Satellite electromagnetic permanent magnet integrated connection separation and recovery device and control method thereof

Abstract

The application belongs to the technical field of spaceflight, and discloses a satellite electromagnetic permanent magnet integrated connection separation and recovery device and a control method thereof. The satellite electromagnetic permanent magnet integrated connection separation and recovery device is provided with a curved surface permanent magnet interface on a micro-nano satellite. The curved surface permanent magnet interface is connected with a curved surface electromagnetic interface. The curved surface electromagnetic interface is arranged on a satellite ring. The application improves the carrying capacity of spaceflight equipment. The satellite ring can provide multiple micro-nano satellite connection separation and recovery interfaces, and can simultaneously release, separate and dock and recover multiple micro-nano satellites. The satellite ring is composed of a circular ring. The surface of the circular ring is provided with electromagnetic connection separation and recovery interfaces. The micro-nano satellite connection and recovery docking are realized by the butt joint of the micro-nano satellite curved surface permanent magnet interface and the curved surface electromagnetic interface. The locking of the connection interface is realized by adopting a bag belt fixing mode during the execution of a launch task.

Description

Satellite Electromagnetic Permanent Magnet Integrated Connection Separation and Recovery Device and its Control Method Technical Field

[0001] This invention belongs to the field of aerospace technology, and in particular relates to a satellite electromagnetic permanent magnet integrated connection, separation and recovery device and its control method. Background Technology

[0002] Currently, microsatellites and nanosatellites are mostly launched in "one rocket, multiple satellites" configurations. In particular, the maiden flight of the Long March-6 new-generation rocket successfully launched twenty satellites in one launch. The diverse installation methods of the satellites place higher demands on the satellite connection and separation mechanisms. With the rapid development of microsatellite swarm applications, multi-satellite launches by launch vehicles have become the primary technological means. Traditional spacecraft satellite launch technologies are mostly based on thruster jet force and spring ejection force, which have drawbacks such as large size, plume contamination, uncontrollable power, non-reusability, and high impact. Furthermore, the connection and fixation mechanisms mostly use purely mechanical structures and lack attitude adjustment and recovery capabilities, only enabling one-time separation actions. The precision requirements during the gradual separation process are extremely high, increasing the difficulty of docking. In contrast, electromagnetic connection, separation, and recovery interfaces can provide controllable electromagnetic thrust and recovery attraction, improving the reusability of microsatellite interfaces and the ability to control satellite separation and recovery attitude. This can significantly reduce the impact during recovery and parking and reduce the overall size of the mechanism. The electromagnetic connection separation and recovery interface improves rocket carrying capacity, separation and recovery reliability, and interface reusability, making it the optimal choice for current micro- and nano-satellite storage, ejection, and recovery solutions for cluster applications. Addressing the challenge of controllable and rapid release and separation, the electromagnetic separation scheme meets the requirements of adjustable release and separation force and controllable triggering. Regarding the difficulty of controlling the separation and recovery attitude, the electromagnetic matrix distribution scheme enables dynamic adjustment of electromagnetic force to control satellite attitude. Finally, addressing the challenge of impact-free blind recovery, electromagnetic reverse thrust technology and electromagnetic interface design effectively enhance electromagnetic force buffering and blind positioning recovery capabilities.

[0003] Based on the above analysis, the existing technologies suffer from the following problems and shortcomings: There is no standardized, universal interface between the launcher and carrier of current micro / nano satellites; the connection and separation mechanisms vary significantly in form, resulting in poor versatility, large size, plume contamination, uncontrollable power, and non-reusability with significant impact. Existing non-electromagnetic separation and recovery technologies cannot solve the current challenges faced by micro / nano satellite connection, separation, and recovery interfaces, including rapid release, process control, controllable separation and recovery attitude, impact-free blind recovery, and reusability. Traditional connection and separation schemes lack attitude adjustment and recovery capabilities, only enabling one-time separation actions and failing to provide reusability, impact-free operation, and attitude control capabilities. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a satellite electromagnetic permanent magnet integrated connection, separation and recovery device and its control method.

[0005] The purpose of this invention is to design an integrated curved interface for separation and recovery with blind positioning, recovery, and docking structural characteristics. The curved electromagnetic mechanism array and curved permanent magnet array design enable precise control of electromagnetic force, resulting in a shock-free recovery process. The electrically controlled locking mechanism design ensures controllable separation and release processes as well as controllable docking and clamping processes, improving the reusability of the separation and recovery mechanism. Through the coupling mechanism of the curved electromagnetic array and the curved permanent magnet array, this invention provides electromagnetic force with controllable magnitude, variable direction, and rapid switching. Matching multi-dimensional electromagnetic matrix control with satellite attitude control allows for the fulfillment of on-orbit satellite mission requirements for controllable release and separation attitudes, and controllable recovery and docking attitudes.

[0006] This invention is implemented as follows: A control method for a satellite electromagnetic-permanent magnet integrated connection, separation, and recovery device includes: combining coupled magnetic field modeling, dynamic simulation, and experimental verification; establishing a coupled magnetic field model of the electromagnetic-permanent magnet integrated mechanism using equivalent current model, molecular current theory, and magnetic field superposition theorem; implementing dynamic simulation of the micro-nano satellite separation and recovery process; and performing dynamic control of electromagnetic force, precise adjustment of separation attitude, and stable adjustment of docking attitude based on the dynamic simulation.

[0007] Furthermore, in the modeling of the coupled magnetic field, an equivalent current model of the curved toroidal permanent magnet is established based on the basic theory of electromagnetic fields. The spatial distribution of the magnetic field generated by the permanent magnet in the electromagnetic mechanism is obtained by using the superposition theorem. The expression of the electromagnetic force generated by the electromagnetic mechanism is obtained by using the Lorentz force formula and introducing an equivalent current layer. Then, the finite element simulation results of the coupled magnetic field are compared with the analytical model results to verify the analytical analysis of the spatial magnetic field of the permanent magnet and the force analysis of the electromagnetic mechanism. The optimization direction of the dimensional parameters of the electromagnetic mechanism is determined by using the laws obtained from the analysis.

[0008] In terms of dynamics simulation, electromagnetic field simulation software is used to simulate and calculate the force situation of the electromagnetic mechanism at different positions during the entire motion process, and obtain the force data table of the electromagnetic mechanism throughout the motion process. Then, based on kinematic theory, a kinematic model of the mechanism is established and simulation analysis is performed to obtain the motion law and dynamic curves during the separation and recovery of micro-nano satellites.

[0009] In terms of experimental verification, experiments were conducted on the separation and recovery of micro-nano satellites using an integrated electromagnetic-permanent magnet interface under microgravity, as well as on the separation attitude control and mooring attitude adjustment of micro-nano satellites. The matching relationship between the distribution law of the electromagnetic matrix and the dynamic characteristics of the magnetic field was verified, and the influence law of the electromagnetic parameters of the coil on the electromagnetic force and the influence law of the distribution law of the electromagnetic matrix on the dynamic characteristics of the magnetic field under the magnetic field of the curved permanent magnet were obtained.

[0010] Furthermore, the specific steps include:

[0011] Pose recognition test: Three laser displacement sensors are used to obtain the distance information between the curved permanent magnet interface and the curved electromagnetic interface of the micro-nano satellite. The current position area of ​​the curved permanent magnet interface is obtained based on the three-point positioning and the radius of the permanent magnet end.

