CN107908105B - Method for removing dragging of rope system assembly based on thruster switch control - Google Patents

Method for removing dragging of rope system assembly based on thruster switch control Download PDF

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CN107908105B
CN107908105B CN201710536490.0A CN201710536490A CN107908105B CN 107908105 B CN107908105 B CN 107908105B CN 201710536490 A CN201710536490 A CN 201710536490A CN 107908105 B CN107908105 B CN 107908105B
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tether
target
aircraft
speed
thruster
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CN107908105A (en
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张庆展
郑鹏飞
葛卫平
宋斌
范庆玲
肖余之
刘鲁江
靳永强
颜根廷
康志宇
陈欢龙
何志文
梁维奎
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Shanghai Aerospace System Engineering Institute
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    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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Abstract

The invention discloses a method for removing a rope system combination body from dragging based on thruster switch control, which comprises the following steps: step 1, after an aircraft captures a target to form a stable tether system assembly and adjusts the stable tether system assembly to be in a horizontal configuration, hovering relative to the target and keeping a tether line to be tensioned; step 2, the aircraft works along the direction of the tether, and the tether retracting device releases the tether; step 3, when the tether release speed is higher than the set speed, the thruster is shut down, the aircraft starts to accelerate to approach the target, and the tether retracting device retracts the tether; step 4, when the tether recovery speed is higher than the set speed, starting the thruster, accelerating the aircraft to be far away from the target, and releasing the tether by the tether retracting device; step 5, repeating the step 3 and the step 4 until the rope system combination body is transferred to the target track; and 6, after the assembly is adjusted to be in a vertical configuration, releasing the target and completing the dragging and removing task. The invention provides favorable conditions for realizing the dragging removal of the abandoned satellite based on the caught load connected by the tether.

