Trajectory controllable variant inflatable deceleration device and trajectory control method

Abstract

The application relates to a trajectory-controllable variant inflatable deceleration device and a trajectory control method. The device comprises an inverted cone decelerator, the center of the inner cone of the decelerator is provided with a device cabin, the decelerator is an inflatable air bag, the inner side of the air bag cone surface is provided with a control part; a plurality of driving elements are arranged on the device cabin; each driving element is connected with the control part through a traction element; a control unit is arranged in the device cabin, the control unit is electrically connected with the driving element, and is used for controlling the driving element to drive the traction element to move in the radial direction. The application applies tensile force to the air bag cone surface of the decelerator through the cooperation of the driving element and the traction element, so that the shape of the decelerator is changed, the posture of the decelerator is changed, deflection is formed, the movement trajectory of the decelerator is controlled, and finally the set landing point is reached.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of decelerators, in particular to a trajectory-controllable variable inflatable deceleration device and a trajectory control method. BACKGROUND

[0002] An inflatable aerodynamic decelerator (IAD) is an inflatable aerodynamic deceleration device composed of a flexible fabric. The inflatable decelerator is simple in structure, convenient to fold and carry, light in weight, large in payload ratio, and low in launch cost, and solves the problems of the traditional return technology, such as too large mass of the rigid return cabin, too high test cost, inability to be repeatedly used, and too many limitations in design size. According to the combination form of the decelerator and the load body, the inflatable decelerator can be divided into a trailing type and an attached type. The attached inflatable decelerator (AID) usually adopts a drag cone inflatable shape and is usually designed integrally with the load body. The attached inflatable decelerator is composed of an inflatable ring, a flexible thermal protection system, a rigid heat-proof head cone, a binding belt, a load cabin and the like. At present, the attached inflatable decelerator schemes at home and abroad all adopt a passive landing scheme, and therefore have the defects of poor landing point controllability, low precision and difficult search, and the like. Therefore, it is necessary to design a scheme capable of realizing high-precision landing point control. SUMMARY

[0003] Therefore, it is necessary to design a scheme capable of realizing high-precision landing point control.

[0004] A trajectory-controllable variable inflatable deceleration device comprises an inverted cone-shaped decelerator, the inner cone center of the decelerator is provided with a device cabin, the decelerator is an inflatable airbag, and the inner side of the airbag cone surface is provided with a control part.

[0005] A plurality of driving elements are arranged on the device cabin, and each driving element is connected with the control part through a traction element.

[0006] A control unit is arranged in the device cabin and is electrically connected with the driving elements, and is used for controlling the driving elements to drive the traction element to move in the radial direction.

[0007] In one embodiment, the device further comprises an inflation and exhaust assembly.

[0008] The inflation and exhaust assembly is arranged in the device cabin and is electrically connected with the control unit, and is used for inflating or exhausting the decelerator.

[0009] In one embodiment, the inflation and exhaust assembly comprises an inflation cabin, an electromagnetic valve, an exhaust valve and an inflation channel.

[0010] The inflation chamber is in communication with the decelerator airbag through the inflation channel;

[0011] The electromagnetic valve is arranged near the outlet of the inflation chamber and in the inflation channel, and is used for controlling the inflation of the decelerator;

[0012] The exhaust valve is arranged in the inflation channel, and is used for controlling the exhaust of the decelerator.

[0013] In one embodiment, the conical surface of the decelerator airbag comprises a plurality of conical petals which are not communicated with each other;

[0014] The inflation and exhaust assembly inflates or exhausts each of the conical petals respectively.

[0015] In one embodiment, the device further comprises a navigation control cabin;

[0016] The navigation control cabin is arranged in the device cabin and is electrically connected with the control unit, and is used for sending data information to the control unit.

[0017] In one embodiment, the navigation control cabin is provided with a positioning unit, a navigation unit and an attitude detection unit.

[0018] In one embodiment, the device further comprises a load cabin;

[0019] The load cabin is arranged in the device cabin and is located at the top end of the device cabin, and is used for placing target objects.