[0012] Test of separation and adsorption of micro- and nano-satellites: Under the action of the coupling magnetic field, the micro- and nano-satellites are subjected to electromagnetic thrust away from the curved electromagnetic interface, and the micro- and nano-satellites gradually separate from the curved electromagnetic interface; under the action of the coupling magnetic field, the micro- and nano-satellites are subjected to electromagnetic attraction close to the curved electromagnetic interface, and the micro- and nano-satellites dock with the curved electromagnetic interface.

[0013] Attitude overturning test: Attitude adjustment is achieved by generating a dynamic electromagnetic field through an array-type electromagnetic mechanism;

[0014] Attitude rotation test: The attitude rotation of micro and nano satellites is achieved by generating a dynamic electromagnetic field through an array-type electromagnetic mechanism.

[0015] Separation and Recovery: Adjusting the separation and recovery attitude of micro- and nano-satellites by changing the distribution of the electromagnetic matrix.

[0016] Furthermore, the pose recognition test specifically includes: using three laser displacement sensors to obtain distance information between the curved permanent magnet interface and the curved electromagnetic interface of the micro / nano satellite; obtaining the current position area of ​​the curved permanent magnet interface based on three-point positioning and the radius of the permanent magnet end; using the plane where the laser displacement sensors are located as the reference coordinate plane, obtaining the coordinates of three points on the spherical surface of the curved permanent magnet interface based on three distance data segments; then calculating the spherical surface where the current curved permanent magnet interface is located based on the known radius of the curved permanent magnet interface to obtain the real-time position information and active domain of the curved permanent magnet interface; using a ring array of infrared photoelectric switches to obtain the attitude information of the micro / nano satellite; obtaining the current tilt angle of the curved permanent magnet interface based on the working state and angle division rules of the infrared photoelectric switch array with assigned identity information; the infrared photoelectric switches are evenly distributed on the outermost ring, with two states: idle and contact; calculating the satellite tilt angle β based on the ratio of the number of idle to contact states; and obtaining the direction angle α based on the identity information of the two photoelectric switches on the boundary between the idle and contact states.

[0017] The specific tests for the separation and adsorption of the microsatellites include: the release and separation of the microsatellites are achieved by electromagnetic thrust provided by the curved electromagnetic interface; during the release and separation task, all five layers of electromagnetic mechanisms on the curved surface are operational; each electromagnetic mechanism generates a magnetic field with its N pole facing the microsatellite, the N pole of the coupled electromagnetic field points towards the microsatellite, and the N pole of the coupled permanent magnetic field points towards the curved electromagnetic interface. Under the action of the coupled magnetic field, the microsatellite is subjected to electromagnetic thrust away from the curved electromagnetic interface, and the microsatellite gradually separates from the curved electromagnetic interface; the recovery and adsorption of the microsatellites are achieved by electromagnetic attraction provided by the curved electromagnetic interface; during the recovery and adsorption task, all five layers of electromagnetic mechanisms on the curved surface are operational; each electromagnetic mechanism generates a magnetic field with its N pole facing the curved electromagnetic interface, the S pole of the coupled electromagnetic field points towards the microsatellite, and the N pole of the coupled permanent magnetic field points towards the curved electromagnetic interface. Under the action of the coupled magnetic field, the microsatellite is subjected to electromagnetic attraction close to the curved electromagnetic interface, and the microsatellite begins to dock with the curved electromagnetic interface.

[0018] Furthermore, the attitude tilting test specifically includes: the attitude adjustment of the micro-nano satellite is achieved by generating a dynamic electromagnetic field through an array electromagnetic mechanism. During the tilting process, a single array electromagnetic mechanism works, and only nine array electromagnetic mechanisms on the cross section are energized; when performing the attitude tilting task, the array electromagnetic mechanism generates an electromagnetic field according to a sinusoidal transformation law, and the position of the peak electromagnetic field moves along the array direction; the curved permanent magnet interface is subjected to an electromagnetic force tending towards the direction of the peak electromagnetic field movement under the coupled magnetic field, and the movement causes the curved permanent magnet interface to gradually deviate from the center line of the electromagnetic end, generating an attitude tilting action;

[0019] The attitude rotation test specifically includes: the attitude rotation of the micro-nano satellite is achieved by generating a dynamic electromagnetic field through an array of electromagnetic mechanisms. During the rotation, the outermost six electromagnetic mechanisms work. When performing the attitude rotation task, the outermost electromagnetic mechanism generates an electromagnetic field according to a sinusoidal transformation law. The peak electromagnetic field is distributed at any position in the circular array. When there is an angular difference between the electromagnetic field and the radial direction of the adjacent permanent magnet, the adjacent permanent magnet of the curved permanent magnet interface is subjected to an electromagnetic force tending towards the electromagnetic field under the coupled magnetic field. By continuously adjusting the position of the peak electromagnetic field, the curved permanent magnet interface is driven to rotate.

[0020] The separation and recovery process specifically includes: generating forces and torques for the satellite module during separation and recovery using an electromagnetic mechanism, which adopts an integrated electromagnetic-permanent magnet structure; establishing a curved ring-shaped permanent magnet array model based on the fundamental theory of electromagnetic fields, designing it according to its expected functions, proposing multiple electromagnetic matrix distribution schemes, obtaining the spatial distribution of the magnetic field generated by the electromagnetic mechanism through the magnetic field distribution of the coil regions of each scheme using the superposition theorem, and finally comparing the finite element simulation results of the coupled magnetic field with the analytical model results to analyze the influence of the electromagnetic matrix distribution on the dynamic characteristics of the magnetic field, and adjusting the separation and recovery attitude of the micro-nano satellite by changing the electromagnetic matrix distribution.

[0021] Another objective of this invention is to provide a satellite electromagnetic permanent magnet integrated connection, separation, and recovery device equipped with:

[0022] Microsatellites;

[0023] The microsatellite is equipped with a curved permanent magnet interface, which is connected to a curved electromagnetic interface, which is located on the satellite ring.

[0024] Furthermore, the curved electromagnetic interface is equipped with a laser displacement sensor, an infrared photoelectric switch, an electromagnetic mechanism, a solid lubricating coating, a second curved yoke, a second magnetic protective layer, and a circuit board;

[0025] The electromagnetic mechanisms distributed on the curved electromagnetic interface are uniformly arrayed on the hemisphere. The inner side of the hemisphere is coated with a solid lubricating coating, and the outer side of the hemisphere is provided with a second magnetic protective layer. Infrared photoelectric switches are distributed at the outermost edge of the curved electromagnetic interface.

[0026] Furthermore, the electromagnetic mechanism is a curved array electromagnetic mechanism, with a total of 25 mechanisms arranged in 5 layers. The innermost layer has 1 electromagnetic mechanism, and each of the remaining layers has 6 electromagnetic mechanisms.

[0027] The infrared photoelectric switch is a ring array infrared photoelectric switch, with each switch sensor assigned position and identification information; there are 3 laser displacement sensors, distributed at the bottom of the interface; the second curved yoke and the second magnetic protective layer are both hemispherical.

