite is off-orbit under the action of the tether tension. The specific implementation process of the intermittent pulse pseudo-continuous thrust off-orbit mode of the tethered satellite comprises four stages: an acceleration away section, a deceleration away section, an acceleration approach section, and a deceleration approach section.
A, an acceleration far-away section, a certain distance is reserved between a space tug and a waste satellite at an initial moment, the relative speed is zero, the space tug starts an orbit control thrust, a tether retracting device keeps continuous small tension of a tether by adjusting the length of the tether, the tension of the tether is dozens of times to one of times of the orbit control thrust of the space tug, the space tug keeps away from the waste satellite under the action of the orbit control thrust and the tether tension, the space tug closes the orbit control thrust when the two-star far-away speed reaches a set maximum speed, and the acceleration far-away section finishes entering a deceleration far-away section;
b, after the track-controlled thrust of the space tug is closed, the distance between two stars is continuously increased due to the initial far-away speed, the far-away speed of the two stars is gradually reduced under the action of the tension of the tether, when the far-away speed of the two stars is reduced to zero, the distance between the two stars reaches the maximum value, and the far-away section of the deceleration enters the acceleration approaching section;
c, an acceleration approaching section, wherein after the distance between the two stars reaches the maximum value, the two stars gradually approach under the action of the tension of the tether, when the distance between the two stars reaches a set distance, the track control thrust is started by the space tug, the approaching speed of the two stars reaches the maximum value at the moment, and the acceleration approaching section finishes entering the deceleration approaching section;
and D, a deceleration approaching section, wherein after the orbit control thrust of the space tug is started, under the effect of the orbit control thrust of the space tug, the approaching speed of the two satellites is gradually reduced, when the approaching speed of the two satellites is reduced to zero, the distance between the two satellites reaches the minimum value, at the moment, one intermittent pulse period of an intermittent pulse pseudo-continuous thrust off-orbit mode is ended, the acceleration far-away section is entered again, and then the A, B, C stages are repeated.
In the intermittent pulse pseudo-continuous thrust off-track mode, parameters such as one-time intermittent pulse period, the on-off time of the track-controlled thrust of the space tug, the change interval of the distance between two stars and the like can be set by configuring the track-controlled thrust of the space tug, the tension of a tether, the maximum distance speed between two stars and the position of the track-controlled on-track of the space tug.
The invention has the advantages that:
the off-orbit tether has continuous tension, can control the positions of two stars and inhibit the attitude swing of the abandoned satellite by adjusting the tension of the tether, and has higher safety in the towing and transferring process of the tether;
the tension of the tether in the off-orbit mode can be randomly configured within a certain range, when the tension of the tether is configured to be smaller, the abandoned satellite is off-orbit under the action of the tension of the small tether, the fuel consumption of orbital transfer is close to that of pulse orbital transfer, and the efficiency of the towing and transferring process of the tether is higher;
the off-orbit space tug provided by the invention is configured with larger orbit control thrust, has enough orbit maneuvering capacity under dangerous conditions, and has higher safety in the process of towing and transferring the rope system;
the off-orbit mode track control thrust intermittent on-off of the space tug provided by the invention has the advantages that the on-off time can be set by configuring the track control thrust of the space tug, the tension of the tether, the maximum two-star separation speed and the track control on-off position of the space tug, the track control engine is not required to work for a long time, the track control engine is not required to be frequently turned on and off, and the engineering feasibility is high.
