Space debris racemization and capture satellite system and capture method

Abstract

The invention discloses a space debris racemization and capture satellite system which comprises a main platform, a sub-platform and four telescopic rods connecting the main platform and the sub-platform. The main platform is provided with an active pose control device and a driving mechanism provided with a main cabin body, a main solar wing A, a main solar wing B, a main electromagnetic coil and a telescopic rod, and the sub-platform is provided with a driving mechanism provided with a sub-cabin body, a sub-platform solar wing, a sub-platform electromagnetic coil and a telescopic rod. The four telescopic rods are in a folded state during launching and are unlocked and stretched before working to form a quadrangle, and the main platform and the sub-platform are located at the diagonal positions respectively. The main electromagnetic coil and the sub-electromagnetic coil cooperatively generate a racemization magnetic field, and when the angular velocity of fragments is reduced to be safe capture, the driving mechanism drives the telescopic rod to clamp a capture target. The satellite system balances the electromagnetic torque borne by the satellite system by using the gravity gradient torque, so that the control complexity of the relative pose of the coil is reduced, and the dissipation of rotation energy under the condition of no fuel loss is realized.

Description

Technical Field

[0001] The present invention relates to a space debris despin and capture satellite system and a capture method, belonging to the field of on-orbit servicing of spacecraft. Background Art

[0002] With the increasing frequency of human space launch activities, the number of artificial objects in the Earth's orbit has increased sharply. A large number of rocket upper stages, failed satellites, mission-related debris, and disintegration debris have been staying in the low Earth orbit for a long time, resulting in an increased risk of space object collisions, threatening the lives of astronauts and the safety of human space assets. Research shows that active removal of space debris is already a necessary means to avoid the out-of-control growth of on-orbit space objects and ensure the safe and sustainable access of satellites to space.

[0003] Due to the complex disturbing torques in the space environment, space debris that has lost its attitude control ability generally has complex rotational motions, and the rotational speed can even reach hundreds of ° / s. The risk of destructive collisions and attitude loss of control of the combined body when a service satellite directly captures rotating space debris is relatively high. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: The present invention provides a space debris despin and capture satellite system and a capture method, aiming to provide a lightweight and low-fuel-loss service satellite system for the despin and capture of rotating space debris.

[0005] The technical solution adopted by the present invention is: A space debris despin and capture satellite system includes a main platform, a sub-platform, and telescopic rods A, B, C, and D;

[0006] One end of the telescopic rod A is connected to the drive mechanism A on the main platform, and the other end is hinged to one end of the telescopic rod C. The other end of the telescopic rod C is connected to the drive mechanism C on the sub-platform;

[0007] One end of the telescopic rod B is connected to the drive mechanism B on the main platform, and the other end is hinged to one end of the telescopic rod D. The other end of the telescopic rod D is connected to the drive mechanism D on the sub-platform;

[0008] The telescopic rods A, B, C, and D can perform axial telescoping, being in a retracted state during launch and extending axially when starting to despin;

[0009] The main platform and the sub-platform use electromagnetic coils to generate magnetic fields to perform electromagnetic despin on the rotating target, and the telescopic rods A, B, C, and D form a quadrilateral to capture the rotating target.

[0010] Furthermore, the main platform further includes a main cabin, main solar wing A, main solar wing B, and main platform electromagnetic coil; the main cabin contains an attitude control device, an orbital maneuvering thruster, and a vision measurement system to achieve position and attitude control; main solar wing A and main solar wing B are symmetrically installed on both sides of the main cabin, and the main platform electromagnetic coil, drive mechanism A, and drive mechanism B are arranged on the main cabin. The main platform electromagnetic coil generates a magnetic field for electromagnetic despin using the electric energy generated by main solar wing A and main solar wing B; drive mechanism A and drive mechanism B drive the telescopic rod A and telescopic rod B to swing, adjust the relative position between the main platform and the sub-platform, and are used to drive the telescopic rod A and telescopic rod B for target capture.