[0028] Furthermore, an electromagnetic control system is mounted on the circuit board. The electromagnetic control system consists of a double-layer PCB integrated board, with the top and bottom four sides respectively composed of an analog switch, a resistor adjustment area, a control chip, a voltage regulator module, and a motor drive module.

[0029] Furthermore, the curved electromagnetic interface is the active end, and the curved electromagnetic interface consists of 6 evenly distributed micro-nano satellite electromagnetic connection separation and retrieval interfaces. The curved electromagnetic interface is in the shape of a concave hemispherical surface, and the contact area of ​​the curved electromagnetic interface adopts an ultra-hardened ultra-smooth layer SSC.

[0030] Furthermore, the curved permanent magnet interface is a passive end, and is in the shape of a convex hemispherical surface; the curved permanent magnet interface is provided with a first magnetic protective layer, a first curved yoke, a permanent magnet, an ultra-smooth coating, and a magnetic protective composite material; the upper end of the curved permanent magnet interface is equipped with the first magnetic protective layer, and the outer side of the curved permanent magnet interface is equipped with an ultra-smooth coating.

[0031] Furthermore, the permanent magnet is a curved array permanent magnet, with permanent magnets distributed on the curved permanent magnet interface. The permanent magnets are cylindrical and uniformly arrayed on the hemispherical surface, with a total of 31 magnets, divided into 6 layers. The innermost layer has 1 permanent magnet, and each of the remaining layers has 6 permanent magnets.

[0032] Furthermore, both the first curved yoke and the magnetic protective composite material are hemispherical.

[0033] Furthermore, the magnetic protective composite material is a flexible electromagnetic shielding fabric composite material with a magnetic protective layer, which is composed of polymer fabric, copper and nickel materials.

[0034] Based on the above technical solutions and the technical problems solved, please analyze the advantages and positive effects of the technical solution to be protected by this invention from the following aspects:

[0035] First, addressing the technical problems existing in the prior art and the difficulty in solving them, this paper closely analyzes, in conjunction with the technical solution to be protected by this invention and the results and data obtained during the research and development process, how the technical solution of this invention solves the technical problems, and the inventive technical effects brought about by solving these problems. The specific description is as follows:

[0036] This invention employs a combined approach of coupled magnetic field modeling, dynamic simulation, and experimental verification, involving equivalent current models, molecular current theory, and the superposition theorem of magnetic fields. A coupled magnetic field model of an integrated electromagnetic-permanent magnet mechanism is established, and dynamic simulation analysis of the separation and recovery process of micro / nano satellites is conducted. Ground-based experiments are designed to verify the separation and recovery capabilities of the integrated electromagnetic-permanent magnet interface, achieving dynamic control of electromagnetic force, precise adjustment of separation attitude, and stable adjustment of parking attitude. Ultimately, this provides theoretical support for the application of enhanced launch vehicles in micro / nano satellite constellations.

[0037] In the coupled magnetic field modeling, an equivalent current model of the curved toroidal permanent magnet is established based on the fundamental theory of electromagnetic fields. The spatial distribution of the magnetic field generated by the permanent magnet in the electromagnetic mechanism is obtained using the superposition theorem. The expression for the electromagnetic force generated by the electromagnetic mechanism is derived by using the Lorentz force formula and introducing the concept of an equivalent current layer. Finally, the finite element simulation results of the coupled magnetic field are compared with the analytical model results to verify the accuracy of the analytical analysis of the spatial magnetic field of the permanent magnet and the force analysis of the electromagnetic mechanism. The optimization direction of the dimensional parameters of the electromagnetic mechanism is determined using the analytical rules.

[0038] In terms of dynamics simulation, electromagnetic field simulation software is first used to simulate and calculate the force situation of the electromagnetic mechanism at different positions during the entire motion process, and obtain the force data table of the electromagnetic mechanism during the entire motion process. Then, based on kinematic theory, a kinematic model of the mechanism is established and simulation analysis is performed to obtain the motion law and dynamic curves during the separation and recovery of micro-nano satellites.

[0039] In terms of experimental verification, the main focus is on experiments to verify the separation and recovery of the electromagnetic-permanent magnet integrated interface of micro-nano satellites under microgravity, as well as experiments on the separation attitude control and parking attitude adjustment of micro-nano satellites. The aim is to verify the matching relationship between the distribution law of the electromagnetic matrix and the dynamic characteristics of the magnetic field, and to reveal the influence of the coil electromagnetic parameters on the electromagnetic force and the influence of the electromagnetic matrix distribution law on the dynamic characteristics of the magnetic field under the magnetic field of the curved permanent magnet.

[0040] This invention improves the carrying capacity of aerospace equipment. The satellite ring provides multiple interfaces for connecting, separating, and recovering micro- and nano-satellites, enabling the simultaneous release, separation, and docking of multiple micro- and nano-satellites. The satellite ring consists of a circular ring with electromagnetic connection, separation, and recovery interfaces mounted on its surface. Connecting, recovering, and docking the micro- and nano-satellites is achieved through the docking of the curved permanent magnet interface and the curved electromagnetic interface. During launch missions, a strap-on fixing method is used to lock the connection interfaces.

[0041] Infrared photoelectric switches are distributed along the outermost edge of the interface, with each switch sensor assigned positional identification information for micro / nano satellite attitude identification. Laser displacement sensors are located at the bottom of the interface to obtain distance information between the satellite's permanent magnet end and electromagnetic end, also for micro / nano satellite attitude identification. Both the curved yoke and the magnetic shielding layer are hemispherical. The curved yoke guides magnetic flux and blocks leaking magnetic fields, while the magnetic shielding layer is made of magnetically shielding material. The combination of these two components guides the electromagnetic field within the curved working area and prevents interference from the electromagnetic field to other electronic components on the interface.

[0042] The circuit board consists of a double-layer PCB integrated board, responsible for controlling the electromagnetic mechanism, acquiring sensor data, and communication. The electromagnetic interface contact area employs coating technology to reduce contact friction during attitude adjustment and recovery docking processes. The use of an ultra-hardened, ultra-smooth SSC coating reduces friction by 80% during docking. The magnetic shielding layer uses a flexible electromagnetic shielding fabric composite material, composed of polymer fabric, copper, and nickel, which effectively shields electromagnetic radiation and is corrosion-resistant and weather-resistant. Both the curved yoke and the magnetic shielding layer of the curved permanent magnet interface are hemispherical. Their combined use guides the permanent magnetic field to the curved working area and prevents interference from the electromagnetic field of the curved electromagnetic interface to satellite electronic components.

[0043] The integrated curved surface interface for separation and recovery of this invention features a blind positioning and recovery docking structure. The curved electromagnetic mechanism array and curved permanent magnet array design enable precise control of electromagnetic force, resulting in a shock-free recovery process. The electrically controlled locking mechanism design allows for controllable separation and release processes as well as controllable docking clamping processes, improving the reusability of the separation and recovery mechanism. The electromagnetic force provided by this invention is characterized by controllable magnitude, variable direction, and rapid switching, meeting the on-orbit mission requirements for controllable release and separation attitudes and controllable recovery and docking attitudes.

