CN102730203A - Reentry inflation cover with controllable direction - Google Patents
Reentry inflation cover with controllable direction Download PDFInfo
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- CN102730203A CN102730203A CN2012102373549A CN201210237354A CN102730203A CN 102730203 A CN102730203 A CN 102730203A CN 2012102373549 A CN2012102373549 A CN 2012102373549A CN 201210237354 A CN201210237354 A CN 201210237354A CN 102730203 A CN102730203 A CN 102730203A
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Abstract
The invention relates to a reentry inflation cover with controllable direction. The reentry inflation cover is characterized in that four inflation gasbags are uniform distributed and fixed on the outer edge of a deceleration cover, the centre of the internal surface of the deceleration cover is provided with an instrument cabin, and a returning capsule is positioned in the instrument cabin; and an air compressor and a control system are arranged in the returning capsule from bottom to top, the reentry inflation cover is provided multiple exhaust ports and inflation ports, each exhaust port and each inflation port are all provided with electromagnetic valves, and the air compressor is connected with each electromagnetic valve through an inflation pipeline. The posture of the reentry inflation cover is required to be adjusted, the control system can inflate the selected inflation gasbag, and a flow field is influenced to generate the aerodynamic force controlling the posture of the reentry inflation cover and a track, and the generated aerodynamic force is enabled to be unsymmetric with the torque, the adjustment of the posture of the reentry inflation cover is realized, and the motion trail of the returning capsule is controlled. The controllable directional reentry inflation cover provided by the invention has the characteristics of simple structure, and is safe and reliable.
Description
Technical field
The present invention relates to the modern aerospace field, be specially a kind of inflatable cover that reenters that is used for controllable direction that reentry vehicle reclaims.
Background technology
The Spacecraft Recovery technology is one and relates to multi-disciplinary comprehensive application engineering; In the last few years; Along with the development and the progress of aerospace industry, the research of aerodynamic force recovery technology has been expanded to flexible expandable type aerodynamic braking field from traditional parachute technology field.The most representative is that inflatable that Russia is being studied reenters and the technology of landing.The characteristics of this technology are, in the emission of spacecraft and stage in orbit, huge flexible, inflatable protective cover pack is compressed into very little volume, is placed in the recoverable module; After the recoverable module atmospheric reentry; Utilize the gas filled device in the cabin rapidly protective cover to be inflated; Form a huge taper protective cover; Recoverable module is wrapped in the cover, and this protective cover has good solar heat protection and the pneumatic deceleration that is superior to parachute system, and recoverable module is fallen with the speed of safety.This technology has simple in structure, light weight, the characteristics that recovery cost is lower.On February 9th, 2000, Muscovite Lavotchkin company has successfully verified this technology being positioned at the domestic Baykonur Cosmodrome of Kazakhstan.But Lavotchkin company design-calculated protective cover becomes rail and attitude control in order to realize, complicated driving engine is housed, and weight and volume is all very big.Under this background, the present invention proposes a kind of inflatable cover that reenters of controllable direction, the deceleration cover of the back taper of this inflatable cover is processed by special heat insulation material, can play deceleration simultaneously, solar heat protection and landing buffer action.In addition; After using the present invention, can produce required asymmetric aerodynamic force through the size that changes air bag not adding under the prerequisite of unnecessary engine installation; Thereby the operation attitude and the whereabouts track of control recovery system, the drop point precision of raising recovery system.
Summary of the invention
In order to overcome the deficiency that can not realize attitude control that exists in the prior art, the present invention proposes a kind of inflatable cover that reenters of controllable direction.
