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Spinning speed control method for space flexible electric sail

A control method and flexible electric technology, applied in the field of electric sails, can solve problems such as speed regulation control of flexible cable spin multi-body systems that cannot realize flexible electric sails, and achieve the effect of convenient coupling modeling

Active Publication Date: 2018-04-13
HARBIN INST OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the existing technology cannot realize the speed regulation control of the flexible electric sail's flexible cable spin multi-body system, the invention provides a space flexible electric sail spin speed regulation control method

Method used

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  • Spinning speed control method for space flexible electric sail
  • Spinning speed control method for space flexible electric sail
  • Spinning speed control method for space flexible electric sail

Examples

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specific Embodiment approach 1

[0022] Specific implementation mode 1: A method for controlling the spin speed of a space flexible electric sail given in this implementation mode specifically includes the following steps:

[0023] Step 1: First establish the absolute reference coordinate system of space, such as figure 1 As shown, the large deformation dynamic model of flexible cable is established based on the absolute node coordinate method, the element node is determined, and the position, rotation, and deformation are described by six degrees of freedom node coordinates. The position of any point on the beam element is determined by the generalized coordinates according to the shape function ( Absolute node coordinates) means that the constant mass matrix and the generalized elastic force under the reference configuration are deduced with the unit node position and position gradient as generalized variables;

[0024] Step 2: Select the position of the central rigid body and the quaternion as the generali...

specific Embodiment approach 2

[0027] Specific implementation mode 2: the difference between this implementation mode and specific implementation mode 1 is that step 1 is specifically as follows: figure 1 As shown in the figure, establish the space absolute reference coordinate system OXYZ, under the space absolute reference coordinate system OXYZ, the flexible cable is physically discretized, and the degrees of freedom of the beam element are expressed at the nodes at both ends, and the node coordinates of the six degrees of freedom are used to describe each element node j. degrees of freedom:

[0028]

[0029] In formula (1), q j is the generalized coordinate of the unit node j, x is the coordinate of the unit substance described in the reference configuration, is the position gradient, k=1,2,3, r 1 j , is the component of r;

[0030] The position of any point on the beam element is represented by generalized coordinates according to the shape function:

[0031] r=S(x)q (2)

[0032] For a unit...

specific Embodiment approach 3

[0050] Specific embodiment three: the difference between this embodiment and specific embodiment two is: in step two, the process of establishing the central rigid body dynamics model is specifically:

[0051] Let the generalized coordinates of the rigid body be:

[0052] q c =[q r ,Θ]=[q x q y q z θ 0 θ 1 θ 2 θ 3 ] (9)

[0053] Among them, q r is the rigid body displacement coordinates, Θ is the attitude quaternion, Θ is determined by θ 0 , θ 1 , θ 2 , θ 3 Quaternary composition, q x ,q y ,q z Respectively represent the X-axis, Y-axis, Z-axis displacement coordinates of the rigid body;

[0054] Calculate the kinetic energy of the rigid body T h :

[0055]

[0056] In formula (10) is the attitude quaternion matrix, m c is the mass of the central rigid body, V c is the velocity vector of the central rigid body, J is the moment of inertia matrix of the central rigid body, ω is the rotational angular velocity vector of the central rigid body, is ...

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Abstract

The invention provides a spinning speed control method for a space flexible electric sail, belongs to a field of electric sails and specifically relates to the spinning speed control method for the space flexible electric sail. The method includes steps of 1, establishing a large deformation dynamics model of a flexible rope based on an absolute node coordinate method, determining unit nodes, deducing a constant quality matrix and generalized elastic force in a reference configuration; 2, establishing a central rigid body dynamics model, establishing a 1-DOF (Degree Of Freedom) constraint algebraic equation for a central rotation constraint pair, establishing a 3-DOF constraint algebraic equation for a connection spherical hinge of the flexible rope and the central rigid body; 3, performing stress analysis on the flexible rope and calculating the flexible rope rotation angle acceleration in a dynamic balance state; 4, selecting a control variant and designing speed control rate according to stress analysis and obtaining a speed control torque needed to output by the central rigid body through calculation. The invention solves a problem that speed control of a flexible rope spinningmulti-body system of the flexible sail cannot be realized and can be applied to an electric sail control system.

Description

technical field [0001] The invention belongs to the field of electric sails, and in particular relates to a method for controlling the spin speed of a flexible electric sail. Background technique [0002] The development of modern space technology makes the design of the spacecraft structure gradually smaller and smarter. Not only must it ensure small size, light weight, and good retractability during the launch phase, but it should also be able to operate in a sufficiently large space after the spacecraft enters orbit. The large flexible structure has certain advantages in these aspects. At the same time, in order to break the limitation of long-term flight missions on on-board energy, the method of using space field force for propulsion has also been gradually adopted. [0003] The virtual solar wind electric sail composed of tens or hundreds of live wires is a typical space tether. qualitative advancement. Electric sails are powered primarily by the dynamic pressure of...

Claims

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Application Information

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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 魏承李永武云丽过佳雯王萍萍赵阳
Owner HARBIN INST OF TECH
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