[0011] Furthermore, the sub-platform further includes a sub-cabin, sub-solar wing, and sub-platform electromagnetic coil; the sub-solar wing, sub-platform electromagnetic coil, drive mechanism C, and drive mechanism D are installed on the sub-cabin; the telescopic rod A, telescopic rod B, telescopic rod C, and telescopic rod D are respectively driven by drive mechanism A, drive mechanism B, drive mechanism C, and drive mechanism D to swing, so as to realize the position and attitude adjustment of the sub-platform relative to the main platform; the sub-platform electromagnetic coil generates a magnetic field for electromagnetic despin using the electric energy generated by the sub-solar wing.

[0012] Furthermore, the telescopic rod A, telescopic rod B, telescopic rod C, and telescopic rod D adopt a cable-driven sleeve extension mechanism, including an outer sleeve, an inner sleeve, a rope, a winding wheel, a compression spring, a guide wheel, and a locking pin; the winding wheel and the guide wheel are arranged inside the outer sleeve, the rope is wound around the winding wheel and connected to the inner sleeve, and the direction of the rope is changed by several guide wheels; a locking pin and a compression spring are arranged at the end of the inner sleeve; the motor drives the winding wheel to pull the rope, driving the inner sleeve to extend from the outer sleeve. When the end of the inner sleeve moves to the port position of the outer sleeve, the compression spring pushes the locking pin into the pin hole to achieve locking.

[0013] Furthermore, when performing electromagnetic despin, the connection line between the main platform and the sub-platform is parallel to the local gravity direction, the angle between telescopic rod A and telescopic rod B, and the angle between telescopic rod C and telescopic rod D are between 60° and 90°, the rotation target is located at the center of the quadrilateral formed by telescopic rod A, telescopic rod B, telescopic rod C, and telescopic rod D, and there is a safety distance between the rotation target and telescopic rod A, telescopic rod B, telescopic rod C, and telescopic rod D; the main platform electromagnetic coil and the sub-platform electromagnetic coil cooperate to generate a magnetic field around the rotation target, generating a despin torque T that hinders the rotation of the rotation target relative to the magnetic field. mag1 。

[0014] Furthermore, the despin torque

[0015]

[0016] Wherein, μ is the magnitude of the coil magnetic moment, μ0 is the magnetic permeability of vacuum, R is the equivalent spherical radius of the target debris, h is the thickness of the equivalent spherical shell, σ is the equivalent conductivity, and ρ is the distance between the coil and the center of the target equivalent spherical shell.

[0017] Furthermore, when performing electromagnetic despin, according to the change in the deflection angle between the connection line between the main platform and the sub-platform and the gravity direction, synchronously adjust the current magnitudes of the electromagnetic coils of the main platform and the sub-platform, and utilize the gravity gradient torque to balance the electromagnetic torques received by the electromagnetic coils of the main platform and the sub-platform.

[0018] Furthermore, the specific control strategy for synchronously adjusting the current magnitudes of the electromagnetic coils of the main platform and the sub-platform according to the change in the deflection angle between the connection line between the main platform and the sub-platform and the gravity direction includes:

[0019] When the swing angle α ≤ 20°, keep the coil current and the angle θ between the telescopic rod A and the telescopic rod B unchanged;

[0020] When the swing angle α > 20°, reduce the angle between the telescopic rod A and the telescopic rod B and the angle between the telescopic rod C and the telescopic rod D, and reduce the current magnitudes of the electromagnetic coils of the main platform and the sub-platform;

[0021] Wherein, α is the swing angle generated by the rotation of the space debris despin and capture satellite system due to the action of the electromagnetic torque T mag2 acting;

[0022] The space debris despin and capture satellite system is subject to a reaction torque T mag1 with the same magnitude and opposite direction as the despin torque T mag2 , driving the space debris despin and capture satellite system to rotate around the rotating target.

