CN110510152B - Low-orbit geomagnetic energy storage-release delivery system - Google Patents
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Abstract
The embodiment of the invention discloses a low-orbit geomagnetic energy storage-release delivery system, which comprises a control system, a three-axis control moment canceller and an energy system, wherein the control system, the three-axis control moment canceller and the energy system are arranged on a delivery parent spacecraft, and the delivery parent spacecraft is connected with a strong magnetic moment generating device, a reaction transmission mechanism and a delivery connecting rod structure, two ends of which are used for delivering a target object, through a supporting rod structure; the delivery connecting rod structure is vertically connected to the tail end of the supporting rod structure, the reaction transmission mechanism is arranged on the supporting rod structure and close to the delivery connecting rod structure, and the strong magnetic moment generating device is arranged between the reaction transmission mechanism and the delivery parent spacecraft. According to the invention, the strong magnetic moment generating device does not generate the condition of accelerated rotation of the attitude through the balance action of the reaction transmission mechanism and the strong magnetic moment generating device on the external moment of the geomagnetic field and the external moment of the geomagnetic field, so that double coupling decoupling is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of space debris derailment, in particular to a low-orbit geomagnetic energy storage-release delivery system.
Background
Space garbage with the diameter of 10cm can bring serious threat to spacecrafts and astronauts, and a Hubby telescope, a space shuttle and an international space station are impacted by space debris; with the increasing activity of human space activities and the rapidly increasing chance of threat from the Kessler effect of space debris (Kessler effect: the generation of more space debris due to the impact of space debris).
The Kessler effect further aggravates the threat of space debris, such as 2009, where russian obsolete Comos satellites collide with U.S. iridium satellites, resulting in more than 2000 space debris, which would continue to increase substantially if the existing space debris could not be actively and effectively removed, which would seriously affect the space development process of human beings.
At present, more than 20000 space fragments of more than 10cm on orbit are distributed on an earth orbit with different inclination angles of 500 km-1000 km, and the fragments can not enter the earth atmosphere within decades by only attenuating the orbit height by the atmospheric resistance of the fragments, so that compared with a geosynchronous orbit (36000km, the orbit is unique and the resources are scarce), the low orbit space fragments are distributed and dispersed, have the characteristics of high threat and low value, and can be actively removed, but the problems of efficiency and economy for removing the low orbit space fragments are difficult to solve.
The better mode of processing the space debris is to change the height of the orbit which runs by people and reduce the height of the near place of the orbit to be less than 200km, so that the debris is influenced by the atmospheric resistance of the earth to quickly reduce the semimajor axis of the orbit and fall into the atmosphere to be burnt.
Among the various methods proposed at present, the active dragging and derailing method using chemical/electric thrust is the most mature, but the consumption is extremely high; the passive rail descending modes such as installing the air bag resistance sail on the fragments and coating foam to increase the surface-to-mass ratio save the consumption of off-rail propulsion working media, but need to consume installation materials, and the time required by the fragment rail descending is years, so that the probability of secondary collision is undoubtedly and greatly increased.
In addition, working medium consumption-free fragment cleaning methods are actively developed in all countries, and some methods are well assumed but difficult to realize, for example, the fragments are cleaned by using ground/space-based high-energy laser, the basic principle is that a burning product is rapidly expanded to separate from the fragments through high-energy laser burning, and the fragments obtain recoil quantity to reduce orbit.
In the non-working medium consumption type rail transferring and separating method, the electric rope system is a mode which is considered to be the highest in feasibility and realizability at present, the electric rope system is used for adjusting the rail in the earth magnetic field of a low-rail space through the ampere force borne by the electrified rope by collecting charged particles in the space, only power consumption is realized, no working medium is consumed, the reliability of stable operation of the rope system in the space is very outstanding no matter the efficiency of the electric rope system depends on the size of the rope system, and the huge size of thousands of meters to tens of kilometers is large.