Description

Method for removing dragging of rope system assembly based on thruster switch control
Technical Field
The invention relates to the technical field of rope system combination dragging and removing, in particular to a rope system combination dragging and removing method based on thruster switch control.
Background
A large number of discarded satellites caused by faults or orbit-off failures exist in the space, precious orbit resources are occupied, the risk of collision with other satellites is increased due to long-term orbit remaining, and the safe operation of normal satellites is threatened. For the method, the long-distance capture of the abandoned satellite can be realized by using the capture load based on tether connection, and the removal of the abandoned satellite is realized by using a tether assembly dragging and removing technology, so that the method has important significance for sustainable development of space environment.
To avoid the tether from tangling with the target and the aircraft during towing and derailment of the tether assembly, the tether needs to be kept taut. If the rope system assembly adopts the traditional two-pulse track changing mode, the fuel consumption is less, but the rope system assembly has the difficulty that the rope system assembly maintains the tensioning of the rope in the free sliding section, particularly for a high-track task, the tensioning of the rope is difficult to maintain by utilizing the gravity gradient; if the rope system assembly adopts a continuous thrust track transfer mode, the problem of rope system tensioning in the track transfer process is solved, but the track transfer fuel consumption is larger. For continuous thrust force orbital transfer, the smaller the thrust force is, the smaller the fuel consumption is for the same specific impulse. In the existing national mature thruster type spectrum, the minimum thrust of the two-component thruster is 10N, and the two-component thruster without the small thrust has the cold air thruster with the thrust of 0.5N or less, but the specific impulse is too low compared with the two-component thruster. There is a need for a safe, reliable, low-burn tether pull removal. No description or report of related technologies similar to the invention is found at present, and similar data in China are not collected.
Disclosure of Invention
In order to solve the problem of large fuel consumption in the free sliding section tether tensioning and continuous thrust rail changing modes in the two-pulse rail changing mode of towing and removing the tether assembly, the invention aims to provide a method for towing and removing the tether assembly based on the thruster switch control. The invention provides the speed increment required by the track change of the rope system combination by utilizing the work of the double-component thruster; the tether tensioning and tether retraction are realized by using the tether retraction device, so that the tether is prevented from being wound on a target and an aircraft; the startup and shutdown control of the two-component thruster is carried out based on the tether releasing and releasing speed, and the safe, reliable and low-fuel-consumption dragging removal of the target is realized.
In order to achieve the above object, the present invention provides a method for removing a rope combination from a vehicle by pulling based on a thruster switch control, comprising the following steps:
step 1, the aircraft captures a target by using a capture load connected based on a tether to form a stable tether assembly, and after the assembly is adjusted to be in a horizontal configuration, the aircraft keeps hovering relative to the target, the tether keeps tensioning, and the retraction speed is zero.
And 2, the aircraft works along the two-component thruster in the tether direction, and the tether retracting device keeps set small tension to work. The thrust of the double-component thruster is larger than the set small tension, the aircraft accelerates to be far away from the target, and the tether releasing and releasing device releases the tether.
And 3, when the tether release speed is higher than the set speed, the aircraft is shut down along the two-component thruster in the tether direction, and the tether retracting device continues to work under the set small tension. Under the action of small tension of the tether, the aircraft decelerates to be far away from the target, and the tether releasing and releasing device continuously releases the tether. When the tether releasing speed is zero, the aircraft starts to accelerate to approach the target, and the tether retracting device retracts the tether.
And 4, when the tether recovery speed is higher than the set speed, starting the aircraft along the two-component thruster in the tether direction, and continuously keeping the tether retraction device to work at the set small tension. The thrust of the double-component thruster is larger than the set small tension, the aircraft decelerates to be close to the target, and the tether retracting device continues to retract the tether. When the tether recovery speed is zero, the aircraft starts to accelerate to be far away from the target, and the tether releasing and releasing device releases the tether.
And 5, repeating the step 3 and the step 4 until the rope system combination body is transferred to the target track.
And 6, releasing the target after the rope-tied combination is transferred to the target track and the combination is adjusted to be in a vertical configuration, and finishing the dragging and removing task.
Preferably, the horizontal configuration is a combination form formed by the tensioning direction of the tether combination along the track direction; the vertical configuration is a combined form formed by the tensioning direction of the tether combination along the radial direction of the track.
Preferably, the value of the set small tension F is based on the orbital transfer tension F required by the removal targetnAnd minimum output tension F of tether take-up and pay-off deviceminAnd (4) determining. Removed target mass mtThe minimum speed increment required for removing the target track change is delta VminThe orbit period of the removed target is TtRequired orbital transfer tension Fn＝(mtΔVmin)/Tt(ii) a If Fn<FminThe small tension F is set to FminIf F isn>FminThe small tension F is set to Fn。
Preferably, the value of the set speed V should be not less than the measurement precision V of the tether take-up and pay-off speedminAnd is not greater than the tether retraction speed V corresponding to the tether length change Delal allowed in the towing removal processmaxAnd V ismaxSatisfy the equation
Figure BDA0001340728830000031
Wherein FthrustThe thrust generated by the working of the thruster, F is the set small tension of the tether in the dragging and rail-changing process, msIs the mass of the aircraft, mtIs the removed target mass.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a method for removing the dragging of a rope system assembly based on the switch control of a thruster, which utilizes the work of a double-component thruster to provide the speed increment required by the rail transfer of the rope system assembly; the tether tensioning and tether retraction are realized by using the tether retraction device, so that the tether is prevented from being wound on a target and an aircraft; the startup and shutdown control of the two-component thruster is carried out based on the tether retraction speed, and the safe, reliable and low-fuel-consumption dragging removal of the target is realized. The method solves the problem of large fuel consumption in the free sliding section tether tensioning and continuous thrust orbital transfer modes in the two-pulse orbital transfer mode of towing and removing the tether assembly, and provides favorable conditions for towing and removing the abandoned satellite by utilizing the capturing load connected by the tether.