[0023] Furthermore, when the rotation speed of the rotating target drops to 5 - 6° / s, the driving mechanism A and the driving mechanism B drive the telescopic rod A and the telescopic rod B to approach each other, and the driving mechanism C and the driving mechanism D drive the telescopic rod C and the telescopic rod D to approach each other to clamp and capture the rotating target.

[0024] Adopting the above-mentioned capture method for a space debris despin and capture satellite system, including:

[0025] Control the main platform and the sub-platform to perform orbital maneuvers to approach the rotating target; control the telescopic rod A, the telescopic rod B, the telescopic rod C, and the telescopic rod D to extend, so that the rotating target is located at the center of the quadrilateral formed by the telescopic rod A, the telescopic rod B, the telescopic rod C, and the telescopic rod D;

[0026] Control the electromagnetic coils of the main platform and the sub-platform to jointly generate a magnetic field around the rotating target, synchronize the current magnitudes of the electromagnetic coils of the main platform and the sub-platform, and perform despin on the rotating target:

[0027] When the swing angle α ≤ 20°, keep the coil current and the angle θ between the telescopic rod A and the telescopic rod B unchanged;

[0028] When the swing angle α > 20°, reduce the angle between the telescopic rod A and the telescopic rod B and the angle between the telescopic rod C and the telescopic rod D, and reduce the current magnitudes of the main platform electromagnetic coil and the sub-platform electromagnetic coil;

[0029] When the rotation speed of the rotating target drops to 5 - 6° / s, the driving mechanism A and the driving mechanism B drive the telescopic rod A and the telescopic rod B to approach each other, and the driving mechanism C and the driving mechanism D drive the telescopic rod C and the telescopic rod D to approach each other to clamp and capture the rotating target;

[0030] Wherein, α is the swing angle generated by the rotation of the space debris despin and capture satellite system due to the electromagnetic torque T mag2 acting;

[0031] The space debris despin and capture satellite system is subjected to a reaction torque T mag1 with the same magnitude and opposite direction as the despin torque T mag2 , driving the space debris despin and capture satellite system to rotate around the rotating target.

[0032] Compared with the prior art, the beneficial effects of the present invention are:

[0033] 1. The present invention uses telescopic rods to constrain and adjust the relative attitude and position of the main platform and the sub-platform, reducing the complexity of relative position control of the double-satellite formation;

[0034] 2. The present invention provides a space debris non-contact despin and capture satellite system. The main platform performs active control of position and attitude. The sub-platform does not require an active attitude control device and an orbit control device. The telescopic rod adopts a carbon fiber composite material structure with a high strength-to-mass ratio, and the mass is lighter than that of the prior art;

[0035] 3. The present invention can increase the distance between the main platform and the sub-platform by the swing of four telescopic rods, making the mass distribution of the entire satellite system present a dumbbell configuration. The attitude can be stabilized by using the gravity gradient during the despin process, and the angular momentum of the service satellite can be dissipated by coordinating the swing of the telescopic rods to adjust the distance between the main platform and the sub-platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is the closed state diagram of the space debris despin and capture satellite system of the present invention;

[0037] Figure 2 is the structure diagram of the main platform of the space debris despin and capture satellite system of the present invention;

[0038] Figure 3 Structural diagram of the sub-platform of the satellite system for space debris despin and capture of the present invention;

[0039] Figure 4 Schematic diagram of the present invention's satellite system for space debris despin and capture performing despin on a rotating target;

[0040] Figure 5 Schematic diagram of the present invention's satellite system for space debris despin and capture performing target capture;

[0041] Figure 6 For the satellite system of the present invention for space debris despin and capture, when the rotation swing angle is α due to the electromagnetic torque T mag2 acting;

[0042] Figure 7 Schematic diagram of the present invention's satellite system for space debris despin and capture clamping and capturing a rotating target.