Although a plurality of theoretical researches and space tests show that the rope system has a considerable safety factor, the rope system is also experienced as being painful, the SED-2 (launched in 1994, the rope system is unfolded for 19.7km) in the United states is cut off by space fragments/micrometeors after being unfolded for only 4 days, which shows that the space safety problem of the rope system is still to be solved, and for this reason, the geomagnetic energy storage low-orbit space fragment off-track method can be used for effectively solving the problem, during the charging of the method, it is desirable that the amount of spin is accumulated, which would require constant acceleration of the rotary mechanism, however, if the magnet and the rotating mechanism are integrated, the constant acceleration of the rotation of the magnet can be deeply coupled with the problem of adjustment of the orientation of the magnet, and besides, in orbital flight, the directional adjustment of the magnets must also be deeply coupled to the flight process, and the double coupling of acceleration and orbit can add significant difficulty and uncertainty.
Disclosure of Invention
Therefore, the embodiment of the invention provides a low-orbit geomagnetic energy storage-release delivery system to solve the problems in the prior art.
In order to achieve the above object, an embodiment of the present invention provides the following:
a low-orbit geomagnetic energy storage-release delivery system comprises a control system, a three-axis control moment canceller and an energy system, wherein the control system is arranged on a delivery parent aerospace vehicle; the delivery connecting rod structure is perpendicularly connected the end of the supporting rod structure, the reaction transmission mechanism is arranged on the supporting rod structure and close to the part of the delivery connecting rod structure, the strong magnetic moment generation device is arranged between the reaction transmission mechanism and the delivery parent spacecraft, and the strong magnetic moment generation device and the reaction transmission mechanism provide energy through the energy system.
As a preferable solution of the embodiment of the present invention, the strong magnetic moment generating device is composed of two orthogonally arranged solenoids, and planes of the two orthogonally arranged solenoids are both perpendicular to an axial direction of the support rod structure.
As a preferable scheme of the embodiment of the invention, the solenoid adopts superconductor materials and a cryogenic system to generate strong magnetic moment.
As a preferable scheme of the embodiment of the invention, when the energy storage accumulation of the rotational quantity is carried out along the Y axis of the track coordinate system, the two spiral coils respectively generate the size components Cmd _ m of the magnetic moment along the X axis and the Z axis of the geomagnetic coordinate systemx、Cmd_mzA value; when the energy storage accumulation of the rotating amount is carried out along the Y axis of the track coordinate system, only any one of the solenoids is needed to generate the magnetic moment size component Cmd _ myThe value is obtained.
As a preferable scheme of the embodiment of the present invention, the reaction transmission mechanism performs reaction transmission by using a high-precision spatial torque motor, and the torque motor generates a torque having the same magnitude and the same direction as those of a magnetic torque under the current condition for a system formed by the delivery link structure and a target object to be delivered, according to the current measured magnetic field condition, in cooperation with the generated strong magnetic torque, and at the same time, the torque motor generates a torque having the same magnitude and the opposite direction as those of the magnetic torque for the strong magnetic torque generation device.
As a preferable scheme of the embodiment of the invention, after delivery is completed, the reaction transmission mechanism is in a state of continuous rotation and enters an unloading and stopping process, the process is an inverse process of energy storage, namely the direction of a magnetic moment generated by a strong magnetic moment generating device is opposite to that of an energy storage acceleration process, and the reaction transmission mechanism and the rotation of a delivery connecting rod structure connected with the reaction transmission mechanism carry out energy dissipation and unloading.
Preferably, the target object is at one end of the delivery link structure or at both ends of the delivery link structure.