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The invention will be further explained with reference to the drawings.
FIG. 1 is a flow chart of a method for removing a rope combination by towing according to the present invention;
FIG. 2 is a schematic view of the horizontal and vertical configurations of the tether assembly of the present invention;
FIG. 3(a) is a schematic diagram of a change rule of the retracting speed of the tether in the embodiment of the present invention, and (b) is a schematic diagram of a change rule of the length of the tether;
FIG. 4(a) is a diagram illustrating simulation results of the tether length of the tether assembly according to an embodiment of the present invention; FIG. 4(b) is a diagram showing a simulation result of an in-plane pivot angle of the rope system assembly according to the embodiment of the present invention; FIG. 4(c) is a diagram illustrating the simulation result of the out-of-plane swing angle of the tether assembly in the embodiment of the present invention; fig. 4(d) is a diagram of the simulation result of the tether tension of the tether assembly in the embodiment of the present invention.
FIG. 5 is a diagram illustrating the simulation results of the near-field altitude of the obsolete satellites according to the embodiment of the present invention.
Detailed Description
The technical solution of the present invention is described below by using preferred embodiments, but the following embodiments do not limit the scope of the present invention.
The invention provides a method for removing a rope system combination body from dragging based on thruster switch control, which comprises the following steps:
step 1, the aircraft captures a target by using a capture load connected based on a tether to form a stable tether assembly, and after the assembly is adjusted to be in a horizontal configuration, the aircraft keeps hovering relative to the target, the tether keeps tensioning, and the retraction speed is zero.
As shown in fig. 2, the tether assembly includes an aircraft 1, a target 3, and a tether connecting the aircraft 1 and the target 3. The horizontal configuration refers to a rope combination form formed by the rope tension direction of the rope combination along the track direction, and the hovering distance of the aircraft relative to a target is generally 25-35 m.
And 2, the aircraft works along the two-component thruster in the tether direction, and the tether retracting device keeps set small tension to work. The thrust of the double-component thruster is larger than the set small tension, the aircraft accelerates to be far away from the target, and the tether releasing and releasing device releases the tether.
The aircraft selects a 10N or 25N thrust bipropellant thruster, and during the towing process, the thruster is switched on or off in pairs, and the thrust generated to the aircraft is 20N or 50N.
Setting the value of the small tension F according to the orbital transfer tension F required by the removal targetnAnd minimum output tension F of tether take-up and pay-off deviceminAnd (4) determining. Removed target mass mtThe minimum speed increment required for removing the target track change is delta VminThe orbit period of the removed target is TtRequired orbital transfer tension Fn＝(mtΔVmin)/Tt(ii) a If Fn<FminThe small tension F is set to FminIf F isn>FminThe small tension F is set to Fn。
And 3, when the tether release speed is higher than the set speed, the aircraft is shut down along the two-component thruster in the tether direction, and the tether retracting device continues to work under the set small tension. Under the action of small tension of the tether, the aircraft decelerates to be far away from the target, and the tether releasing and releasing device continuously releases the tether. When the tether releasing speed is zero, the aircraft starts to accelerate to approach the target, and the tether retracting device retracts the tether.
The value of the set speed V is not less than the measurement precision V of the rope winding and unwinding speedminAnd is not greater than the tether retraction speed V corresponding to the tether length change Delal allowed in the towing removal processmaxAnd V ismaxSatisfy the equation
Figure BDA0001340728830000041
Wherein FthrustThe thrust generated by the working of the thruster, F is the set small tension of the tether in the dragging and rail-changing process, msIs the mass of the aircraft, mtIs the removed target mass.
And 4, when the tether recovery speed is higher than the set speed, starting the aircraft along the two-component thruster in the tether direction, and continuously keeping the tether retraction device to work at the set small tension. The thrust of the double-component thruster is larger than the set small tension, the aircraft decelerates to be close to the target, and the tether retracting device continues to retract the tether. When the tether recovery speed is zero, the aircraft starts to accelerate to be far away from the target, and the tether releasing and releasing device releases the tether.
And 5, repeating the step 3 and the step 4 until the rope system combination body is transferred to the target track.
In the process of towing and track-changing of the rope system assembly, the rope system retracting speed and the rope system length are changed periodically, and the change rule is shown in fig. 3.
And 6, releasing the target after the rope-tied combination is transferred to the target track and the combination is adjusted to be in a vertical configuration, and finishing the dragging and removing task.
The vertical configuration of the tether assembly refers to the configuration of the tether assembly formed by the tensioning direction of the tether assembly along the radial direction of the track, as shown in fig. 2.
A set of simulation examples is given below to verify the tether assembly drag removal method based on thruster switch control. After the aircraft captures a certain GEO orbit waste satellite by using a capturing load based on tether connection, the height of a near-ground orbit of the aircraft is raised by 350km by using a dragging removal technology, and the waste satellite is transferred to a tomb orbit. The aircraft is provided with a 25N double-component thruster, the tether retraction device is set to have a small tension of 1N, and the tether retraction design speed is 0.1 m/s. The results are shown in FIGS. 4 and 5.
The above description is only an embodiment of the present invention, which is used for the purpose of more clearly illustrating the present invention, and is not to be construed as limiting the present invention, and any variations that can be made by those skilled in the art are within the scope of protection.