[0043] In the figure, 1 - main platform, 2 - sub-platform, 3 - telescopic rod A, 4 - telescopic rod B, 5 - telescopic rod C, 6 - telescopic rod D, 101 - main cabin, 102 - main solar wing A, 103 - main solar wing B, 104 - main platform electromagnetic coil, 105 - drive mechanism A, 106 - drive mechanism B, 201 - sub-cabin, 202 - sub-solar wing, 203 - sub-platform electromagnetic coil, 204 - drive mechanism C, 205 - drive mechanism D, 301 - outer sleeve, 302 - inner sleeve, 303 - rope, 304 - wire winding wheel, 305 - compression spring, 306 - guide wheel, 307 - locking pin. Detailed implementation manners

[0044] The following will further describe the present invention in detail in conjunction with the accompanying drawings and specific examples. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form.

[0045] Refer to Figures 1 - 5 As shown, a satellite system for space debris despin and capture includes: main platform 1, sub-platform 1, telescopic rod A 3, telescopic rod B 4, telescopic rod C 5, telescopic rod D 6.

[0046] The main platform 1 has complete satellite operation capabilities, including: main cabin 101, main solar wing A 102, main solar wing B 103, main satellite electromagnetic coil 104, drive mechanism A 105, drive mechanism B 106. The main cabin 101 is the main body of the main platform 1 and is provided with an attitude control device, an orbital maneuver propulsion device, and a vision measurement device, which is responsible for the position and attitude control of the entire despin and capture satellite system.

[0047] The main solar wing A102 and the main solar wing B103 convert solar energy into electrical energy through photovoltaic effect, providing energy for the operation of the main platform 1.

[0048] The main platform electromagnetic coil 104 is installed on the main cabin 101, and uses the electric energy generated by the main solar wing A 102 and the main solar wing B 103 to generate an electromagnetic derotation magnetic field.

[0049] The driving mechanism A 105 and the driving mechanism B 106 are installed on the main cabin 101, and are mainly responsible for driving the telescopic rod A3 and the telescopic rod B4 to swing, adjusting the relative position of the main platform 1 and the sub-platform 2, and being responsible for target capture driving.

[0050] The sub-platform 2 includes: a sub-cabin body 201, a sub-solar wing 202, a sub-platform electromagnetic coil 203, a driving mechanism C204, and a driving mechanism D 205. It has no attitude and orbit control device. Its position and attitude adjustment relative to the main platform is achieved by driving the telescopic rod to swing by the driving mechanism A105, the driving mechanism B 106, the driving mechanism C 204, and the driving mechanism D 205.

[0051] The telescopic rod A3, telescopic rod B4, telescopic rod C5 and telescopic rod D6 can be axially retracted and are in a retracted state during firing, and can be axially extended and maintained after firing.

[0052] The telescopic rod mechanism can be a sleeve extension mechanism or a truss extension mechanism (application number: 202211354213.5), refer to Figure 3 The figure shows an optional rope-driven two-stage sleeve extension mechanism, the main body of which includes an outer sleeve 301 and an inner sleeve 302. One end of the rope 303 is connected to the winding wheel 304, and the other end is connected to the inner sleeve 302. A plurality of guide wheels 306 are arranged in the middle to change the direction of the rope. The motor drives the winding wheel 304 to pull the rope 303, driving the inner sleeve 302 to extend, and at the end, the compression spring 305 pushes the locking pin 307 into the pin hole to achieve locking.

[0053] One end of the telescopic rod A3 is connected to the driving mechanism A105 on the main platform 1, and the other end is hinged to the telescopic rod C5.

[0054] One end of the telescopic rod B4 is connected to the driving mechanism B106 on the main platform 1, and the other end is hinged to the telescopic rod D6.

[0055] One end of the telescopic rod C5 is connected to the driving mechanism C204 on the sub-platform 2, and the other end is hinged to the telescopic rod A3.

[0056] One end of the telescopic rod D 6 is connected to the driving mechanism D 205 on the sub-platform 2, and the other end is hinged to the telescopic rod B 4.