Drawings
FIG. 1 is a system composition diagram of the present invention;
fig. 2 is a flow chart of the operation of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The invention provides an intermittent pulse pseudo-continuous thrust off-track mode suitable for space tether dragging transfer, which comprises the following steps: the space tug and the waste satellite are distributed in tandem along the flight direction (the x direction of an orbital system) at the initial moment, the space tug is connected with the waste satellite through a tether, the space tug is provided with a tether retracting device, the tether retracting device retracts the tether to realize tether tension adjustment, and the space tug can provide orbit control thrust (hereinafter, orbit control thrust) along the tether connecting line direction, as shown in figure 1. During the working process of the intermittent pulse pseudo-continuous thrust off-orbit mode, the tether keeps continuous small tension, the tension is dozens of times to one of the orbital control thrust of the space tug, the space tug controls the on-off of the orbital control thrust by judging the distance and the relative speed between the space tug and the abandoned satellite, the orbital control thrust is started when the distance between the space tug and the abandoned satellite is smaller than the set distance, and the orbital control thrust is closed when the distance between the space tug and the abandoned satellite reaches the set maximum distance speed. In the working process of the intermittent pulse pseudo-continuous thrust off-orbit mode, the outer space tug provides sequential pulse orbit control thrust, the outer space tug receives and releases the tether through the tether receiving and releasing device to keep continuous small tension of the tether, and the abandoned satellite is off-orbit under the action of the tether tension. The specific implementation process of the intermittent pulse pseudo-continuous thrust off-orbit mode of the tethered satellite comprises four stages: the acceleration far section, the deceleration far section, the acceleration near section and the deceleration near section are shown in fig. 2:
and A, an acceleration far-away section is set, the distance between the space tug and the abandoned satellite is l0 at the initial zero moment, the relative speed is zero, the space tug is far away from the abandoned satellite under the action of continuous constant orbit control thrust F, and a tether keeps continuous small tension Frope (t). In the acceleration and separation section, the two-star separation acceleration is represented by the formula, wherein Mm is the mass of the space tug, Mt is the mass of the abandoned satellite, t1 is the acting time of the acceleration and separation section, the two-star separation velocity is the distance between the two stars, and the rail control thrust is closed when the space tug accelerates to reach the separation velocity from the abandoned satellite as vm, so that the acting time t1 of the acceleration and separation section can be obtained from v (t1) which is vm, and the acting time t1 of the acceleration and separation section can be obtained from the separation distance of the acceleration and separation section;
and B, a deceleration far-off section, after the orbit control thrust of the space tug is closed, the distance between the space tug and the abandoned satellite is continuously increased due to the initial far-off speed vm, and the far-off speeds of the two satellites are gradually reduced to zero under the action of tether tension Frope (t). The acceleration of the deceleration far-away section is shown as t2, the distance is the end of the deceleration far-away section when the far-away speed is reduced to zero, then the acting time t2 of the deceleration far-away section can be obtained by v (t2) being 0, the acting time t2 of the deceleration far-away section can be obtained by the end of the deceleration far-away section, and the maximum distance lmax of the two stars being l0+ s1+ s 2;
and C, an accelerating approach section, wherein when the space tug and the abandoned satellite reach the farthest distance, the relative speed of the two stars is zero, the two stars approach gradually under the action of the tension of the tether, and the approach speed gradually increases and the distance gradually decreases. The acceleration magnitude of the acceleration approach section is shown in the formula, wherein t3 is the acting time of the acceleration approach section, the approach velocity is the relative distance, the rail control thrust is started when the distance between two stars reaches lm, the acting time t3 of the acceleration approach section can be obtained from l (t3) lm, the acting time t3 of the acceleration approach section can be obtained, the approach distance of the acceleration approach section is ended, and the approach velocity of the two stars reaches the maximum value;
and D, a deceleration approaching section, wherein after the orbit control thrust of the space tug is started, the distance between the space tug and the abandoned satellite is continuously reduced due to the initial approaching speed, and the approaching speed of the two satellites is gradually reduced to zero under the effect of the orbit control thrust of the space tug. The acceleration of the deceleration approach section is t4 is the action time of the deceleration approach section in the formula, the approach speed is the action time of the deceleration approach section when the distance is that the deceleration approach section ends when the relative speed of the two stars is reduced to zero, then the action time t4 of the deceleration approach section can be obtained by v (t4) being 0, the action time t4 of the deceleration approach section can be obtained as the end of one intermittent pulse period of the intermittent pulse pseudo-continuous thrust off-track mode at the moment, then the acceleration approach section is entered again, the initial distance of the acceleration far section is l0+ s1+ s2-s3-s4, and the above A, B, C stages are repeated.
In the intermittent pulse pseudo-continuous thrust off-orbit method, an intermittent pulse period is T (T1 + T2+ T3+ T4), the ratio of the starting time of the space tug to the period is l (l) 0+ s1+ s2-s3-s 4) which is the nearest distance between the space tug and the abandoned satellite, and the farthest distance is lmax (l) 0+ s1+ s2, so that the intermittent pulse pseudo-continuous thrust off-orbit scheme can be seen through the formulas: the intermittent pulse period T, the starting time occupation ratio eta of the orbit control thrust, the two-star minimum distance lmin and the two-star maximum distance lmax can be set by configuring the orbit control thrust F, the tether tension Frope, the maximum distance velocity vm and the orbit control starting distance lm of the space tug.