Claims (4)

1. A method for removing a rope system combination drag based on thruster switch control is characterized by comprising the following steps:
step 1, connecting an aircraft and a capture load based on a tether, capturing a load capture target to form a stable tether assembly, adjusting the tether assembly to be in a horizontal configuration, keeping the aircraft hovering relative to the target, keeping the tether tensioned, and keeping the retraction speed zero;
step 2, the aircraft works along the double-component thruster in the tether direction, and the tether retracting device keeps set small tension to work; the thrust of the double-component thruster is greater than the set small tension, the aircraft accelerates to be far away from a target, and the tether releasing and releasing device releases the tether;
step 3, when the tether release speed is higher than the set speed, the aircraft is shut down along the two-component thruster in the tether direction, and the tether retracting device continues to work under the set small tension; under the action of small tension of the tether, the aircraft decelerates to be far away from the target, and the tether releasing and releasing device continues to release the tether; when the tether releasing speed is zero, the aircraft starts to accelerate to approach the target, and the tether retracting device retracts the tether;
step 4, when the tether recovery speed is higher than the set speed, starting the aircraft along the two-component thruster in the tether direction, and continuing to keep the set small tension to work by the tether retraction device; the thrust of the double-component thruster is larger than the set small tension, the aircraft decelerates to be close to the target, and the tether retracting device continues to recover the tether; when the tether recovery speed is zero, the aircraft starts to accelerate to be far away from the target, and the tether retracting device releases the tether;
step 5, repeating the step 3 and the step 4 until the rope system combination body is transferred to the target track;
and 6, after the assembly is adjusted to be in a vertical configuration, releasing the target and completing the dragging and removing task.
2. The method as claimed in claim 1, wherein the horizontal configuration is a combination formed by the rope tensioning direction of the rope system along the track direction; the vertical configuration is a combined form formed by the tensioning direction of the tether combination along the radial direction of the track.
3. The method for removing the drag of a tethered combination based on thruster switch control of claim 1 wherein the target mass removed is mtThe minimum speed increment required for removing the target track change is delta VminThe orbit period of the removed target is TtRequired orbital transfer tension Fn＝(mtΔVmin)/Tt(ii) a If Fn<FminThe small tension F is set to FminIf F isn>FminThe small tension F is set to Fn，FminIs the minimum output tension of the tether retraction device.
4. The method for removing the drag of a tether assembly based on thruster switch control of claim 1, wherein the value of the set speed V is not less than the measurement accuracy V of the tether retraction and release speedminIs not more than the tether retracting speed V corresponding to the tether length change delta l allowed in the dragging and removing processmaxAnd V ismaxSatisfy the equation
Figure FDA0002643190260000021
Wherein FthrustThe thrust generated by the working of the thruster, F is the set small tension of the tether in the dragging and rail-changing process, msIs the mass of the aircraft, mtIs the removed target mass.
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CN114313309B (en) * 2020-08-12 2023-08-04 中国科学院微小卫星创新研究院 Autonomous orbit changing method for small high orbit satellite
CN113325860B (en) * 2021-04-30 2023-09-29 北京控制工程研究所 Tether release and recovery track optimization method with initial speed

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