[0057] The telescopic rod A3, telescopic rod B4, telescopic rod C5, and telescopic rod D6 adopt a carbon fiber composite material structure with a high-strength mass ratio.

[0058] Taking planar despinning as an example below, refer to Figure 5 and Figure 6 as shown, to illustrate the despinning and the principle of dissipating angular momentum using the gravity gradient torque.

[0059] Refer to Figure 5 as shown. During electromagnetic despinning, the connection line between the main platform 1 and the sub-platform 2 is parallel to the local gravity direction. The included angle between the telescopic rod A3 and the telescopic rod B4, and the included angle between the telescopic rod C5 and the telescopic rod D6 are between 60° and 120°. The rotation target is located at the center of the enclosed quadrilateral and there is a certain safety distance from the telescopic rods to avoid collision.

[0060] Refer to Figure 5 as shown. When the main platform electromagnetic coil 104 and the sub-platform electromagnetic coil 203 are energized with the same-direction current, a magnetic field is generated around the space debris, and an eddy current torque T mag1 , that is, the despinning torque, is generated. Its magnitude is estimated and budgeted by Equation (1). The despinning torque T mag1 gradually reduces the angular velocity of the target. The space debris despinning and capture satellite system is subject to a reaction torque T mag1 with the same magnitude as the despinning torque T mag2 but in the opposite direction, driving the space debris despinning and capture satellite system to rotate around the target. The despinning process is essentially that the rotational angular momentum of the target debris is transferred to the space debris despinning and capture satellite system through electromagnetic damping.

[0061]

[0062] In the formula, μ is the magnitude of the coil magnetic moment, μ0 is the vacuum permeability, R is the equivalent spherical radius of the target debris, h is the thickness of the equivalent spherical shell, σ is the equivalent conductivity, and ρ is the distance from the coil to the center of the target equivalent spherical shell.

[0063] Refer to Figure 6 as shown. When the space debris despinning and capture satellite system rotates by a swing angle α due to the action of the electromagnetic torque T mag2 , it will be subject to the action of the Earth's gravity gradient torque T g . Its direction is opposite to the swinging direction of the space debris despinning and capture satellite system, and its magnitude can be calculated by Equation (2).

[0064]

[0065] In the formula, is the Earth's gravitational parameter, with a magnitude of 398600 km3 / s 2 where \(r_0\) is the distance from the centroid of the satellite space debris despin and capture satellite system to the center of the earth, \(m_1\) is the mass of the main platform 1, \(\rho_1\) is the distance from the main platform 1 to the centroid of the satellite space debris despin and capture satellite system, \(m_2\) is the mass of the sub-platform 2, and \(\rho_2\) is the distance from the sub-platform 2 to the centroid of the satellite space debris despin and capture satellite system.

[0066] The electromagnetic torque \(T\) mag2 and the gravity gradient torque \(T\) g act in opposite directions, and the gravity gradient torque \(T\) g can be used to dissipate the momentum introduced during the despin process \(T\) mag2

[0067] In order to use the gravity gradient torque to dissipate the angular momentum absorbed by the despin system from the target, by controlling the magnitude of the coil current in combination with adjusting the coil distance, the swing angle \(\alpha\) is made not to exceed 90°. An optional control strategy is as follows:

[0068] When the swing angle \(\alpha\) does not exceed 20°, keep the coil current and the included angle \(\theta\) unchanged, and the satellite space debris despin and capture satellite system will eventually oscillate slightly near the swing angle \(\alpha\) corresponding to when the magnitudes of the gravity gradient torque \(T\) g and \(T\) mag1 are equal; when the swing angle \(\alpha\) exceeds 20°, reduce the included angles of the telescopic rod A3 and the telescopic rod B4 and the included angles of the telescopic rod C5 and the telescopic rod D6, so as to increase the gravity gradient torque \(T\) g , and reduce the currents of the main platform electromagnetic coil and the sub-platform electromagnetic coil, so as to reduce the electromagnetic torque \(T\) mag1 , ensure that \(T\) g is greater than \(T\) mag1 and the swing angle \(\alpha\) does not exceed 45°.