[0020] A trajectory control method, the method comprising:

[0021] The load cabin carries the target objects;

[0022] The inflation and exhaust assembly receives the instruction of the control unit, inflates the decelerator, increases the resistance area after the decelerator is inflated, leaves the original orbit and enters the reentry orbit, and completes the deceleration;

[0023] Each driving member respectively receives the instruction of the control unit, drives the traction member to pull in the radial direction, so as to control the deformation amount of the surface of the decelerator, and adjust the flight attitude of the decelerator.

[0024] In one embodiment, the deformation amount of the surface of the decelerator is determined by a deformation curve fitting function;

[0025] The deformation curve fitting function is expressed as:

[0026] 0≤x<a,

[0027] a≤x≤2a,

[0028] In the formula, Δl represents the deformation amount at the steering node perpendicular to the generatrix; Δs represents the steering amount of the rudder; a represents the distance from the cone top to the steering node; x represents the distance from the cone top to the deformation position; and h represents the height of the inverted cone.

[0029] In one embodiment, the conical surface of the gas bag of the decelerator is divided into a plurality of conical segments that are not in communication with each other.

[0030] The charging and discharging assembly receives instructions from the control unit, discharges the corresponding conical segment, and cooperates with the driving member to adjust the flight attitude of the decelerator.

[0031] Compared with the prior art, the trajectory-controllable variable inflatable deceleration device and the trajectory control method provided by the application have the following effects:

[0032] 1. The driving member and the traction member cooperate to apply a tensile force to the conical surface of the gas bag of the decelerator, thereby changing the shape of the decelerator, causing the attitude of the decelerator to change, forming a deflection, thereby controlling the motion trajectory of the decelerator, and finally reaching the set landing point. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a perspective view of the trajectory-controllable variable inflatable deceleration device in Example 1.

[0034] Figure 2 It is a cross-sectional view of the trajectory-controllable variable inflatable deceleration device in Example 1.

[0035] Figure 3 It is a single-side deformation schematic view of the trajectory-controllable variable inflatable deceleration device in Example 1.

[0036] Figure 4 It is a multi-side deformation schematic view of the trajectory-controllable variable inflatable deceleration device in Example 1.

[0037] Figure 5 It is a flowchart of the trajectory-controllable variable inflatable deceleration method in Example 2.

[0038] Figure 6 It is a deformation amount calculation schematic view of the trajectory-controllable variable inflatable deceleration device in Example 2.

[0039] Explanation of reference signs:

[0040] Decelerator 11, conical segment 111, steering portion 112, device cabin 22, load cabin 221, control unit 222, navigation control cabin 223, inflation cabin 224, gas bag folding cabin 225, driving member 33, traction member 44. DETAILED DESCRIPTION

[0041] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0042] It should be noted that all directional indications, such as upper, lower, left, right, front, back, etc., described herein are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0043] In addition, the descriptions such as "first", "second" and the like in the present application are only for the purpose of description, and should not be understood as indicating or implying the relative importance of the technical features or implicitly indicating the number of the technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0044] In the present application, unless otherwise specifically defined and limited, the terms "connection", "fixing" and the like should be understood in a broad sense, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection, or physical connection or wireless communication connection; can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] The embodiments of the present application will be described in detail below with reference to the accompanying drawings of the embodiments of the present application.

[0046] Embodiment 1

[0047] Reference 1 to Figure 4, provide a trajectory controllable variant inflatable deceleration device, including a decelerator 11, the decelerator 11 is a reverse tapered inflatable air bag structure, the operating part 112 is arranged in the air bag cone inner side, the central position is provided with device cabin 22, a plurality of driving members 33 are arranged on the device cabin 22, each driving member 33 is connected with the operating part 112 through the traction member 44;The control unit 222 is arranged in the device cabin 22, the control unit 222 is electrically connected with the driving member 33, for controlling the driving member 33, thereby driving the traction member 44 to move along the radial direction. It is worth mentioning that the driving member 33 can be arranged inside the device cabin 22, or can be arranged according to the requirement along the device cabin outer surface circumferential array;When arranged inside, the through hole corresponding to the number of driving members 33 is arranged on the device cabin 22, so that the traction member 44 passes through the through hole and is connected with the driving member 44. The control unit 222 is a micro control system, which is a core control system, mainly used for sending instructions to the load cabin 221, the driving member 33, the charging and discharging assembly and the navigation control cabin 223. For example, the micro control system has a pressure sensor, which monitors the inflation pressure of the decelerator air bag, and sends instructions to the charging and discharging assembly when the inflation pressure reaches the threshold value to stop inflation or exhaust.