[0044] Second, considering the technical solution as a whole or from a product perspective, the technical effects and advantages of the technical solution to be protected by this invention are specifically described as follows:

[0045] This invention can effectively reduce the manufacturing cost of satellite docking and separation, facilitate operation, meet the requirements of national intelligent manufacturing and green manufacturing projects, conform to the new industrialization path, promote the innovative development of the manufacturing industry, focus on improving quality and efficiency, accelerate the deep integration of new-generation information technology and manufacturing, take the advancement of intelligent manufacturing as the main direction, and aim to meet the needs of economic and social development and national defense construction for major technical equipment.

[0046] Third, as supplementary evidence of the inventive step of the claims of this invention, it is also reflected in the following important aspects:

[0047] (1) The expected benefits and commercial value of the technical solution of this invention after transformation are as follows:

[0048] This invention aims to propose a dynamic modeling method for array-type electromagnetic-permanent magnet coupled magnetic fields and integrated interfaces, providing an analytical basis for analyzing the dynamic characteristics of micro- and nano-satellites under dynamic coupled magnetic field forces. It also aims to propose control schemes for separation and recovery attitude regulation, revealing the dynamic distribution and regulation mechanism of the coupled magnetic field, and providing the matching relationship between the electromagnetic matrix distribution law and the dynamic characteristics of the magnetic field, thereby improving the ejection separation and recovery docking capabilities of micro- and nano-satellites. Furthermore, it aims to propose control schemes for the electromagnetic thrust and attraction of the micro- and nano-satellite interface, providing a controllable separation speed of 0-1 m / s and an attraction force of not less than 1 N at a distance of 300 mm from the interface.

[0049] (2) The technical solution of this invention fills a technical gap in the industry both domestically and internationally:

[0050] Existing non-electromagnetic separation and recovery technologies cannot solve the current challenges faced by micro- and nano-satellite connection, separation, and recovery interfaces in terms of rapid release, process control, controllable separation and recovery attitude, shock-free blind recovery, and reusability. Traditional connection and separation schemes lack attitude adjustment and recovery capabilities, and can only achieve a one-time separation action, failing to provide reusability, shock-free operation, and attitude control capabilities.

[0051] To address the challenges of controllable and rapid release and separation, electromagnetic separation schemes can meet the requirements of adjustable release and separation force and controllable triggering. To address the challenges of controllable separation and recovery attitude, electromagnetic matrix distribution schemes can achieve the ability to regulate satellite attitude through dynamic adjustment of electromagnetic force. To address the challenge of impact-free blind recovery, electromagnetic reverse propulsion technology and electromagnetic interface design can effectively improve the ability of electromagnetic force buffering and blind positioning recovery.

[0052] Therefore, the design and analysis of the electromagnetic-permanent magnet integrated separation and recovery interface proposed in this invention is essential. Conducting a series of analyses on electromagnetic technologies, such as dynamic characteristics of the coupled magnetic field, precise control of electromagnetic force, distribution characteristics of the electromagnetic matrix, and electromagnetic interference protection, is the key to meeting the requirements of rapid release separation and high-precision, impact-free blind positioning and recovery processes.

[0053] (3) Whether the technical solution of the present invention solves the technical problem that people have long wanted to solve but have never been able to solve successfully:

[0054] Addressing the key scientific question of "the influence mechanism of electromagnetic parameters on the precise control and optimization of electromagnetic force": First, based on the requirements for rapid release and separation and impact-free reliable recovery and docking of multiple micro- and nano-satellites, an overall design scheme for an integrated electromagnetic-permanent magnet interface is proposed. This includes the design of the locking mechanism and the curved surface interface, establishing a dynamic model of the electromagnetic connection separation and recovery mechanism for micro- and nano-satellites. Then, joint simulation analysis is performed using simulation software to obtain the motion laws and dynamic curves during the separation and recovery process of micro- and nano-satellites. Next, the optimization problem of electromagnetic force control of the integrated interface is solved. A mathematical model of the electromagnetic-permanent magnet coupled magnetic field strength is established, and the equivalent current method is used to analyze the three-dimensional spatial magnetic field. An expression for the electromagnetic force coupled between the electromagnetic field and the permanent magnetic field is established. The finite element simulation results of the coupled magnetic field are compared with the analytical model results to verify the accuracy of the analysis of the spatial magnetic field of the permanent magnet and the force analysis of the electromagnetic mechanism.

[0055] Regarding the second key scientific question, "Separation and Recovery Attitude Control Mechanism Based on Electromagnetic Matrix Distribution Characteristics": First, based on the distribution characteristics of the permanent magnet and electromagnetic coil at the electromagnetic-permanent magnet integrated interface, a curved permanent magnet matrix and a curved electromagnetic matrix, as well as an electromagnetic-permanent magnet coupled magnetic field matrix, are established. Then, the distribution law of the curved electromagnetic matrix and the dynamic characteristics of the coupled magnetic field are analyzed to verify the matching relationship between the matrix distribution characteristics and the dynamic characteristics of the electromagnetic force, establishing a mathematical model of the curved electromagnetic matrix-coupled magnetic field electromagnetic force. Next, the electromagnetic matrix-electromagnetic force model and the micro / nano satellite dynamics model are used to solve the separation and recovery motion parameters, analyzing the influence mechanism of the electromagnetic matrix distribution characteristics on the separation and recovery attitude of the micro / nano satellite, and verifying the accuracy of dynamic electromagnetic matrix adjustment in controlling the separation and recovery attitude. Attached Figure Description

[0056] Figure 1 is a schematic diagram of the structure of the satellite electromagnetic permanent magnet integrated connection, separation and recovery device provided in an embodiment of the present invention.

[0057] Figure 2 is a schematic diagram of the satellite ring structure provided in an embodiment of the present invention.

[0058] Figure 3 is a schematic diagram of the docking structure between the curved permanent magnet interface and the curved electromagnetic interface provided in an embodiment of the present invention.

[0059] Figure 4 is a schematic diagram of the outer structure of the curved electromagnetic interface provided in an embodiment of the present invention.

[0060] Figure 5 is a schematic diagram of the internal structure of the curved electromagnetic interface provided in an embodiment of the present invention.

[0061] Figure 6 is a schematic diagram of the curved permanent magnet interface design provided in an embodiment of the present invention.

[0062] Figure 7 is a diagram of the multi-micro-nano satellite separation, release, and recovery experimental platform provided in an embodiment of the present invention;

[0063] Figure 8 is a simulation model diagram of the energized coil-permanent magnet provided in an embodiment of the present invention;

[0064] Figure 9 is a schematic diagram of the simulation results provided by the embodiment of the present invention;

[0065] In the diagram: 1. Micro / nano satellite; 2. Curved permanent magnet interface; 2-1. First magnetic protective layer; 2-2. First curved yoke; 2-3. Permanent magnet; 2-4. Ultra-smooth coating; 3. Curved electromagnetic interface; 3-1. Laser displacement sensor; 3-2. Infrared photoelectric switch; 3-3. Electromagnetic mechanism; 3-4. Solid lubricating coating; 3-5. Second curved yoke; 3-6. Second magnetic protective layer; 3-7. Circuit board; 4. Satellite ring. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0067] I. Explanatory and Illustrative Embodiments. To enable those skilled in the art to fully understand how the present invention is specifically implemented, this section provides an explanatory and illustrative description of the embodiments described in the claims.