[0069] Referring to Figure 7 shown, when the rotation speed of the space debris (rotating target) drops to 5 - 6° / s, the drive mechanism A3 and the drive mechanism B4 drive the telescopic rod A105 and the telescopic rod B106 to approach each other, and the drive mechanism C5 and the drive mechanism D6 drive the telescopic rod C204 and the telescopic rod D205 to approach each other to clamp and capture the rotating target.

[0070] A capture method for a satellite space debris despin and capture satellite system includes the following steps:

[0071] Control the main platform 1 and the sub-platform 2 to perform orbital maneuvers to approach the rotating target; control the telescopic rods A3, B4, C5, and D6 to extend so that the rotating target is located at the center of the quadrilateral formed by the telescopic rods A3, B4, C5, and D6; ​

[0072] Control the main platform electromagnetic coil 104 and the sub-platform electromagnetic coil 203 to jointly generate a magnetic field around the rotating target, synchronize the current magnitudes of the main platform electromagnetic coil 104 and the sub-platform electromagnetic coil 203, and perform despin on the rotating target:

[0073] When the swing angle α ≤ 20°, keep the angle θ between the coil current and the telescopic rod A3 and the telescopic rod B4 unchanged;

[0074] When the swing angle α > 20°, reduce the angles between the telescopic rod A3 and the telescopic rod B4 and between the telescopic rod C5 and the telescopic rod D6, and reduce the current magnitudes of the main platform electromagnetic coil 104 and the sub-platform electromagnetic coil 203;

[0075] When the rotation speed of the rotating target drops to 5 - 6° / s, the drive mechanism A105 and the drive mechanism B106 drive the telescopic rod A3 and the telescopic rod B4 to approach each other, and the drive mechanism C204 and the drive mechanism D205 drive the telescopic rod C5 and the telescopic rod D6 to approach each other to clamp and capture the rotating target.

[0076] The above specific embodiments are only explanations of the present application, and they do not limit the present application. Those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. As long as it is within the scope of the claims of the present application, it is protected by the patent law.

Claims

1. A space debris derotation and satellite capture system, characterized in that: It comprises a main platform (1), a sub-platform (2), and a telescopic rod A (3), a telescopic rod B (4), a telescopic rod C (5), and a telescopic rod D (6); One end of the telescopic rod A (3) is connected to the driving mechanism A (105) on the main platform (1), and the other end is hinged to one end of the telescopic rod C (5), and the other end of the telescopic rod C (5) is connected to the driving mechanism C (204) on the sub-platform (2); One end of the telescopic rod B (4) is connected to the driving mechanism B (106) on the main platform (1), and the other end is hinged to one end of the telescopic rod D (6); the other end of the telescopic rod D (6) is connected to the driving mechanism D (205) on the sub-platform; The telescopic rod A (3), the telescopic rod B (4), the telescopic rod C (5), and the telescopic rod D (6) can be axially retracted, are in a retracted state during launch, and extend axially when the derotation begins; The main platform (1) and the sub-platform (2) use electromagnetic coils to generate a magnetic field to electromagnetically derotate a rotating target, and telescopic rods A (3), telescopic rods B (4), telescopic rods C (5) and telescopic rods D (6) form a quadrilateral to capture the rotating target.