[0048] As Figure 2 shown, the device cabin 22 is also provided with a load cabin 221, a navigation control cabin 223, a charging cabin 224 and an air bag folding cabin 225 in the charging and discharging assembly, the load cabin 221 is arranged at the top end of the device cabin 22, mainly used for placing target objects, such as placing the recovery target captured by the capture mechanism, or spacecraft return, emergency rescue transportation goods, etc.;The air bag folding cabin 225 is used to store the decelerator air bag which has not been inflated, and releases the decelerator air bag after receiving the instruction of the control unit 222. The charging and discharging assembly, the navigation control cabin 223 and the air bag folding cabin 225 are respectively electrically connected with the control unit 222, for receiving the instruction information of the control unit 222. It is worth mentioning that the processing load cabin 221 is arranged at the top of the device cabin 22, and other cabins can be arranged according to the requirement, Figure 2 Only as one of the display, not specifically limited its arrangement.

[0049] Specifically, the reverse taper airbag structure of the speed reducer 11 is mainly formed by stacking a plurality of inflatable annular rings in the radial direction, generally 9 annular rings, and the inflatable annular rings are in a connected state. Inside the airbag taper surface, near the central position in the direction from the taper core to the top surface end, a control part 112 is arranged, which has a connecting hole for fixing the traction member 44. The driving member 33 is generally set to an even number of 2, such as 2, 4, 6, etc. The control part 112 is arranged according to the number of driving members 33, and the two are connected through the traction member 44. The corresponding control part 112 is independently controlled by the driving member 33, so as to realize independent adjustment of multiple angles. In operation, according to the specific position of the speed reducer 11 that needs to be deformed, the control unit 222 sends instructions to the corresponding driving member 33, and the traction member 44 is pulled by the driving member 33, so as to drive the cross section at the control part 112 to deform, and then change the motion trajectory of the speed reducer, so as to realize attitude control. As shown in Figure 3 and Figure 4 The schematic diagram of single-side deformation of the speed reducer and the schematic diagram of multi-side deformation are shown.

[0050] It is worth noting that the driving member 33 is a motor, preferably a rudder. The traction member 44 can be a rigid rod, a flexible rod or a flexible control cable, which is selected according to the requirements. In order to facilitate folding and considering economy, the flexible control cable is preferred.

[0051] The charging and discharging assembly is mainly used for inflating or discharging the airbag of the speed reducer, and includes a charging cabin 224, an electromagnetic valve, a discharge valve and a charging channel. The charging cabin 224 is arranged in the device cabin 22 and is mainly used for storing nitrogen, which is generally a high-pressure nitrogen cylinder. The charging cabin 224 is connected with the airbag of the speed reducer 11 through the charging channel; the electromagnetic valve is electrically connected with the control unit 222, which is arranged near the outlet of the charging cabin and in the charging channel, and is used for controlling the inflation of the speed reducer; the discharge valve is electrically connected with the control unit 222, which is arranged in the charging channel and is used for controlling the discharge of the speed reducer.

[0052] The navigation control cabin 223 is arranged in the device cabin 22 and is electrically connected with the control unit 222, and is used for sending data information to the control unit 222. Specifically, the navigation control cabin 223 is provided with a positioning unit, a navigation unit and an attitude detection unit, which are all micro electronic devices. The positioning unit mainly obtains the position information of the speed reduction device, the navigation unit mainly obtains the information of the target landing point, and the attitude detection unit detects the attitude information of the speed reduction device in real time. The related data is sent to the control assembly, so that the control assembly integrates the information and performs corresponding operation to adjust the attitude of the speed reduction device, so as to reach the target landing point.

[0053] It is worth noting that the speed reducer 11 is made of flexible heat-resistant material, and the surface of the speed reducer 11 is covered with a heat insulation skin to block the heat flow.