The present invention includes four air bags, deceleration cover, instrument compartment 3, recoverable module, air compressor and supporting control system; Wherein:
Air bag is inflatable with the cover that slows down; Slow down cover for cone apex angle is 120 ° a back taper, instrument compartment is arranged at the center of this deceleration cover inner surface; Recoverable module is positioned at instrument compartment; Air compressor and control system being placed in the recoverable module from bottom to top; The air compressor total valve is communicated with the air bag inflation inlet and the cover inflation inlet that slows down respectively through gas ducting; Air bag has 4, and being can gas filed sphere; 4 air bag rectangular distributions also are fixed on the cover outer rim place of slowing down;
Said air bag is all selected the flexible anti hot material for use with the cover that slows down, and the thermal insulation layer of the cover tapered tip of slowing down certainly in the flexible anti hot material at 0%～5% place of the cover outer rim direction of slowing down is four layers; The thermal insulation layer of cover tapered tip in the flexible anti hot material at 90%～100% place of the cover outer rim direction of slowing down is two layers from slowing down; Thermal insulation layer in this deceleration cover remainder flexible anti hot material is one deck; Thermal insulation layer in the flexible anti hot material of making air bag is two layers;
Be fixed with a pressure sensor at the instrument compartment top; At four air bags and each fixing pressure sensor of deceleration cover inner surface interface place; The output port of each sensor links to each other with the input port of control system through lead, and used lead tightly sticks on the gas ducting outside face or reenters the inside face of inflatable cover.
The cross-sectional plane of said air bag is a large semi-circular, and the outside face at this place, air bag plane is bonded together with the outside face of the cover that slows down.
In four air bags and the cover junction of slowing down the air bag inflation inlet is arranged all; Outside face on four air bag tops all has the air bag exhausr port; Bilateral symmetry at the instrument compartment at deceleration cover center is distributed with 2 slow down cover inflation inlets and 2 cover exhausr ports that slow down; Each electromagnetic valve is installed in said each air bag inflation inlet, air bag exhausr port respectively, slows down to cover inflation inlet and slow down and cover on the gas ducting of exhausr port, and control system is worked through said each electromagnetic valve of lead control; Air compressor is connected with each electromagnetic valve through gas ducting.
The present invention includes and be mainly used in solar heat protection, slow down, and the inflation of lands/the back taper of the extra large vibration damping cover that slows down, be mainly used in the air bag of the spheroidal of control whereabouts attitude and track, and three parts such as inflation mechanism accordingly.Inflation is slowed down and is covered the bottom that has just begun to be folded in instrument compartment, is back taper after the inflation, is wrapped in the periphery of whole recovery system, guarantees that it returns safely.Tightly be pasted on four orientation of outer rim that back taper slows down and covers during four air bag unaerateds, can inflate to produce desired aerodynamic force it as required.
Inflation deceleration cover is made up of the heat insulation material of flexibility, and these materials have lightweight, and flexibility is collapsible, the good and resistant to elevated temperatures characteristics of air-tightness.Because inflatable structure will be launched to use in the space, so at first it should be able to satisfy the requirement of space environment condition: (1) light weight, the expense of reduction space launch; (2) flexibility satisfies the requirement that launches aloft; (3) high temperature resistant, can adapt to the influence of high aerial solar irradiation, especially reclaiming on the heat shield, the skin at inflatable deployment structure is a thermal protection coating usually; (4) radioresistance can be resisted a large amount of high energy particles and electric charge in the deep space preferably to the radiation damage that the inflating thin film material brings, and slows down its performance degradation; (5) air-tightness is good, can be inflating expanded smoothly in the high-altitude and do not need frequent inflation; (6) Yi Ganghua is the Perfected process that solves the inflatable deployment structure gas leakage at present, has also improved the rigidity and the spatial stability of inflatable deployment structure simultaneously.Consider above some requirement, the flexible anti hot material adopts the multilayer thermal protection structure, is followed successively by from outside to inside: heat shield, thermal insulation layer, gas barrier layer.Heat shield is positioned at outermost, bears the highest temperature, mainly is used for intercepting hot-fluid, and heat shield uses the Al of high-strength light
2O
3Fiber.The temperature that middle thermal insulation layer bears is lower, mainly is used for preventing heat to internal delivery, uses the carbon fiber heat insulation felt-cloth.Gas barrier layer is used for preventing gas permeation, keeps the shape of inflatable structure, uses Kapton.The present invention selects the material different and the number of plies according to the aerothermal size that the cover that slows down is born, and has improved the safety of inflating the cover that slows down.
The cover that slows down when initial is folded in the recoverable module periphery; Shared volume is very little, when getting into atmosphere, can fast aeration expand into huge back taper, is wrapped in recoverable module; Play a part aerodynamic decelerator and solar heat protection simultaneously, float on the water surface up to recoverable module safe landing or safety.When landing, the cover that slows down plays a part the inflation cushion rubber, and the energy impact that absorbs, dissipates and land or splash down has guaranteed that the safety of recoverable module reclaims.