The embodiment of the invention has the following advantages:
according to the invention, the reaction transmission mechanism and the strong magnetic moment generating device have a balance effect on the external moment of the geomagnetic field and the strong magnetic moment generating device has a balance effect on the external moment of the geomagnetic field, so that the strong magnetic moment generating device does not generate the condition of accelerated rotation of the attitude, and the problems that the direction adjustment of the magnet is deeply coupled with the flight process inevitably, and the difficulty and the uncertainty are greatly increased due to double coupling of acceleration and a track are solved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a flowchart of a method of example 1 of the present invention;
FIG. 2 is a schematic view of the orbital flight inclination of embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a system according to embodiment 2 of the present invention.
The reference numbers in the figures are:
10-delivering a parent spacecraft; 20-support bar construction; 30-a strong magnetic moment generating device; 40-reaction drive mechanism; 50-delivery link structure.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the invention provides a geomagnetic energy storage low orbit space debris off-orbit control method, which is used for capturing space debris by a spacecraft to perform geomagnetic energy storage, wherein the geomagnetic energy storage comprises the following steps:
when the orbit flight inclination angle of the spacecraft is larger than a set angle, accumulating energy around the y axis of the orbit surface;
and when the flight inclination angle of the orbit is smaller than the set angle, accumulating energy around the z axis of the orbit surface.
In this embodiment, the accumulated energy is specifically continuously accelerated in a preset direction, and a magnetic moment needs to be continuously generated in the preset direction, so that the speed in the preset direction is continuously increased as time goes on.
According to the traversing of the height of the 100-km track and the different track inclination angles, the efficiency calculation of energy storage accumulation is carried out in two different modes, the efficiency result is compared to obtain that the boundary point of the inclination angle is at the preferred angle, and the set angle is preferably 49.14 degrees.
200, measuring the current flight attitude of the spacecraft, wherein the parameters comprise the altitude h, the orbit inclination angle, the geographical longitude and latitude of the subsatellite point of the spacecraft, and the component of the geomagnetic field of the current position of the spacecraft in a geomagnetic coordinate system
Adjusting the flight attitude of the spacecraft, associating the magnetic moment generating direction of an orthogonal coil fixedly connected to the spacecraft and the accumulated rotating distance direction of the magnetic moment with the flight attitude of the spacecraft, and keeping the associated flight attitude;
the generation of the magnetic moment is realized by using current generated by an orthogonal coil fixedly connected to the spacecraft, is irrelevant to the attitude of the spacecraft, and has the same direction of the generated magnetic moment and the accumulated torque, and is in an orthogonal relation instantaneously.
The process of association can be understood as: the spacecraft can require an attitude angle when executing a specific task, in order to generate a specific accumulation speed on a specific orbital plane, the direction of a delivery mechanism fixedly connected with the spacecraft needs to be aligned, in addition, a strong magnetic moment generating device (orthogonal coil) is fixedly connected with the spacecraft, a resolving strategy for generating the strong magnetic moment is strongly related to the distribution of the geomagnetic field, therefore, preassembly adjustment needs to be carried out according to the attitude of the spacecraft, and the three requirements are determined to be relative relations before delivery.
when accumulating energy around the Y axis of the track surface
The resulting strategy is as follows:
when accumulating energy around Z axis of track surface
The resulting strategy is as follows:
wherein, Cmd _ mx、Cmd_my、Cmd_mzRepresenting the desired adjusted magnetic moment magnitude component in each direction in the geomagnetic coordinate system, | m | representing the total magnetic moment magnitude that can be generated,
the method comprises the following steps that (1) in the on-orbit flight of the spacecraft, u represents the angular distance of a rising point of the spacecraft in the current flight at the current moment, wherein the geographic latitude corresponds to the subsatellite point of the spacecraft at the current moment;
The momentum exchange is converted into rotational energy of the system and converted into translational energy, and space debris or a target obtains an off-orbit velocity increment, leaves the existing orbit and enters the atmosphere to be burnt.