[0068] This invention provides a control method for a satellite electromagnetic-permanent magnet integrated connection, separation, and recovery device, which includes: combining coupled magnetic field modeling, dynamic simulation, and experimental verification; establishing a coupled magnetic field model of the electromagnetic-permanent magnet integrated mechanism using an equivalent current model, molecular current theory, and magnetic field superposition theorem; implementing dynamic simulation of the micro-nano satellite separation and recovery process; and performing dynamic control of electromagnetic force, precise adjustment of separation attitude, and stable adjustment of mooring attitude based on the dynamic simulation.

[0069] In the coupled magnetic field modeling, an equivalent current model of the curved toroidal permanent magnet is established based on the basic theory of electromagnetic fields. The spatial distribution of the magnetic field generated by the permanent magnet in the electromagnetic mechanism is obtained by using the superposition theorem. The expression of the electromagnetic force generated by the electromagnetic mechanism is obtained by using the Lorentz force formula and introducing an equivalent current layer. Then, the finite element simulation results of the coupled magnetic field are compared with the analytical model results to verify the analytical analysis of the spatial magnetic field of the permanent magnet and the force analysis of the electromagnetic mechanism. The optimization direction of the dimensional parameters of the electromagnetic mechanism is determined by using the laws obtained from the analysis.

[0070] In terms of dynamics simulation, electromagnetic field simulation software is used to simulate and calculate the force situation of the electromagnetic mechanism at different positions during the entire motion process, and obtain the force data table of the electromagnetic mechanism throughout the motion process. Then, based on kinematic theory, a kinematic model of the mechanism is established and simulation analysis is performed to obtain the motion law and dynamic curves during the separation and recovery of micro-nano satellites.

[0071] In terms of experimental verification, experiments were conducted on the separation and recovery of micro-nano satellites using an integrated electromagnetic-permanent magnet interface under microgravity, as well as on the separation attitude control and mooring attitude adjustment of micro-nano satellites. The matching relationship between the distribution law of the electromagnetic matrix and the dynamic characteristics of the magnetic field was verified, and the influence law of the electromagnetic parameters of the coil on the electromagnetic force and the influence law of the distribution law of the electromagnetic matrix on the dynamic characteristics of the magnetic field under the magnetic field of the curved permanent magnet were obtained.

[0072] As shown in Figures 1-3, the satellite electromagnetic permanent magnet integrated connection separation and recovery device provided in this embodiment of the invention includes: a micro-nano satellite 1, a curved permanent magnet interface 2, a curved electromagnetic interface 3, and a satellite ring 4; the micro-nano satellite 1 is equipped with the curved permanent magnet interface 2, the curved permanent magnet interface 2 is connected to the curved electromagnetic interface 3, and the curved electromagnetic interface 3 is disposed on the satellite ring 4.

[0073] As shown in Figures 4-6, the curved electromagnetic interface 3 includes a laser displacement sensor 3-1, an infrared photoelectric switch 3-2, an electromagnetic mechanism 3-3, a solid lubricating coating 3-4, a second curved yoke 3-5, a second magnetic protective layer 3-6, and a circuit board 3-7. The curved electromagnetic interface 3 is the active end, and consists of six evenly distributed micro / nano satellite electromagnetic connection separation and retrieval interfaces. The curved electromagnetic interface 3 is in the shape of a concave hemispherical surface. The electromagnetic mechanism 3-3 is a curved array electromagnetic mechanism, and the second magnetic protective layer 3-6 is a magnetic protective material protective layer. The electromagnetic mechanisms 3-3 distributed on the curved electromagnetic interface 3 are evenly arrayed on the hemispherical surface, totaling 25, divided into 5 layers. The innermost layer has one electromagnetic mechanism, and each of the remaining layers has six electromagnetic mechanisms. The inner side of the hemispherical surface is coated with a solid lubricating coating 3-4, and the outer side of the hemispherical surface is provided with the second magnetic protective layer 3-6. The outermost edge of the curved electromagnetic interface 3 uses an infrared photoelectric switch 3-2, which is a ring array infrared photoelectric switch. Each switch sensor is assigned position identification information. There are three laser displacement sensors 3-1, distributed at the bottom of the interface. The second curved yoke 3-5 and the second magnetic protective layer 3-6 are both hemispherical. An electromagnetic control system is mounted on the circuit board 3-7. The electromagnetic control system consists of a double-layer PCB integrated board. The top and bottom four sides are composed of analog switches, resistor adjustment areas, control chips, voltage regulator modules, and motor drive modules, respectively. This system is responsible for regulating the electromagnetic mechanism, acquiring sensor data, and communication. The contact area of ​​the curved electromagnetic interface 3 uses an ultra-hardened, ultra-smooth SSC coating.

[0074] In this embodiment of the invention, the curved permanent magnet interface 2 includes a first magnetic protective layer 2-1, a first curved yoke 2-2, a permanent magnet 2-3, an ultra-smooth coating 2-4, and a magnetic protective composite material 2-5. The first magnetic protective layer 2-1 is mounted on the upper end of the curved permanent magnet interface 2, and the ultra-smooth coating 2-4 is mounted on the outer side of the curved permanent magnet interface 2. The curved permanent magnet interface 2 is the passive end and has a convex hemispherical shape. The permanent magnet 2-3 is a curved array of permanent magnets. The curved permanent magnet interface 2 has 31 permanent magnets 2-3 distributed on it. The permanent magnets 2-3 are cylindrical and uniformly arrayed on the hemispherical surface, with a total of 31 magnets arranged in 6 layers. The innermost layer has 1 permanent magnet, and each of the remaining layers has 6 permanent magnets. The curved permanent magnet interface 2 is equipped with a magnetic protective composite material 2-5. The magnetic protective composite material 2-5 is a flexible electromagnetic shielding fabric composite material made of polymer fabric, copper, nickel, and other materials. The first curved yoke 2-2 and the magnetic protective composite material are both hemispherical.

[0075] The experimental device of this invention is capable of attitude recognition, separation and adsorption of micro / nano satellites, attitude tilting, and attitude rotation. Its working principle and workflow are as follows:

[0076] The pose recognition test process is as follows: Three laser displacement sensors 3-1 are used to acquire the distance information between the curved permanent magnet interface 2 and the curved electromagnetic interface 3 of the micro / nano satellite. The current position area of ​​the curved permanent magnet interface 2 is obtained based on the three-point positioning and the radius of the permanent magnet end. Using the plane where the laser displacement sensors 3-1 are located as the reference coordinate plane, the coordinates of the three points on the sphere of the curved permanent magnet interface 2 are obtained based on the three distance data. Then, based on the known radius of the curved permanent magnet interface 2, the current sphere where the curved permanent magnet interface 2 is located is calculated, obtaining the real-time position information and active domain of the curved permanent magnet interface 2. A ring array of infrared photoelectric switches 3-2 is used to acquire the attitude information of the micro / nano satellite 1. The current tilt angle of the curved permanent magnet interface 2 is obtained based on the working state of the infrared photoelectric switch array 3-2 and the angle division rules assigned to it. The infrared photoelectric switches 3-2 are evenly distributed on the outermost ring, with both idle and contact states. The satellite tilt angle β is calculated based on the ratio of the number of idle to contact states. Then, the orientation angle α is obtained based on the identity information of the two photoelectric switches on the boundary between the idle and contact states.