The material of spheroidal air bag is for being added with the elastic braided fabric of thermal protection coating outward, and intensity and toughness are better.Air bag one has four, is arranged in four orientation of inflation deceleration cover outer rim respectively symmetrically, and air bag connection everywhere all needs encapsulation process.Consider from the simplicity aspect of making and realizing, inflatable bladder design is become not have the smooth spheroidal of wedge angle.Consider that from stability and reliability aspect the ratio of the diameter of spheroidal air bag and back taper outer rim disc diameter is about 0.1～0.3, the shared cover air inflator system of each air bag is so this recovery system only needs design and installation one cover air compressor.Each air bag all has independently porting and control setup thereof.The corresponding position of being close to the cover outer rim of slowing down when air bag is not worked can be inflated rapidly when needing and form spherical air bag, through being influenced the aerodynamic force that the flow field obtains to handle recoverable module attitude and track.Whether the work of four air bags depends on the path of motion of predetermined recoverable module; When recoverable module needs deflection; Control system can put on the air through the air bag of rationally choosing needs after analyzing according to deflecting direction; Because the aerodynamic force and the moment that produce are asymmetric, thereby cause the deflection of total system, and then the path of motion of control recoverable module.In addition, air bag also can produce resistance, has also played deceleration effort to a certain extent.
Description of drawings
Fig. 1 is four front elevations that reenter inflatable cover after the air bag inflation;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 reenters inflatable cover inner air compressor pipeline and structural representation;
Fig. 4 is the heat insulation material structural representation;
Fig. 5 is whole packing figure when reentering inflatable cover and not working;
Fig. 6 is air bag and the face of joint scheme drawing that slows down and cover;
Fig. 7 is that the whole front elevation that reenters inflatable cover behind three air bags is opened in checking in the example;
Fig. 8 is the birds-eye view of Fig. 7;
Fig. 9 is that three drag coefficient after the capable inflation of air bag are with height-change chart;
Figure 10 is that three moment coefficients after the air bag inflation are with height-change chart; Wherein:
1. 3. instrument compartments, 4. recoverable modules, 5. air compressors are covered in air bag 2. decelerations
6. gas ducting 7. control system 8. effectively reclaim load 9 air bag inflation inlets
10 air bag exhausr ports 11. slow down and cover inflation inlet 12. deceleration cover exhausr ports
13. air compressor total valve 14. electromagnetic valves 15. heat shields
16. thermal insulation layer 17. gas barrier layers
The specific embodiment
Present embodiment is a kind of inflatable cover that reenters that is used for Spacecraft Recovery, and the aerodynamic configuration that in reentering process, utilizes inflation to form is for being recovered resistance that object is provided for slowing down and the moment that is used to control attitude.
Present embodiment comprises four air bags 1, slow down cover 2, instrument compartment 3, recoverable module 4, air compressor 5 and supporting control system.Wherein:
The cover 2 that slows down is a back taper, and the interior angle of the vertex of a cone is 120 degree, at the center of these deceleration cover 2 inside faces instrument compartment 3 is arranged.Said instrument compartment 3 is as a whole with the cover 2 that slows down.Recoverable module 4 is positioned at instrument compartment 3.Effectively reclaim load 8, air compressor 5 and control system 7 being placed in the recoverable module 4 from bottom to top.Air compressor total valve 13 is communicated with the air bag inflation inlet 9 and the cover inflation inlet 11 that slows down respectively through gas ducting 6.
As shown in Figure 3.Air bag 1 has 4, and being can gas filed sphere; 4 air bags 1 are distributed on the cover outer rim place of slowing down.The cross-sectional plane of said air bag 1 is a large semi-circular, and the outside face at this place, air bag plane is bonded together with the outside face of the cover that slows down, and is as shown in Figure 7.