In the embodiment 1 of the invention, the moment of rotation of the magnet in the earth space magnetic field is utilized, (for example, a compass can rotate in a continuous and accelerated manner when the direction and the size of the magnet are actively and effectively controlled), when the spacecraft grabs space debris or a target, the grabbed space debris rotates along with the magnet by continuously rotating the grabbed debris in an accelerated manner, and at the moment of loosening, the system rotation energy is converted into translation energy, and the space debris or the target obtain the off-orbit velocity increment, leave the existing orbit and enter the atmosphere.
The embodiment 1 of the invention can be delivered on-orbit without working medium consumption, has low cost and is off-orbit and orbital transfer, and the fact that working medium is not consumed means that long-term on-orbit flight and task development can be realized, and off-orbit operation of a large number of space fragments/targets is implemented, so that the problems of efficiency and economy of low-orbit space fragments are obviously improved.
The embodiment 1 of the invention also has the advantage of flexible in-plane/out-of-plane delivery, and the momentum used by the fragments to be out of orbit can be used for delivering the power-driven orbit change of the main satellite without working medium consumption. The method has high controllability and low dependence of delivery capacity on system scale, and utilizes the energy of the geomagnetic field, but has low requirement on scale, so that the implementation controllability is improved, and the probability of external threats is effectively reduced.
Example 2:
as shown in fig. 3, the present invention provides a low orbit magnetic energy storage-release delivery system generally comprising a control system disposed on a delivery parent spacecraft 10, a three-axis controlled moment canceller, and an energy system for energizing the control system and the three-axis controlled moment canceller.
The three-axis control moment canceller can be a flywheel, a control moment gyro or a momentum sphere and the like. The energy system can be a solar cell array, and the control signals are all from a control system on the delivery mother spacecraft.
In order to realize the decoupling of the double coupling, the high magnetic moment generating device 30, the reaction transmission mechanism 40 and the delivery connecting rod structure 50 with two ends used for delivering the target object S are mainly connected on the delivery parent spacecraft 10 through the supporting rod structure 20; throw and deliver link structure 50 and connect perpendicularly the end of bracing piece structure 20, reaction drive mechanism 40 sets up be close to on the bracing piece structure 20 throw and deliver link structure 50's part, strong magnetic moment generating device 30 sets up reaction drive mechanism 40 with deliver between the primary aerospace craft 10, strong magnetic moment generating device 30 with reaction drive mechanism 40 passes through energy system provides the energy.
The strong magnetic moment generating device 30 is a spiral coil type generating device, and is composed of two orthogonal spiral coils, the planes of the two orthogonal spiral coils are perpendicular to the axial direction of the support rod structure 20, and the spiral coils are made of superconductor materials and generate strong magnetic moments by a low-temperature system. With reference to embodiment 1, during the accumulation of the energy stored by the rotational energy along the Y axis of the orbital coordinate system, the two solenoids generate the magnitude components Cmd _ m of the magnetic moment along the X axis and the Z axis of the geomagnetic coordinate system respectivelyx、Cmd_mzA value; when the energy storage accumulation of the rotating amount is carried out along the Y axis of the track coordinate system, only any one of the solenoids is needed to generate the magnetic moment size component Cmd _ myThe value is obtained.
In this embodiment, the reaction transmission mechanism 40 uses a high-precision spatial torque motor to perform reaction transmission, and the torque motor generates a torque equal in magnitude and in the same direction as the magnetic torque under the current condition for the system formed by the delivery link structure 50 and the target object S to be delivered according to the current measured magnetic field condition, and at the same time, the torque motor generates a torque equal in magnitude and in the opposite direction to the magnetic torque generated by the strong magnetic torque generation device 30.
In connection with embodiment 1, the reaction transmission mechanism 40 has an effect of transmitting the magnetic torque of the strong magnetic torque generator to the "system composed of the delivery structure and the target/space debris to be delivered", and the strong magnetic torque generator does not generate the acceleration rotation of the attitude under the balance of the external torque of the earth magnetic field and the reaction transmission internal torque, and in addition, the reaction transmission mechanism also has a rotation suppression function of the strong magnetic torque generator under the non-ideal state.