2. A space debris derotation and satellite capture system according to claim 1, characterized in that: The main platform (1) further comprises a main cabin (101), a main solar wing A (102), a main solar wing B (103) and a main platform electromagnetic coil (104); the main cabin (101) comprises an attitude control device, an orbital maneuvering thruster and a visual measurement system to achieve position attitude control; the main solar wing A (102) and the main solar wing B (103) are symmetrically mounted on both sides of the main cabin (101); the main platform electromagnetic coil (104), a drive engine and a control system are arranged on the main cabin (101). The main platform (1) and the sub-platform (2) are provided with a driving mechanism A (105) and a driving mechanism B (106), wherein the main platform electromagnetic coil (104) generates an electromagnetic derotation magnetic field by using the electric energy generated by the main solar wing A (102) and the main solar wing B (103); the driving mechanism A (105) and the driving mechanism B (106) drive the telescopic rod A (3) and the telescopic rod B (4) to swing, adjust the relative position of the main platform (1) and the sub-platform (2), and drive the telescopic rod A (3) and the telescopic rod B (4) to capture the target.

3. A space debris derotation and satellite capture system according to claim 2, characterized in that: The sub-platform (2) further comprises a sub-cabin body (201), a sub-solar wing (202), and a sub-platform electromagnetic coil (203); the sub-cabin body (201) is equipped with the sub-solar wing (202), the sub-platform electromagnetic coil (203), a drive mechanism C (204), and a drive mechanism D (205); the drive mechanism A (105), the drive mechanism B (106), the drive mechanism C (204), and the drive mechanism D (205) respectively drive the telescopic rod A (3), the telescopic rod B (4), the telescopic rod C (5), and the telescopic rod D (6) to swing, thereby adjusting the position and posture of the sub-platform (2) relative to the main platform (1); and the sub-platform electromagnetic coil (203) generates an electromagnetic derotation magnetic field using the electric energy generated by the sub-solar wing (202).

4. A space debris derotation and satellite capture system according to claim 3, characterized in that: The telescopic rod A (3), telescopic rod B (4), telescopic rod C (5) and telescopic rod D (6) adopt a rope-driven sleeve-type extension mechanism, comprising an outer sleeve (301), an inner sleeve (302), a rope (303), a winding wheel (304), a compression spring (305), a guide wheel (306) and a locking pin (307); the winding wheel (304) and the guide wheel (306) are arranged in the outer sleeve (301), the rope (303) is wound on the winding wheel (304) and connected to the inner sleeve (302), and is locked through a plurality of guide wheels (306). The direction of the rope (303) is changed; a locking pin (307) and a compression spring (305) are arranged at the end of the inner sleeve (302); a motor drives a winding wheel (304) to pull the rope (303), thereby driving the inner sleeve (302) to extend from the outer sleeve (301); when the end of the inner sleeve (302) moves to the end position of the outer sleeve (301), the compression spring (305) pushes the locking pin (307) into the pin hole to achieve locking; the telescopic rod A (3), the telescopic rod B (4), the telescopic rod C (5), and the telescopic rod D (6) are made of carbon fiber composite materials.

5. A space debris derotation and satellite capture system according to claim 4, characterized in that: When electromagnetic derotation is performed, the line connecting the main platform (1) and the sub-platform (2) is parallel to the local gravity direction, the angle between the telescopic rod A (3) and the telescopic rod B (4), and the angle between the telescopic rod C (5) and the telescopic rod D (6) are between 60° and 90°, the rotating target is located at the center of a quadrilateral surrounded by the telescopic rods A (3), B (4), C (5) and D (6), and there is a safe distance between the rotating target and the telescopic rods A (3), B (4), C (5) and D (6); the main platform electromagnetic coil (104) and the sub-platform electromagnetic coil (203) cooperate to generate a magnetic field around the rotating target, generating a derotation torque T that hinders the rotating target from rotating relative to the magnetic field. mag1 .

6. A space debris derotation and satellite capture system according to claim 5, characterized in that: The deracination torque Wherein, μ is the magnetic moment of the coil, μ0 is the vacuum magnetic permeability, R is the equivalent spherical radius of the target fragment, h is the thickness of the equivalent spherical shell, σ is the equivalent conductivity, and ρ is the distance between the coil and the center of the target equivalent spherical shell.