Said air bag 1 is all selected the flexible anti hot material for use with the cover 2 that slows down, and the structure of this flexible anti hot material is selected the material different and the number of plies according to aerothermal size.Be followed successively by heat shield 15, thermal insulation layer 16 and gas barrier layer 17 from outside to inside, like Fig. 4.Heat shield is positioned at outermost, bears the highest temperature, mainly is used for intercepting hot-fluid, and heat shield adopts the Nextel series fiber of Minnesota Mining and Manufacturing Company's development, the about 0.31mm of thickness.The temperature that middle thermal insulation layer bears is lower, and be mainly used in and prevent heat to internal delivery, the carbon fiber heat insulation felt-cloth that adopts Pyrogel company to produce, every layer thickness is 0.86mm, confirms the used number of plies according to the pneumatic heat of this deceleration cover different parts.Gas barrier layer is used for preventing gas permeation, keeps the shape of inflatable structure, the Kapton that adopts DuPont company to produce, and thickness is 0.18mm.Bonding between the layers of material.Deceleration cover in the present embodiment adopts back taper, and the pneumatic hot difference of cover different parts is bigger because back taper slows down, so the thickness of thermal insulation layer is different in the flexible anti hot material of zones of different.Cover tapered tip thermal insulation layer in the flexible anti hot material at 0%～5% place of the cover outer rim direction of slowing down is four layers from slowing down; Cover tapered tip thermal insulation layer in the flexible anti hot material at 90%～100% place of the cover outer rim direction of slowing down is two layers from slowing down; Thermal insulation layer in this deceleration cover remainder flexible anti hot material is one deck.Thermal insulation layer in the flexible anti hot material of making air bag 1 is two layers.Instrument compartment 3 tops are through pressure sensor of bolt; Four air bags and deceleration cover inner surface interface place are through each fixing pressure sensor of bolt; Used five sensors all adopt Shanghai to think the 118 serial UP sensors that Supreme Being's measuring system Co., Ltd is produced.The output port of each sensor links to each other with the input port of control system through lead, and used lead tightly sticks on the gas ducting outside face or reenters the inside face of inflatable cover.
In four air bags and the cover junction of slowing down air bag inflation inlet 9 is arranged all; Outside face on four air bag tops all has air bag exhausr port 10.Being distributed with 2 cover inflation inlets 11 that slow down in the bilateral symmetry of the instrument compartment 3 at deceleration cover center slows down and covers exhausr ports 12 with 2.Each electromagnetic valve 14 is installed in said each air bag inflation inlet 9, air bag exhausr port 10 respectively, slows down to cover inflation inlet 11 and slow down and cover on the gas ducting 6 of exhausr port 12, and control system 7 is worked through said each electromagnetic valve 14 of lead control.Air compressor 5 is connected with each electromagnetic valve 14 through gas ducting 6.
When reclaiming capacity weight 8 through the present invention, control system 4 is opened the deceleration cover of rugosity at predetermined altitude, and air compressor 5 is given the cover inflation of slowing down rapidly through the cover inflation inlet 11 that slows down.Back taper after the inflation slows down, and cover covers and protection capacity weight 8, the whole recovery system is slowed down along planned orbit safety descend.
Because capacity weight is contained in the bottom of back taper,, whole recovery system stability ground descends so being the spherical safety deceleration of feather.Foundation needs in the decline process, and pressure sensor provides signal, regulates deceleration cover internal pressure through by-pass valve control inflation or exhaust after the system analysis.Simultaneously, in the decline process as required to the cover inflation for several times of slowing down to increase the frontal resistance area, finally with safe landing speed bump land or splash down in the ocean, monitor at any time through sensor in the decline process, the cover that guarantees to slow down is pressed predetermined state work.