[0077] The test process for the separation and adsorption of microsatellites / nanosatellites: The release and separation of microsatellite 1 is achieved by the electromagnetic thrust provided by the curved electromagnetic interface 3. During the release and separation task, all five layers of electromagnetic mechanisms on the curved surface are operational. Each electromagnetic mechanism generates a magnetic field with its N pole facing microsatellite 1. The N pole of the coupled electromagnetic field points towards microsatellite 1, and the N pole of the coupled permanent magnetic field points towards the curved electromagnetic interface 3. Under the influence of the coupled magnetic field, microsatellite 1 experiences an electromagnetic thrust moving away from the curved electromagnetic interface 3, and gradually separates from it. The recovery and adsorption of microsatellite 1 is achieved by the electromagnetic attraction provided by the curved electromagnetic interface 3. During the recovery and adsorption task, all five layers of electromagnetic mechanisms on the curved surface are operational. Each electromagnetic mechanism generates a magnetic field with its N pole facing the curved electromagnetic interface 3. The S pole of the coupled electromagnetic field points towards microsatellite 1, and the N pole of the coupled permanent magnetic field points towards the curved electromagnetic interface 3. Under the influence of the coupled magnetic field, microsatellite 1 experiences an electromagnetic attraction approaching the curved electromagnetic interface 3, and begins to dock with it.

[0078] Attitude tilting test process: The attitude adjustment of microsatellite 1 is achieved by generating a dynamic electromagnetic field through an array electromagnetic mechanism 3-3. During the tilting process, a single array electromagnetic mechanism 3-3 operates, with only the nine array electromagnetic mechanisms on the cross-section energized. When performing the attitude tilting task, the array electromagnetic mechanism 3-3 generates an electromagnetic field according to a sinusoidal transformation law, and the position of the peak electromagnetic field moves along the array direction. The curved permanent magnet interface 2 is subjected to an electromagnetic force tending towards the direction of the peak electromagnetic field movement under the coupled magnetic field. Following the movement, the curved permanent magnet interface 2 gradually deviates from the center line of the electromagnetic end, producing an attitude tilting action.

[0079] Attitude rotation testing process: The attitude rotation of microsatellite 1 is achieved by generating a dynamic electromagnetic field through an array of electromagnetic mechanisms 3-3. During the rotation, the outermost six electromagnetic mechanisms 3-3 operate. When performing the attitude rotation task, the outermost electromagnetic mechanism 3-3 generates an electromagnetic field according to a sinusoidal transformation law. The position of the peak electromagnetic field can be distributed at any position in the circular array. When there is an angular difference between the electromagnetic field and the radial direction of the adjacent permanent magnet, the adjacent permanent magnets of the curved permanent magnet interface 2 are subjected to an electromagnetic force tending towards the electromagnetic field under the coupled magnetic field. By continuously adjusting the position of the peak electromagnetic field, the curved permanent magnet interface 2 is driven to rotate.

[0080] The main function of the electromagnetic mechanism 3-3 is to generate forces and torques during the separation and recovery of the satellite module. The mechanism adopts an integrated electromagnetic-permanent magnet structure. Based on the fundamental theory of electromagnetic fields, a curved ring-shaped permanent magnet array model is established. According to its expected function, various electromagnetic matrix distribution schemes are proposed. By analyzing the magnetic field distribution in the coil regions of each scheme, the spatial distribution of the magnetic field generated by the electromagnetic mechanism is obtained using the superposition theorem. Finally, the results of the coupled magnetic field finite element simulation are compared with the analytical model results to analyze the influence of the electromagnetic matrix distribution on the dynamic characteristics of the magnetic field. The separation and recovery attitude of the micro-nano satellite 1 is adjusted by changing the electromagnetic matrix distribution.

[0081] II. Application Examples. To demonstrate the inventiveness and technical value of the present invention, this section provides application examples of the claimed technical solutions applied to specific products or related technologies.

[0082] This invention is applied to enhance the launch capacity of aerospace equipment. A satellite ring mechanism equipped with an electromagnetic separation and recovery interface provides multiple docking positions for micro / nano satellites, significantly improving the launch capacity of aerospace equipment. It is also applied to the ejection and release of micro / nano satellites, providing reliable and controllable electromagnetic separation force through an integrated electromagnetic-permanent magnet interface, enabling controllable satellite release and separation. Furthermore, it is applied to the recovery and docking process of micro / nano satellites, providing controllable and stable electromagnetic attraction through a curved electromagnetic interface, achieving impact reduction and blind positioning docking during satellite recovery. Finally, it is applied to the attitude adjustment process during satellite separation and recovery, obtaining multi-directional dynamic electromagnetic force by adjusting a curved electromagnetic matrix, improving the dynamic adjustment capability of the satellite's attitude during separation and recovery. The interface for electromagnetic connection separation and recovery technology can improve rocket launch capacity, separation and recovery reliability, and interface reusability, making it the optimal choice for micro / nano satellite storage, ejection, and recovery solutions for cluster applications.

[0083] III. Evidence of the Relevant Effects of the Embodiments. The embodiments of the present invention have achieved some positive effects during research and development or use, and indeed possess significant advantages compared to existing technologies. The following description, in conjunction with data, charts, and other materials from the experimental process, illustrates these advantages.

[0084] experiment

[0085] Two main types of ground-based zero-gravity simulation experiments are required: separation, release, recovery, and mooring experiments of multiple micro / nano satellites under microgravity, and dynamic magnetic field control and separation / recovery attitude control experiments. The separation, release, and recovery experiments of multiple micro / nano satellites are primarily used to analyze the influence of electromagnetic parameters on the electromagnetic-permanent magnet coupled magnetic field, as well as to correct parameters and verify the coupled magnetic field model. The dynamic magnetic field control and separation / recovery attitude control experiments are primarily used to analyze the matching relationship between the distribution law of the electromagnetic matrix and the dynamic characteristics of the magnetic field, and to verify the accuracy of the micro / nano satellite dynamic model. These two types of verification experiments can effectively reveal the influence law of coil electromagnetic parameters on electromagnetic force under the magnetic field of curved permanent magnets, the dynamic distribution mechanism of the coupled magnetic field, and the matching relationship between the distribution law of the electromagnetic matrix and the dynamic characteristics of the magnetic field, laying an experimental foundation for the electromagnetic connection separation and recovery technology of multiple micro / nano satellites for cluster applications.

[0086] Figure 7. Experimental platform for separation, release and recovery of multi-micro-nano satellites.