After delivery is completed, the reaction transmission mechanism 40 is in a continuous rotation state, and enters an unloading and stopping process, which is the reverse process of energy storage, namely the direction of the magnetic torque generated by the strong magnetic torque generating device 30 is opposite to that of the energy storage acceleration process, so that the reaction transmission mechanism 40 and the delivery connecting rod structure 50 connected with the reaction transmission mechanism rotate to perform energy dissipation and unloading.
Wherein the target object S is generally a space debris at one end of the delivery link structure 50 or at both ends of the delivery link structure 50.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. A low-orbit geomagnetic energy storage-release delivery system comprises a control system arranged on a delivery parent spacecraft (10), a three-axis control moment canceller and an energy system used for supplying energy to the control system and the three-axis control moment canceller, and is characterized in that the delivery parent spacecraft (10) is connected with a strong magnetic moment generating device (30), a reaction transmission mechanism (40) and a delivery connecting rod structure (50) with two ends used for delivering a target object (S) through a supporting rod structure (20); throw and deliver link structure (50) and connect perpendicularly the end of bracing piece structure (20), reaction drive mechanism (40) set up be close to on bracing piece structure (20) throw the part of delivering link structure (50), strong magnetic moment generates device (30) and sets up reaction drive mechanism (40) with throw and deliver between mother's aerospace craft (10), strong magnetic moment generates device (30) with reaction drive mechanism (40) pass through energy system provides the energy.
2. A low orbit magnetic energy storage-release delivery system according to claim 1, wherein the strong magnetic moment generating device (30) is composed of two orthogonally configured coils, and the planes of the two orthogonally configured coils are perpendicular to the axial direction of the support rod structure (20).
3. The system of claim 2, wherein the solenoid is made of a superconductor material and a cryogenic system to generate a strong magnetic moment.
4. The low-orbit magnetic energy storage-release delivery system according to claim 3, wherein during the accumulation of the rotational energy storage along the Y-axis of the orbit coordinate system, the two solenoids generate the magnitude components of the magnetic moment Cmd _ m along the X-axis and Z-axis of the geomagnetic coordinate system respectivelyx、Cmd_mzA value; when the energy storage accumulation of the rotating amount is carried out along the Y axis of the track coordinate system, only any one of the solenoids is needed to generate the magnetic moment size component Cmd _ myThe value is obtained.
5. The low-orbit magnetic energy storage-release delivery system according to claim 2, wherein the reaction transmission mechanism (40) adopts a high-precision space torque motor to perform reaction transmission, the torque motor generates a torque with the same magnitude and direction as the magnetic torque under the current condition to the system formed by the delivery connecting rod structure (50) and the target object (S) to be delivered according to the current measured magnetic field condition, and the torque motor generates a torque with the same magnitude and opposite direction to the magnetic torque to the strong magnetic torque generating device (30).
6. A low-orbit magnetic energy accumulation-release delivery system according to claim 5, characterized in that after delivery is completed, the reaction transmission mechanism (40) is in a state of continuous rotation, and enters a unloading stop process, which is the reverse process of energy accumulation, namely, the magnetic moment generated by the strong magnetic moment generating device (30) is opposite to the process of energy accumulation acceleration, and the rotation of the reaction transmission mechanism (40) and the delivery connecting rod structure (50) connected with the reaction transmission mechanism is unloaded in an energy dissipation manner.
7. A low-orbit magnetic energy-storage-release delivery system according to claim 5, wherein the target object (S) is at one end of the delivery link structure (50) or at both ends of the delivery link structure (50).
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| CN113075592B (en) * | 2021-03-12 | 2022-05-24 | 中国科学院力学研究所 | Coaxial contra-rotating geomagnetic energy storage and release delivery ground experiment system and method |
| CN116280295B (en) * | 2023-03-31 | 2023-09-05 | 中国科学院力学研究所 | Ultra-high-speed fine sighting control release separation system and control method |
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