Claims (3)

1.绳系卫星的一种间歇式脉冲伪连续推力离轨方式，其特征在于：太空拖船和废弃卫星沿飞行方向一前一后分布，太空拖船和废弃卫星通过系绳连接，太空拖船配置系绳收放装置，通过系绳收放装置收放系绳实现系绳张力调节，太空拖船可提供沿系绳连线方向的轨控推力；间歇式脉冲伪连续推力离轨方式工作过程中，太空拖船通过系绳收放装置收放系绳保持系绳连续小张力，张力大小为太空拖船轨控推力的几十分之一到几分之一，太空拖船通过判断与废弃卫星的距离和相对速度控制轨控推力开关机，当太空拖船与废弃卫星距离小于设定距离时开启轨控推力，当太空拖船与废弃卫星相对远离速度达到设定最大远离速度时关闭轨控推力；间歇式脉冲伪连续推力离轨方式工作过程中，太空拖船提供序列脉冲轨控推力，太空拖船通过系绳收放装置收放系绳保持系绳连续小张力，废弃卫星受系绳张力作用离轨。1. A kind of intermittent pulse pseudo-continuous thrust de-orbit mode of tethered satellite, it is characterized in that: space tugboat and abandoned satellite are distributed one after another along the flight direction, space tugboat and abandoned satellite are connected by tether, and space tugboat is configured with system The rope retracting and releasing device can adjust the tension of the tether by retracting the tether. The space tug can provide orbital thrust along the line of the tether; during the intermittent pulse pseudo-continuous thrust de-orbit operation, the space The tugboat retracts the tether through the tether retraction device to maintain a continuous small tension on the tether, and the tension is a few tenths to a fraction of the orbital thrust of the space tugboat. The space tugboat judges the distance and relative speed to the abandoned satellite. Control the orbit control thrust switch machine, turn on the orbit control thrust when the distance between the space tug and the abandoned satellite is less than the set distance, and turn off the orbit control thrust when the relative distance between the space tug and the abandoned satellite reaches the set maximum distance speed; intermittent pulse pseudo-continuous During the working process of the thrust deorbit mode, the space tugboat provides a sequence pulse orbit control thrust. The space tugboat uses the tether retraction device to retract the tether to maintain a continuous small tension of the tether, and the abandoned satellite is deorbited by the tether tension. 2.如权利要求1所述绳系卫星的一种间歇式脉冲伪连续推力离轨方式，其特征在于具体实施过程包括四个阶段：加速远离段、减速远离段、加速接近段和减速接近段2. a kind of intermittent pulse pseudo-continuous thrust de-orbit mode of tethered satellite as claimed in claim 1, it is characterized in that the specific implementation process comprises four stages: acceleration away section, deceleration away section, acceleration approach section and deceleration approach section 加速远离段，初始时刻太空拖船与废弃卫星有一定距离相对速度为零，太空拖船开启轨控推力，系绳收放装置通过调节绳系长度保持系绳连续小张力，系绳张力为太空拖船轨控推力的几十分之一到几分之一，太空拖船在轨控推力及系绳张力作用下远离废弃卫星，当两星远离速度达到设定的最大远离速度时太空拖船轨控推力关闭，加速远离段结束进入减速远离段；In the acceleration and departure stage, the space tugboat and the abandoned satellite have a certain distance at the initial moment and the relative speed is zero. The space tugboat turns on the orbit control thrust, and the tether retraction device maintains a continuous small tension of the tether by adjusting the length of the tether, and the tether tension is the orbit of the space tugboat. A few tenths to a fraction of the control thrust, the space tug will move away from the abandoned satellite under the action of the orbit control thrust and the tether tension. When the distance between the two satellites reaches the set maximum distance, the orbit control thrust of the space tug will be turned off. The acceleration away segment ends and enters the deceleration away segment; 减速远离段，太空拖船轨控推力关闭后，由于具有初始远离速度两星距离继续增加，在系绳张力作用下两星远离速度逐渐降低，当两星远离速度降为零时，两星距离达到最大值，减速远离段结束进入加速接近段；In the deceleration and distance section, after the orbital control thrust of the space tugboat is turned off, the distance between the two stars continues to increase due to the initial speed of separation, and the separation speed of the two stars gradually decreases under the action of the tether tension. The maximum value, the deceleration away segment ends and the acceleration approach segment is entered; 加速接近段，当两星距离达到最大值后，两星在系绳张力作用下逐渐靠近，当两星距离达到设定距离时太空拖船开启轨控推力，此时两星接近速度达到最大值，加速接近段结束进入减速接近段；In the acceleration approach stage, when the distance between the two stars reaches the maximum value, the two stars gradually approach under the action of the tether tension. When the distance between the two stars reaches the set distance, the space tug will turn on the orbit control thrust. At this time, the approach speed of the two stars reaches the maximum value. The acceleration approach segment ends and enters the deceleration approach segment; 减速接近段，当太空拖船开启轨控推力后，在太空拖船轨控推力作用下，两星接近速度逐渐降低，当两星接近速度降低为零时，两星距离达到最小值，此时间歇式脉冲伪连续推力离轨方式的一次间歇式脉冲周期结束，再次进入加速远离段，然后重复以上加速远离段、减速远离段、加速接近段。