[0087] (1) Experiment on separation, release and recovery of multi-micro-nano satellites

[0088] The experimental equipment for the separation, release, and recovery of multiple micro- and nano-satellites mainly includes an air-floating platform, air feet, a micro- and nano-satellite simulator, an electromagnetic mooring mechanism, and data acquisition equipment. The experiment is divided into micro- and nano-satellite separation and release experiments and micro- and nano-satellite recovery and mooring experiments. The separation and release experiment includes the separation of a single micro- and nano-satellite and the coordinated separation of multiple micro- and nano-satellites. During the experiment, the integrated electromagnetic-permanent magnet interface locking mechanism is energized and enters the release state. The integrated interface electromagnetic mechanism is energized to generate electromagnetic repulsion, allowing one or more micro- and nano-satellites to separate collaboratively. The data acquisition system collects the motion parameters of each component in real time. During the recovery and mooring experiment, the electromagnetic mechanism is energized to generate electromagnetic attraction. The micro- and nano-satellite simulator moves in the recovery direction within the range of the interface attraction. After mooring is completed, the locking mechanism engages to fix the micro- and nano-satellite simulator. The data acquisition system collects the motion parameters of each component in real time. The experimental setup, as shown in Figure 7, features an air-floating platform that continuously deflates to simulate a zero-gravity environment. The electromagnetic docking mechanism has six integrated electromagnetic-permanent magnet interfaces capable of simultaneously separating and retrieving six microsatellites / nanosatellites. Each integrated interface has a curved distributed electromagnetic coil array at its electromagnetic end. The microsatellite simulator interface has a spherical distributed permanent magnet array. This experiment analyzes the influence of electromagnetic parameters on the electromagnetic-permanent magnet coupled magnetic field, as well as the parameter correction and model verification of the coupled magnetic field model, providing experimental support for improving the electromagnetic force control capabilities of the microsatellite separation and retrieval interfaces.

[0089] (2) Experiment on dynamic control of magnetic field and separation and recovery attitude control

[0090] The experimental equipment for dynamic magnetic field control and separation / recovery attitude control mainly includes a fixed base, a hydrogen balloon, a micro / nano satellite simulator, an electromagnetic mooring mechanism, and data acquisition equipment. The experiment is divided into a micro / nano satellite release and separation attitude control experiment and a micro / nano satellite recovery and mooring attitude control experiment. During the separation attitude control experiment, the integrated electromagnetic-permanent magnet interface locking mechanism is energized and enters the released state. The integrated interface electromagnetic coil group operates according to a time-varying array matrix to generate a time-varying electromagnetic-permanent magnet coupled magnetic field. The micro / nano satellite experiences a non-constant electromagnetic force, resulting in variable dynamic behavior. During the recovery and mooring attitude control experiment, the locking mechanism remains in the released state. The integrated interface electromagnetic coil group generates various coupled magnetic fields according to multiple electromagnetic matrices, such as a fixed-axis rotation matrix and a variable-axis rotation matrix. The micro / nano satellite experiences multi-directional micro-excitations, resulting in attitude adjustment movements in the attitude control direction. The structure of the experimental equipment is shown in Figure 7. The balloon floats on the air-bearing platform through continuous deflation to simulate a zero-gravity environment. In the electromagnetic mooring mechanism, the distributed electromagnetic coil groups on each interface surface operate strictly according to the electromagnetic matrix. This experiment was used to analyze the dynamic distribution mechanism of the coupled magnetic field and the matching relationship between the electromagnetic matrix distribution law and the dynamic characteristics of the magnetic field, providing experimental support for improving the attitude control capability of the micro-nano satellite separation and recovery interface. Figure 8 Simulation model of energized coil-permanent magnet;

[0091] The simulation variables are the number of coil turns and the distance between the coil and the magnet. The simulation results show the force on the permanent magnet. The electromagnetic force on the permanent magnet increases with the number of coil turns multiplied by the current and decreases with the distance. Increasing the number of coil turns multiplied by the current results in a 0.2N electromagnetic force being generated by the permanent magnet at a distance of 300mm for a single coil. The proposed electromagnetic interface includes 25 electromagnetic mechanisms, 29 permanent magnets, and a yoke to enhance the magnetic field, which meets the technical requirements. See Figure 9 for a schematic diagram of the simulation results.

[0092] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A control method for a satellite electromagnetic permanent magnet integrated connection, separation, and recovery device, characterized in that, The control method for the satellite electromagnetic-permanent magnet integrated connection, separation, and recovery device includes: combining coupled magnetic field modeling, dynamic simulation, and experimental verification; establishing a coupled magnetic field model of the electromagnetic-permanent magnet integrated mechanism using equivalent current models, molecular current theory, and the superposition theorem; implementing dynamic simulation of the micro-nano satellite separation and recovery process; and performing dynamic control of electromagnetic force, precise adjustment of separation attitude, and stable adjustment of docking attitude based on the dynamic simulation. In the coupled magnetic field modeling, an equivalent current model of the curved annular permanent magnet is established based on the basic theory of electromagnetic fields. The spatial distribution of the magnetic field generated by the permanent magnet in the electromagnetic mechanism is obtained using the superposition theorem, and the Lorentz spectroscopy is used to further refine the model. By formulating the force formula and introducing an equivalent current layer, the expression for the electromagnetic force generated by the electromagnetic mechanism is obtained. Then, the results of the coupled magnetic field finite element simulation are compared with the analytical model results to verify the analytical analysis of the permanent magnet's spatial magnetic field and the force analysis of the electromagnetic mechanism. The optimization direction of the electromagnetic mechanism's dimensional parameters is determined using the analytical rules. In dynamic simulation, electromagnetic field simulation software is used to simulate and calculate the force situation of the electromagnetic mechanism at different positions throughout the entire motion process, obtaining a force data table of the electromagnetic mechanism throughout the motion process. Then, a kinematic model of the mechanism is established based on kinematic theory, and simulation analysis is performed to obtain the motion laws and dynamics during the separation and recovery of the micro-nano satellite. Learning curve; in experimental verification, experiments were conducted on the separation and recovery of the integrated electromagnetic-permanent magnet interface of micro-nano satellites under microgravity, and on the separation attitude control and docking attitude adjustment of micro-nano satellites; the matching relationship between the electromagnetic matrix distribution law and the dynamic characteristics of the magnetic field was verified, and the influence law of the coil electromagnetic parameters on the electromagnetic force and the influence law of the electromagnetic matrix distribution law on the dynamic characteristics of the magnetic field under the magnetic field of the curved permanent magnet were obtained; the control method of the satellite electromagnetic-permanent magnet integrated connection separation and recovery device also includes: posture recognition test: three laser displacement sensors are used to obtain the distance information between the curved permanent magnet interface and the curved electromagnetic interface of the micro-nano satellite, based on three-point positioning and the permanent magnet end half The current location region of the curved permanent magnet interface is obtained; Micro-nano satellite separation and adsorption test: Under the action of the coupling magnetic field, the micro-nano satellite is subjected to electromagnetic thrust away from the curved electromagnetic interface, and the micro-nano satellite gradually separates from the curved electromagnetic interface; Under the action of the coupling magnetic field, the micro-nano satellite is subjected to electromagnetic attraction close to the curved electromagnetic interface, and the micro-nano satellite docks with the curved electromagnetic interface; Attitude overturning test: Attitude adjustment is performed by generating a dynamic electromagnetic field through an array-type electromagnetic mechanism; Attitude rotation test: The attitude rotation of the micro-nano satellite is performed by generating a dynamic electromagnetic field through an array-type electromagnetic mechanism; Separation and recovery: The separation and recovery attitude of the micro-nano satellite is adjusted by changing the distribution of the electromagnetic matrix.