7. A space debris derotation and satellite capture system according to claim 6, characterized in that: When electromagnetic derotation is performed, the currents of the main platform electromagnetic coil (104) and the sub-platform electromagnetic coil (203) are synchronously adjusted according to the change in the deflection angle between the connection line between the main platform (1) and the sub-platform (2) and the gravity direction, and the gravity gradient torque is used to balance the electromagnetic torques exerted on the main platform electromagnetic coil (104) and the sub-platform electromagnetic coil (203).

8. A space debris derotation and satellite capture system according to claim 7, characterized in that: According to the change in the deflection angle between the connecting line between the main platform (1) and the sub-platform (2) and the gravity direction, the current magnitudes of the main platform electromagnetic coil (104) and the sub-platform electromagnetic coil (203) are synchronously adjusted. The specific control strategy includes: When the swing angle α≤20°, the coil current and the angle θ between the telescopic rod A (3) and the telescopic rod B (4) are kept unchanged; When the swing angle α is greater than 20°, the angle between the telescopic rod A (3) and the telescopic rod B (4) and the angle between the telescopic rod C (5) and the telescopic rod D (6) are reduced, and the currents of the main platform electromagnetic coil (104) and the sub-platform electromagnetic coil (203) are reduced; Where α is the electromagnetic torque T due to the space debris derotation and capture satellite system mag2 The swing angle caused by the rotation of the action; The space debris derotation and capture satellite system is subject to the derotation torque T mag1 The reaction torque T of the same magnitude and opposite direction mag2 , driving the space debris de-rotation and capture satellite system to rotate around the rotating target.

9. A space debris derotation and satellite capture system according to claim 8, characterized in that: When the rotation speed of the rotating target drops to 5-6° / s, the driving mechanism A (105) and the driving mechanism B (106) drive the telescopic rod A (3) and the telescopic rod B (4) to move closer to each other, and the driving mechanism C (204) and the driving mechanism D (205) drive the telescopic rod C (5) and the telescopic rod D (6) to move closer to each other, thereby clamping and capturing the rotating target.

10. A method for capturing a space debris derotation and capture satellite system according to any one of claims 1 to 4, characterized in that: include: Controlling the main platform (1) and the sub-platform (2) to perform orbital maneuvers to approach the rotating target; Control the telescopic rod A (3), the telescopic rod B (4), the telescopic rod C (5) and the telescopic rod D (6) to extend so that the rotating target is located at the center of a quadrilateral surrounded by the telescopic rod A (3), the telescopic rod B (4), the telescopic rod C (5) and the telescopic rod D (6); The main platform electromagnetic coil (104) and the sub-platform electromagnetic coil (203) are controlled to jointly generate a magnetic field around the rotating target, and the current magnitudes of the main platform electromagnetic coil (104) and the sub-platform electromagnetic coil (203) are synchronized to derotate the rotating target: When the swing angle α≤20°, the coil current and the angle θ between the telescopic rod A (3) and the telescopic rod B (4) are kept unchanged; When the swing angle α is greater than 20°, the angle between the telescopic rod A (3) and the telescopic rod B (4) and the angle between the telescopic rod C (5) and the telescopic rod D (6) are reduced, and the currents of the main platform electromagnetic coil (104) and the sub-platform electromagnetic coil (203) are reduced; When the rotation speed of the rotating target drops to 5-6° / s, the driving mechanism A (105) and the driving mechanism B (106) drive the telescopic rod A (3) and the telescopic rod B (4) to move closer to each other, and the driving mechanism C (204) and the driving mechanism D (205) drive the telescopic rod C (5) and the telescopic rod D (6) to move closer to each other, thereby clamping and capturing the rotating target; Where α is the electromagnetic torque T due to the space debris derotation and capture satellite system mag2 The swing angle caused by the rotation of the action; The space debris derotation and capture satellite system is subject to the derotation torque T mag1 The reaction torque T of the same magnitude and opposite direction mag2 , driving the space debris de-rotation and capture satellite system to rotate around the rotating target.

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