Space tumbling target de-spinning control method based on permanent magnet eddy current effect

A technology of permanent magnet eddy current and control method, which is applied in the direction of attitude control, space navigation equipment, space navigation aircraft, etc., can solve the problems of increasing system complexity, limiting applications, and prone to collisions, so as to reduce space cost and save Propellant, less energy consumption effect

Active Publication Date: 2017-02-15
黑龙江省工研院资产经营管理有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Using non-contact derotation methods, such as interstellar Coulomb force, gas pulse, laser, and particle beam bombardment methods, need to carry corresponding generation systems, which increases the complexity of the entire system. The non-contact derotation method also needs to simplify the generation system
[0004] The non-contact eddy current braking system using the principle of eddy current braking has been applied on the ground, and this principle is extended to space. For example, the effective air gap of the electromagnetic eddy current braking device proposed by Sugai et al. is only a few mm, which is very easy Collision occurs, which limits its application in the field of tumbling target derotation

Method used

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  • Space tumbling target de-spinning control method based on permanent magnet eddy current effect
  • Space tumbling target de-spinning control method based on permanent magnet eddy current effect
  • Space tumbling target de-spinning control method based on permanent magnet eddy current effect

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Embodiment 1

[0037] In order to solve the problem that the multi-degree-of-freedom mechanical arm 4 carried on the service spacecraft 5 is difficult to directly capture the high-speed rolling non-cooperative target 1, this embodiment provides a permanent magnet eddy current braking device 3 installed at the end of the mechanical arm , rotates under the drive of the motor at the end of the mechanical arm 4 , and actively induces a control torque on the target surface 2 . Utilizing the flexibility of the mechanical arm 4's own movement, the output torque is controlled in real time according to the measured attitude of the rolling non-cooperative target 1, attenuating the nutation and spin motion of the rolling non-cooperative target 1, and finally achieving complete derotation, and realizing the rolling non-cooperative target 1's direct capture.

[0038] In this embodiment, a permanent magnet eddy current braking device 3 is designed. The specific structure includes a casing 6, a permanent m...

Embodiment 2

[0052] Taking the robot arm capturing a space tumbling object as an example, the effectiveness of the derotation method in this embodiment is illustrated. The moment of inertia of a rolling non-cooperative target is:

[0053] I=diag(6.87,6.87,10.306)Kg.m 2

[0054] Assume that at the initial moment, the component of the target speed in the body coordinate system is (10, 10, 30)° / s, the target radius is 0.2m, and the action distance is 0.1m. According to the experimental measurement, the permanent magnet eddy current braking device 3 composed of 8 pieces of size 30×30×50mm, the material is NdFeB (N50), and the residual magnetism is 1.42T. When the rotating speed is 200RPM, it can generate 157.5 For an electromagnetic force of mN, the electromagnetic torque induced on the target is about 0.3Nm.

[0055] When controlling the permanent magnet eddy current braking device to perform nutation angle attenuation according to the control algorithm in step three described in Embodimen...

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Abstract

Disclosed is a space tumbling target de-spinning control method based on a permanent magnet eddy current effect. The method comprises the following steps: a service spacecraft docks in the working space of a mechanical arm, and is kept at a safety distance from a tumbling non-cooperative target; a visual inspection system carried by the service spacecraft measures the direction of a target angular momentum vector H and the direction of a spin axis position vector Zb, and the mechanical arm drives a permanent magnet eddy current braking device at the end to an initial de-spinning position, and the docking position is 100mm from the surface of the target in the direction of the target angular momentum vector; the permanent magnet eddy current braking device is started, the direction of a vector outputting an external torque T1 is corrected according to the real-time change of attitude angle in the tumbling process of the target until the angle of nutation attenuates completely, and the rotation state of the target is changed to a single spinning motion state; the position of the permanent magnet eddy current braking device is adjusted to the side of the tumbling non-cooperative target, the permanent magnet eddy current braking device is started to output a brake torque T2 until the single spinning motion state attenuates completely; after the target is completely de-spun, an end actuator is replaced with a grasping paw, and the target is captured directly by the mechanical arm.

Description

technical field [0001] The invention relates to a derotation control method of a space rolling target based on a permanent magnet eddy current effect, and belongs to the technical field of a space rolling target derotation control method. Background technique [0002] Human exploration activities in outer space are gradually increasing, and a large number of space launch missions are carried out every year to meet the needs of communication, weather monitoring, and maintenance of the International Space Station. Human activities have had a lasting and far-reaching impact on the space environment. A large number of space debris such as rocket propellers, failed satellites, spacecraft mission discards, spacecraft disintegration and collision derivatives in space pose a huge threat to the development of human spaceflight. , therefore, the active removal of space debris is imminent. Usually, space debris has lost the ability to adjust its attitude and has been running out of co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 刘晓光周宇刘崇超王振宇
Owner 黑龙江省工研院资产经营管理有限公司
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