Spheroidal air bag material therefor is identical with the cover that slows down, and adopts two-layer thermal insulation layer.Tightly be pasted on the corresponding position of the cover outer rim of slowing down during the air bag unaerated, air bag connection everywhere all needs encapsulation process, will paste firmly at the interface place, and use the nut consolidation process.In the landing process, control system is being through paying close attention to the path of motion of recoverable module, and when needs produced deflection, control system can be through opening the air bag of different azimuth, or produce the aerodynamic force that needs through the charge air of control air bag.Air compressor 5 is positioned at instrument compartment 3 inside, and stored gas is the unreactable gas helium, and free air capacity is 300L/min, and delivery pressure is 1.0MPa.The total valve of the output port of control system and air compressor 5 13 is connected through lead, again total valve 13 is connected through gas ducting 6 with each electromagnetic valve 14.Gas ducting 6 adopts the flexible rubber pipeline, and internal diameter is 23mm, has leak tightness, can bear the interior pressure of 1.5MPa.Air bag respectively fills electromagnetic valve 14 all is housed on the exhausr port, and electromagnetic valve is directly installed on the pipeline 6, by the closure or openness of control system 7 by-pass valve controls.Connection everywhere all needs encapsulation process.Air bag exhausr port 10 need not to be connected with miscellaneous equipment as drain pipe overflow pipe.The filling of air bag 1, exhaust process are by electromagnetic valve 14 controls, and electromagnetic valve 14 is not in open mode when having voltage.When air bag 1 inflation, control system 7 is opened total valve 13, and the power supply that breaks off electromagnetic valve 14 on the inflation inlet is opened inflation inlet, connects the power supply of electromagnetic valve 14 on the air extractor duct, and air extractor duct is closed; During air bag 1 exhaust, electromagnetic valve 14 closures on the inflation inlet, the electromagnetic valve 14 on the air extractor duct is opened.For example; Need adjust the attitude of the cover that slows down when system analysis; When the deceleration cover that is in X negative direction one side is upward deflected, cover inflation rapidly to slowing down, and open an air bag that is positioned at the X negative direction through electromagnetic valve 14 and cover the inflation inlet of two air bags on the axis with being positioned to slow down through air compressor; To said three air bags inflation, with the attitude that realizes that adjustment is slowed down and covered.Aerodynamic force data through before and after the inflation of numerical modelling air bag can be found out, when opening of air bag can increase resistance, can play deceleration effort; Simultaneously, the asymmetric aerodynamic force that air bag is opened the back generation can cause the variation of the cover attitude of slowing down, thereby adjusts whole recovery system motion track.Add the real-time monitoring and the analytical calculation of control system, constantly regulate the mode of operation of air bag as required through electromagnetic valve, so that total system is returned by planned orbit safety.
In the present embodiment, the cover oad that slows down is: the external diameter of the cover 2 that slows down is 3000mm, and the internal diameter of the cover 2 that slows down is 2550mm, and the cover 2 bevelled cone apex angles that slow down are 120 °; The external diameter of instrument compartment 3 is 270mm; The external diameter of air bag 1 is 600mm; The distance of covering 2 vertex of a cone outside face to instrument compartments, 3 tops of slowing down is 1600mm.
Table 1 and table 2 are partial datas of numerical modelling recoverable module return course, and this table has only contrasted slowing down cover inflation and to the air bag that is in X negative direction one side and the aerodynamic force that is in after the air bag inflation that reenters on the inflatable cover axis are changed.Find out that through data in the table the present invention can produce bigger aerodynamic force, realize predetermined deceleration and attitude and TRAJECTORY CONTROL function.
Table 1: return course differing heights incoming flow parameter
| H，Km | V，m/s | ρ，kg/m3 | T，k | P，pa | Ma |
| 100 | 7770 | 5.6041E-07 | 195.0 | 0.0320 | 27.7529 |
| 90 | 7578 | 3.4163E-06 | 186.8 | 0.1836 | 27.6556 |
| 80 | 7017 | 1.8458E-05 | 198.6 | 1.0525 | 24.8379 |
| 70 | 5730 | 8.2829E-05 | 219.5 | 5.2209 | 19.2907 |
| 60 | 3712 | 3.0968E-04 | 247.0 | 21.9587 | 11.7825 |
| 50 | 1754 | 1.0269E-03 | 270.6 | 79.7791 | 5.3189 |
| 40 | 597 | 3.9957E-03 | 250.3 | 287.144 | 1.8823 |
| 30 | 194 | 1.8410E-02 | 226.5 | 1197.03 | 0.6431 |
| 20 | 89 | 8.8910E-02 | 216.6 | 5529.31 | 0.3017 |
| 10 | 36 | 4.1351E-01 | 223.2 | 26499.9 | 0.1202 |
| 9 | 34.2 | 4.6706E-01 | 229.7 | 30800.7 | 0.1126 |
| 8 | 32.6 | 5.2579E-01 | 236.2 | 35651.6 | 0.1058 |
| 7 | 30.8 | 5.9002E-01 | 242.7 | 41105.3 | 0.0986 |
| 6 | 29.8 | 6.6011E-01 | 249.1 | 47217.6 | 0.0942 |
| 5 | 28 | 7.3643E-01 | 255.6 | 54048.3 | 0.0874 |
| 4 | 25.6 | 8.1935E-01 | 262.1 | 61660.4 | 0.0789 |
| 3 | 23.5 | 9.0925E-01 | 268.6 | 70121.2 | 0.0715 |
| 2 | 21.4 | 1.0066E+00 | 275.1 | 79501.4 | 0.0644 |
| 1 | 19.6 | 1.1117E+00 | 281.6 | 89876.3 | 0.0583 |
| 0 | 17.3 | 1.2250E+00 | 288.1 | 101325 | 0.0508 |
Table 2: the aerodynamic force data of simulation differing heights
In the last table: H is apart from sea level altitude, and unit is Km; ρ is an atmospheric density, and unit is kg/m3; V is a speed, and unit is m/s; T is an ambient-air temperature, and unit is K; P is an atmospheric pressure, and unit is pa; Ma is a Mach number; Cy is a drag coefficient; Ly is a resistance, and unit is N; Cmz is the moment coefficient around the Z axle.