[0054] In operation, the load cabin 221 obtains the target object and stores the target object in the load cabin 221, the control unit 222 sends a command to control the inflation cabin 224 to fill nitrogen into the speed reducer 11 through the inflation channel, and the control unit simultaneously monitors the inflation pressure in the speed reducer 11, and stops inflation when the inflation pressure reaches a threshold value. The speed reducer 11 increases the resistance to orbit and separates from the original orbit to enter the reentry orbit to achieve deceleration.

[0055] When the speed reducer 11 is decelerated to a relatively low speed, according to the position information of the landing point, the control unit 222 sends a command to the driving member 33 according to the deformation amount data of the speed reducer 11, the driving member 33 controls the corresponding traction member 44 according to the command, thereby driving the cross section at the steering part 112 to deform, forming symmetric or asymmetric deformation on the surface of the speed reducer 11, thereby affecting the flow field, obtaining the aerodynamic force for steering the attitude and trajectory of the speed reducer 11, forming deflection, and further controlling the motion trajectory of the speed reducer 11, so that the speed reducer 11 reaches the landing point.

[0056] In one embodiment, the conical surface of the speed reducer is divided into a plurality of conical petals 111 that are not communicated with each other, the air bags in each conical petal 111 are in a communication state, the inflation channels in the inflation and exhaust assembly are arranged according to the number of conical petals 111, each conical petal 111 is communicated with the inflation cabin 224 through the inflation channel, an electromagnetic valve is arranged at the outlet of the inflation cabin 224, and the inflation of all conical petals 111 is controlled through the electromagnetic valve; and an exhaust valve is arranged in each inflation channel, and each conical petal 111 is exhausted through the independent working of each exhaust valve.

[0057] It can be understood that after the speed reducer air bags are divided, the inflation pressure of each conical petal 111 is independently controlled through the inflation and exhaust assembly, and then the driving member 33 is matched, so that more flexible attitude control of the speed reducer is realized.

[0058] Preferably, in order to realize stable control, the number of conical petals 111 is generally an even multiple of 2.

[0059] The application provides a variable inflation type speed reducer with controllable trajectory, which realizes the resistance-increasing orbit separation of aerospace through inflation of the speed reducer, and the surface of the inflation speed reducer is made of heat insulation material to protect the speed reducer from being damaged by high temperature in the return process. When the speed reducer enters the atmosphere, the driving member 33 controls the traction member 44 to stretch to change the aerodynamic shape of the speed reducer 11, the symmetric or asymmetric shape of the speed reducer 11 changes the aerodynamic force, so that the speed reducer 11 has the effects of adjustable attitude and controllable trajectory, and realizes accurate landing of the speed reducer 11.

[0060] Embodiment 2

[0061] As Figure 5 and Figure 6As shown, a trajectory control method is provided, comprising the following steps:

[0062] Step 102, the load cabin carries the target object.

[0063] Step 104, the charge and exhaust assembly receives the instruction of the control unit, charges the decelerator, increases the resistance area after the decelerator is charged, leaves the original orbit and enters the reentry orbit, and completes the deceleration.

[0064] Step 106, each driving member respectively receives the instruction of the control unit, drives the traction member to pull along the radial direction, so as to control the deformation amount of the surface of the decelerator, and adjust the flight attitude of the decelerator.

[0065] In one embodiment, as shown in Figure 6 The dashed line represents the shape of the decelerator before deformation and the position of the traction member; the black solid line represents the shape of the decelerator after deformation and the position of the traction member, wherein the deformation geometric relationship is represented as:

[0066] Δl = 2Δs;

[0067] Each steering part is a steering node, and each steering node realizes the steering of the decelerator by single-degree-of-freedom steering. The deformation curve fitting function only depends on the steering amount Δl and the steering node a.

[0068] The deformation amount at the surface x of the decelerator is determined by the deformation curve fitting function;

[0069] The deformation curve fitting function is represented as:

[0070] 0≤x<a,

[0071] a≤x≤2a,

[0072] In the formula, Δl represents the deformation amount perpendicular to the generatrix at the steering node; Δs represents the steering amount of the rudder; a represents the distance from the cone top to the steering node; x represents the distance from the cone top to the deformation position; and h represents the height of the inverted cone.

[0073] In one embodiment, the gas bag cone surface of the decelerator is divided into a plurality of cone petals which are not communicated with each other;

[0074] The charge and exhaust assembly receives the instruction of the control unit, exhausts the corresponding cone petals, and adjusts the flight attitude of the decelerator in cooperation with the driving member.

