Calculation method of optimal self-rotational angular velocity for fixed-axis rotation of service spacecraft
A technology for serving spacecraft and calculation methods, which is applied in the calculation field of the optimal rotation angular velocity, and can solve the problems of three-axis tumbling motion, damage to the docking mechanism, and difficulty in docking with the tumbling target that have not been researched and proposed, so as to save energy consumption and enhance safety. , the effect of enhancing stability
Active Publication Date: 2017-09-15
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology
The docking of rolling targets is particularly difficult, because when the relative speed of the service spacecraft and the target is high, it is easy to cause collisions and damage the docking mechanism
For low-speed tumbling satellites, the movement of the space manipulator can be used to eliminate the relative angular velocity, but when the target angular velocity is too large, the movement of the manipulator alone often cannot meet the requirements
In the past, there was a method of reducing the relative angular velocity between the service spacecraft and the target rotating on a fixed axis by rotating the main body of the service spacecraft, but no research has proposed how to eliminate the relative velocity to the greatest extent for the target performing three-axis rolling motion
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[0034] The present invention will be further described below in conjunction with accompanying drawings and embodiments.
[0035] figure 1 is a schematic illustration of docking with a tumbling target using a rotating servicing spacecraft. As shown in the figure, since the serving spacecraft rotates with a fixed axis, its angular momentum coincides with the direction of angular velocity and points to the direction of the angular momentum of the target. Since the target is approximately considered not to be affected by external torque, its angular momentum is conserved, and the orientation of the angular momentum direction in the inertial coordinate system is fixed. At the same time, because the target makes any rolling motion, its angular velocity vector does not necessarily coincide with the direction of angular momentum, and its orientation in the inertial coordinate system generally changes with time.
[0036] Through non-contact measurement methods, such as binocular visi...
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The invention discloses a calculation method of optimal self-rotational angular velocity for fixed-axis rotation of a service spacecraft. The calculation method comprises steps of firstly carrying out Fourier transform on the measured gesture quaternion of an object to obtain three characteristic angular frequencies of object movement; using the filtering method to allow the estimation values of the angular frequencies to be quite accurate; and finally, multiplying the characteristic angular frequency with the biggest effect with 2 to obtain the optical angular velocity of the rotation of the service spacecraft. According to the invention, through the designed self-rotating angular velocity, the service spacecraft is allowed to rotate, so the relative angular velocity and the relative linear speed between the service spacecraft and the object can be effectively reduced, load during capturing of a mechanical arm is reduced and safety of on-orbit services in the space is improved; and in addition, although the service spacecraft carries out fixed-axis rotation, the designed self-rotating angular velocity is not only defined in objects carrying out fixed-axis rotation, so for objects rolling over along the three axes, the relative angular velocity can be also effectively reduced.
Description
Technical field: [0001] The invention relates to the on-orbit service technology in the aerospace field, in particular to a calculation method for the optimal rotation angular velocity of a service spacecraft when it rotates with a fixed axis. Background technique: [0002] At present, space on-orbit service technology is receiving widespread attention from researchers at home and abroad. Targets for space on-orbit servicing include malfunctioning satellites and space debris. Its purpose is to use a servicing spacecraft to perform repairs on the target, or to remove the target from its current orbit. One of the prerequisites for space on-orbit service is to dock the target. Since the external moment acting on the target in space is very small, the initial angular momentum of the target is difficult to dissipate, so it is often in a rolling state. The docking of the rolling target is particularly difficult, because when the relative speed of the service spacecraft and the ...
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Login to View More IPC IPC(8): G05D1/08B64G1/64G06F17/14G06F17/16
CPCB64G1/244B64G1/64G06F17/141G06F17/16
Inventor袁建平马川朱战霞袁源代洪华
OwnerNORTHWESTERN POLYTECHNICAL UNIV