Claims (3)
- A controllable direction reenter inflatable cover, it is characterized in that, comprise four air bags, slow down cover, instrument compartment 3, recoverable module, air compressor and supporting control system; Wherein:Air bag is inflatable with the cover that slows down; Slow down cover for cone apex angle is 120 ° a back taper, instrument compartment is arranged at the center of this deceleration cover inner surface; Recoverable module is positioned at instrument compartment; Air compressor and control system being placed in the recoverable module from bottom to top; The air compressor total valve is communicated with the air bag inflation inlet and the cover inflation inlet that slows down respectively through gas ducting; Air bag has 4, and being can gas filed sphere; 4 air bag rectangular distributions also are fixed on the cover outer rim place of slowing down;Said air bag is all selected the flexible anti hot material for use with the cover that slows down, and the thermal insulation layer of the cover tapered tip of slowing down certainly in the flexible anti hot material at 0%～5% place of the cover outer rim direction of slowing down is four layers; The thermal insulation layer of cover tapered tip in the flexible anti hot material at 90%～100% place of the cover outer rim direction of slowing down is two layers from slowing down; Thermal insulation layer in this deceleration cover remainder flexible anti hot material is one deck; Thermal insulation layer in the flexible anti hot material of making air bag is two layers; Be fixed with a pressure sensor at the instrument compartment top; At four air bags and each fixing pressure sensor of deceleration cover inner surface interface place; The output port of each sensor links to each other with the input port of control system through lead, and used lead tightly sticks on the gas ducting outside face or reenters the inside face of inflatable cover.
- According to claim 1 controllable direction reenter inflatable cover, it is characterized in that the cross-sectional plane of said air bag is a large semi-circular, the outside face at this place, air bag plane is bonded together with the outside face of the cover that slows down.
- According to claim 1 controllable direction reenter inflatable cover, it is characterized in that the air bag inflation inlet all being arranged in four air bags and the cover junction of slowing down; Outside face on four air bag tops all has the air bag exhausr port; Bilateral symmetry at the instrument compartment at deceleration cover center is distributed with 2 slow down cover inflation inlets and 2 cover exhausr ports that slow down; Each electromagnetic valve is installed in said each air bag inflation inlet, air bag exhausr port respectively, slows down to cover inflation inlet and slow down and cover on the gas ducting of exhausr port, and control system is worked through said each electromagnetic valve of lead control; Air compressor is connected with each electromagnetic valve through gas ducting.
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| CN106773816A (en) * | 2016-12-01 | 2017-05-31 | 李英德 | Vehicle-mounted unmanned aerial vehicle control method and device |
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| CN108128483A (en) * | 2017-12-07 | 2018-06-08 | 北京空间技术研制试验中心 | Space station goods and materials downlink aircraft |
| CN108128483B (en) * | 2017-12-07 | 2021-05-18 | 北京空间技术研制试验中心 | Space station material descending aircraft |
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| CN109931823A (en) * | 2019-04-15 | 2019-06-25 | 北京星际荣耀空间科技有限公司 | A kind of recovery structure of fairing of launch vehicle |
| CN109931823B (en) * | 2019-04-15 | 2023-10-03 | 北京星际荣耀空间科技有限公司 | Recovery structure of carrier rocket fairing |
| CN111152942A (en) * | 2020-01-06 | 2020-05-15 | 北京卫星环境工程研究所 | Space debris protection system |
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