In the deceleration approach stage, when the orbital control thrust of the space tugboat is turned on, under the action of the orbital control thrust of the space tugboat, the approaching speed of the two stars gradually decreases. When the approaching speed of the two stars decreases to zero, the distance between the two stars reaches the minimum value. Once the intermittent pulse cycle of the pulse pseudo-continuous thrust de-orbit mode ends, it enters the acceleration away segment again, and then repeats the above acceleration away segment, deceleration away segment, and acceleration approach segment. 3.如权利要求1所述绳系卫星的一种间歇式脉冲伪连续推力离轨方式，其特征在于：间歇式脉冲伪连续推力离轨方式中，一次间歇式脉冲周期、太空拖船轨控推力开关机时间和两星距离变化区间三个参数通过配置太空拖船轨控推力、系绳张力、两星最大远离速度和太空拖船轨控开机位置设定。3. a kind of intermittent pulse pseudo-continuous thrust de-orbit mode of tethered satellite as claimed in claim 1, it is characterized in that: in intermittent pulse pseudo-continuous thrust de-orbit mode, an intermittent pulse period, space tugboat orbit control thrust The three parameters of power-on time and two-star distance change interval are set by configuring the orbital control thrust of the space tug, the tether tension, the maximum separation speed of the two stars and the power-on position of the orbital control of the space tug.
CN202110550867.4A 2021-05-18 2021-05-18 Intermittent pulse pseudo-continuous thrust off-orbit mode of tethered satellite Pending CN113277125A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6419191B1 (en) * 1997-09-12 2002-07-16 Robert P. Hoyt Electrodynamic tether control
CN101767657A (en) * 2009-12-30 2010-07-07 哈尔滨工业大学 Electro-dynamic tether based satellite deorbit device and method thereof
CN102320385A (en) * 2011-06-28 2012-01-18 哈尔滨工业大学 Method for returning payloads in space station with assistance of unpowered cable
CN103587722A (en) * 2013-10-23 2014-02-19 浙江大学 Tied rope contracting and releasing device with controllable tension and controllable contracting and releasing length
CN104345738A (en) * 2014-09-30 2015-02-11 中国运载火箭技术研究院 Rope system releasing stable control method and electric force rope system off-tracking stable control method
CN107585331A (en) * 2016-07-07 2018-01-16 北京航空航天大学 The pseudo- continuous thrust of a kind of intermittent impulse in the towing transfer of space rope system leaves the right or normal track mode

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6419191B1 (en) * 1997-09-12 2002-07-16 Robert P. Hoyt Electrodynamic tether control
CN101767657A (en) * 2009-12-30 2010-07-07 哈尔滨工业大学 Electro-dynamic tether based satellite deorbit device and method thereof
CN102320385A (en) * 2011-06-28 2012-01-18 哈尔滨工业大学 Method for returning payloads in space station with assistance of unpowered cable
CN103587722A (en) * 2013-10-23 2014-02-19 浙江大学 Tied rope contracting and releasing device with controllable tension and controllable contracting and releasing length
CN104345738A (en) * 2014-09-30 2015-02-11 中国运载火箭技术研究院 Rope system releasing stable control method and electric force rope system off-tracking stable control method
CN107585331A (en) * 2016-07-07 2018-01-16 北京航空航天大学 The pseudo- continuous thrust of a kind of intermittent impulse in the towing transfer of space rope system leaves the right or normal track mode

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Application publication date: 20210820