[0075] It should be understood that, although Figure 5The steps in the flowcharts of the above embodiments are displayed in sequence according to the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, Figure 5 At least a part of the steps in the flowcharts of the above embodiments can include a plurality of sub-steps or a plurality of stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of the sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least a part of other steps or sub-steps or stages of other steps.

[0076] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, but it should be understood that any combination of the technical features is within the scope of the present disclosure as long as there is no contradiction.

[0077] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A trajectory controllable variant pneumatic deceleration device comprising an inverted cone decelerator, the center of the inner cone of the decelerator is provided with a device cabin, characterized in that, The speed reducer is an inflatable air bag, and a steering part is arranged on the inner side of the air bag cone surface; A plurality of driving members are arranged on the device cabin, and each driving member is connected with the steering part through a traction member; A control unit is arranged in the device cabin and electrically connected with the driving members, and is used for controlling the driving members to drive the traction members to move in the radial direction; A load cabin and an air bag folding cabin are further arranged in the device cabin; The load cabin is arranged at the top end of the device cabin and is mainly used for placing target objects; The air bag folding cabin is arranged at the bottom end of the device cabin, is used for storing the speed reducer air bag which has not been inflated, and releases the speed reducer air bag after receiving the instruction of the control unit; The driving members are arranged in the device cabin, and a plurality of through holes corresponding to the number of the driving members are arranged on the device cabin, so that the traction members pass through the through holes and are connected with the driving members; The traction member is a flexible steering rope.

2. The trajectory-controlled variant pneumatic deceleration device according to claim 1, characterized in that Further comprising a charging and discharging assembly; The charging and discharging assembly is arranged in the device cabin and is electrically connected with the control unit, and is used for inflating or deflating the speed reducer.

3. The trajectory-controlled variant pneumatic deceleration device according to claim 2, characterized in that The charging and discharging assembly comprises a charging cabin, an electromagnetic valve, a discharging valve and a charging channel; The charging cabin is communicated with the speed reducer air bag through the charging channel; The electromagnetic valve is arranged near the outlet of the charging cabin and is located in the charging channel, and is used for controlling the inflation of the speed reducer; The discharging valve is arranged in the charging channel and is used for controlling the deflation of the speed reducer.

4. The trajectory-controlled variant pneumatic deceleration device according to claim 3, characterized in that The cone surface of the speed reducer air bag comprises a plurality of cone petals which are not communicated with each other; The charging and discharging assembly inflates or deflates each cone petal respectively.

5. A trajectory controllable variant pneumatic deceleration device according to any one of claims 2 to 4, characterized in that, Further comprising a navigation control cabin; The navigation control cabin is arranged in the device cabin and is electrically connected with the control unit, and is used for sending data information to the control unit.

6. A trajectory controllable variant pneumatic deceleration device according to claim 5, characterized in that The navigation control cabin is provided with a positioning unit, a navigation unit and a posture detection unit.

7. A trajectory control method characterized by, The method comprises the following steps: The load cabin carries the target objects; The charging and discharging assembly receives the instruction of the control unit, inflates the inverted-cone-shaped speed reducer, increases the resistance area after the speed reducer is inflated, leaves the original orbit and enters the reentry orbit, and completes the speed reduction; Each driving member receives the instruction of the control unit and drives the traction member to pull in the radial direction, so as to control the deformation amount of the surface of the speed reducer and adjust the flight attitude of the speed reducer.

8. The trajectory control method according to claim 7, characterized by, The deformation amount of the surface of the speed reducer is determined by a deformation curve fitting function; The deformation curve fitting function is expressed as: ； ； wherein represents the amount of deformation at the control node perpendicular to the generatrix; represents the amount of steering of the steering gear; represents the distance from the cone apex to the control node; represents the distance from the cone apex to the deformation; represents the height of the inverted cone.

9. The trajectory control method according to claim 7 or 8, characterized by, The cone surface of the speed reducer air bag is divided into a plurality of cone petals which are not communicated with each other; The charging and discharging assembly receives the instruction of the control unit, deflates the corresponding cone petal, and adjusts the flight attitude of the speed reducer in cooperation with the driving members.

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