2. The control method for the satellite electromagnetic permanent magnet integrated connection, separation, and recovery device as described in claim 1, characterized in that, The pose recognition test specifically includes: using three laser displacement sensors to acquire distance information between the curved permanent magnet interface and the curved electromagnetic interface of the micro / nano satellite; obtaining the current position area of ​​the curved permanent magnet interface based on three-point positioning and the radius of the permanent magnet end; using the plane where the laser displacement sensors are located as the reference coordinate plane, obtaining the coordinates of three points on the spherical surface of the curved permanent magnet interface based on three distance data segments; then calculating the spherical surface where the current curved permanent magnet interface is located based on the known radius of the curved permanent magnet interface, obtaining the real-time position information and active domain of the curved permanent magnet interface; and using a ring array of infrared photoelectric switches to acquire the attitude information of the micro / nano satellite, and determining the position based on the working state and angle division rules of the infrared photoelectric switch array with assigned identity information. The current tilt angle of the curved permanent magnet interface is obtained; infrared photoelectric switches are evenly distributed on the outermost ring, with two states: idle and contact. The satellite tilt angle β is calculated based on the ratio of the number of idle to contact states, and the direction angle α is obtained based on the identity information of the two photoelectric switches on the boundary between the idle and contact states; the test of the separation and adsorption of the micro-nano satellite specifically includes: the release and separation of the micro-nano satellite is achieved by the electromagnetic thrust provided by the curved electromagnetic interface; when performing the release and separation task, all five layers of electromagnetic mechanisms on the curved surface are working; each electromagnetic mechanism generates a magnetic field with the N pole facing the micro-nano satellite when energized, the N pole of the coupled electromagnetic field points towards the micro-nano satellite, and the N pole of the coupled permanent magnetic field points towards the curved electromagnetic interface. Under the influence of the coupling magnetic field, the microsatellite experiences electromagnetic thrust away from the curved electromagnetic interface, gradually separating it from the interface. The recovery and adsorption of the microsatellite relies on the electromagnetic attraction provided by the curved electromagnetic interface. During the recovery and adsorption mission, all five layers of electromagnetic mechanisms on the curved surface are operational. Each electromagnetic mechanism generates a magnetic field with its N pole facing the curved electromagnetic interface, the S pole of the coupled electromagnetic field pointing towards the microsatellite, and the N pole of the coupled permanent magnetic field pointing towards the curved electromagnetic interface. Under the influence of the coupling magnetic field, the microsatellite experiences electromagnetic attraction closer to the curved electromagnetic interface, and docking begins. The attitude tilting test specifically includes: attitude adjustment of the microsatellite... The attitude tilting action is achieved by generating a dynamic electromagnetic field through an array of electromagnetic mechanisms. During the tilting process, a single array of electromagnetic mechanisms operates, with only nine arrays of electromagnetic mechanisms on the cross-section being energized. When performing the attitude tilting task, the array of electromagnetic mechanisms generates an electromagnetic field according to a sinusoidal transformation law, and the position of the peak electromagnetic field moves along the array direction. The curved permanent magnet interface is subjected to an electromagnetic force tending towards the direction of the peak electromagnetic field movement under the coupled magnetic field, and the movement causes the curved permanent magnet interface to gradually deviate from the center line of the electromagnetic end, generating an attitude tilting action. The attitude rotation test specifically includes: the attitude rotation of the micro-nano satellite is achieved by generating a dynamic electromagnetic field through an array of electromagnetic mechanisms, with the outermost six electromagnetic mechanisms operating during the rotation process.During attitude rotation, the outermost electromagnetic mechanism generates an electromagnetic field according to a sinusoidal transformation law. The peak electromagnetic field is distributed at arbitrary positions in the circular array. When there is an angular difference between the electromagnetic field and the radial direction of the adjacent permanent magnet, the adjacent permanent magnet of the curved permanent magnet interface experiences an electromagnetic force tending towards the electromagnetic field under the coupled magnetic field. By continuously adjusting the position of the peak electromagnetic field, the curved permanent magnet interface is driven to rotate. The separation and recovery specifically includes: the electromagnetic mechanism generating the force and torque of the satellite module during the separation and recovery process. The mechanism adopts an integrated electromagnetic-permanent magnet structure. Based on the basic theory of electromagnetic fields, a curved ring permanent magnet array model is established. According to its expected function, it is designed and multiple electromagnetic matrix distribution schemes are proposed. Through the magnetic field distribution of the coil region of each scheme, the spatial distribution of the magnetic field generated by the electromagnetic mechanism is obtained using the superposition theorem. Finally, the finite element simulation results of the coupled magnetic field are compared with the analytical model results to analyze the influence of the electromagnetic matrix distribution on the dynamic characteristics of the magnetic field. The separation and recovery attitude of the micro-nano satellite is adjusted by changing the electromagnetic matrix distribution.

3. A satellite electromagnetic permanent magnet integrated connection, separation, and recovery device implementing the control method according to any one of claims 1 to 2, characterized in that, The satellite electromagnetic permanent magnet integrated connection, separation and recovery device is equipped with: a micro-nano satellite; the micro-nano satellite is equipped with a curved permanent magnet interface, which is connected to a curved electromagnetic interface, and the curved electromagnetic interface is set on the satellite ring.

4. The satellite electromagnetic permanent magnet integrated connection, separation, and recovery device as described in claim 3, characterized in that, The curved electromagnetic interface is equipped with a laser displacement sensor, an infrared photoelectric switch, an electromagnetic mechanism, a solid lubricating coating, a second curved yoke, a second magnetic protective layer, and a circuit board. The electromagnetic mechanism is evenly arrayed on a hemispherical surface, with a solid lubricating coating on the inner side and a second magnetic protective layer on the outer side. The infrared photoelectric switches are located at the outermost edge of the curved electromagnetic interface. The electromagnetic mechanism is a curved array type, consisting of 25 components arranged in 5 layers, with one mechanism in the innermost layer and six mechanisms in each of the remaining layers. The infrared photoelectric switches are a ring array type, with each switch sensor assigned positional information. Three laser displacement sensors are located at the bottom of the interface. Both the second curved yoke and the second magnetic protective layer are hemispherical. An electromagnetic control system is mounted on the circuit board, consisting of a double-layer PCB integrated board with four layers on the top and bottom. The surface is composed of an analog switch, a resistor adjustment area, a control chip, a voltage regulator module, and a motor drive module. The curved electromagnetic interface is the active end, consisting of six evenly distributed micro-nano satellite electromagnetic connection separation and retrieval interfaces. The curved electromagnetic interface is concave hemispherical, and the contact area of ​​the curved electromagnetic interface is coated with an ultra-hardened, ultra-smooth SSC coating. The curved permanent magnet interface is the passive end, convex hemispherical. The curved permanent magnet interface is equipped with a first magnetic protection layer, a first curved yoke, a permanent magnet, an ultra-smooth coating, and a magnetic protection composite material. The upper end of the curved permanent magnet interface is equipped with the first magnetic protection layer, and the outer side of the curved permanent magnet interface is equipped with an ultra-smooth coating. The permanent magnet is a curved array permanent magnet, with 31 cylindrical permanent magnets evenly arrayed on the hemispherical surface, arranged in 6 layers. The innermost layer has one permanent magnet, and each of the remaining layers has six permanent magnets.

5. The satellite electromagnetic permanent magnet integrated connection, separation, and recovery device as described in claim 4, characterized in that, Both the first curved yoke and the magnetic protective composite material are hemispherical.

6. The satellite electromagnetic permanent magnet integrated connection, separation, and recovery device as described in claim 4, characterized in that, The magnetic protective composite material is a magnetic protective layer, which is made of flexible electromagnetic shielding fabric composite material, composed of polymer fabric, copper and nickel materials.

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