基于柔性毛刷的自旋卫星的消旋动力学分析
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摘要
随着人类在太空中的不断探索与扩张,太空的失效卫星不断增多.在对失效卫星的抓捕过程中,卫星的翻滚自旋一直是影响抓捕系统稳定的主要问题.针对上述问题,本文提出一种柔性减速刷消旋结构,将其置于七自由度机械臂的末端,形成消旋空间机器人.通过末端柔性减速刷与翻滚目标帆板之间的接触碰撞来耗散翻滚目标的动量,进行自由翻滚目标的角速度消旋.本文基于绝对节点坐标法(ANCF)大变形索梁单元的绳索单元,建立柔性减速刷的连续介质模型.根据Hertz理论,计算柔性减速刷与翻滚目标帆板之间的接触碰撞力.针对不同转速状态下的非合作目标,通过动力学仿真分析柔性减速刷的长度、角度等参数对于消旋效果的影响,并得到了最优的消旋参数.运用此参数进行消旋的仿真验证,结果表明该策略能成功消除初始自旋角速度,具有可行性和有效性.
With the continuous exploration and expansion of human beings in space, the number of satellites in space is gradually increasing. In the process of catching the failed satellites, the rolling spin of the satellite has always been the main problem which is affecting the stability of the catching system between targets and servers. The derotation mechanism, a flexible deceleration brush, is proposed, which is placed at the end of a seven-degree-of-freedom manipulator to form a racemable space robot. The momentum of the rolling target is dissipated by the contact collision between the end flexible deceleration brush and the rolling target windsurfing board. The angular velocity deceleration of the freely rolling target is carried out. Based on the rope element of the large deformation cable beam element of the absolute nodal coordinate method(ANCF), the continuum model of the flexible deceleration brush is established. According to the Hertz theory,contact collision force between the flexible deceleration brush and the rolling target windsurfing board are calculated. For the non-cooperative target of free rolling in different speeds, the effects of the length, angle and other parameters of the flexible deceleration brush on the racemization effect are analyzed by dynamics simulation, and the optimal racemization parameters are obtained in the process of the dynamics simulation. Using these parameters to verify the simulation of the racemization, the results show that the strategy, which is using flexible deceleration brush to rack non-cooperative targets, can successfully eliminate the initial spin angular velocity and it is feasible and effective.
With the continuous exploration and expansion of human beings in space, the number of satellites in space is gradually increasing. In the process of catching the failed satellites, the rolling spin of the satellite has always been the main problem which is affecting the stability of the catching system between targets and servers. The derotation mechanism, a flexible deceleration brush, is proposed, which is placed at the end of a seven-degree-of-freedom manipulator to form a racemable space robot. The momentum of the rolling target is dissipated by the contact collision between the end flexible deceleration brush and the rolling target windsurfing board. The angular velocity deceleration of the freely rolling target is carried out. Based on the rope element of the large deformation cable beam element of the absolute nodal coordinate method(ANCF), the continuum model of the flexible deceleration brush is established. According to the Hertz theory,contact collision force between the flexible deceleration brush and the rolling target windsurfing board are calculated. For the non-cooperative target of free rolling in different speeds, the effects of the length, angle and other parameters of the flexible deceleration brush on the racemization effect are analyzed by dynamics simulation, and the optimal racemization parameters are obtained in the process of the dynamics simulation. Using these parameters to verify the simulation of the racemization, the results show that the strategy, which is using flexible deceleration brush to rack non-cooperative targets, can successfully eliminate the initial spin angular velocity and it is feasible and effective.
引文
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21 Cao X B,Li F,Zhang J X.Development status and trend of space debris active removal technology(in Chinese).J National Univ Defense Sci Tech,2015,37:117-120[曹喜滨,李峰,张锦绣.空间碎片天基主动清除技术发展现状及趋势.国防科技大学学报,2015,37:117-120]
2 Klinkrad H,Bendisch J,Bunte K D,et al.The MASTER-99 space debris and meteoroid environment model.Adv Space Res,2001,28:1355-1366
3 Yates J M,Spanbauer B W,Black J T.Geostationary orbit development and evaluation for space situational awareness.Acta Astronaut,2012,81:256-272
4 Schaub H,Moorer D F.Geosynchronous large debris reorbiter:Challenges and prospects.J Astronaut Sci,2012,59:161-176
5 Zhou X H.The simulation analysis of active debris removal of multiple targets in a single task(in Chinese).Dissertation for Master Degree.Beijing:The University of Chinese Academy of Sciences,2017.3-8[周秀华.单次任务中多块空间碎片主动移除的仿真分析.硕士学位论文.北京:中国科学院大学,2017.3-8]
6 Awrejcewicz J,Olejnik P.Analysis of dynamic systems with various friction laws.Appl Mech Rev,2005,58:389-411
7 Mahler J,Patil S,Kehoe B,et al.GP-GPIS-OPT:Grasp planning with shape uncertainty using gaussian process implicit surfaces and sequential convex programming.In:2015 IEEE International Conference on Robotics and Automation(ICRA).Seattle,2015.4919-4926
8 Aghili F.Optimal control for robotic capturing and passivation of a tumbling satellite with unknown dynamics.AIAA-2008-7274,2008
9 Matunaga S,Kanzawa T,Ohkami Y.Rotational motion-damper for the capture of an uncontrolled floating satellite.Control Eng Practice,2001,9:199-205
10 Kawamoto S,Matsumoto K,Wakabayashi S.Ground experiment of mechanical impulse method for uncontrollable satellite capturing.In:Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics&Automation in Space(i-SAIRAS).St-Hubert,2001
11 Pigliaru L,Borriello C,Piergentili F,et al.Expanded polyurethane foam for active debris removal.In:65th International Astronautical Congress2014:Our World Needs Space.IAC 2014,2014
12 Andrenucci M,Pergola P,Ruggiero A.Active Removal of Space Debris-Expanding foam application for active debris removal.Technical Report.ESA,2011
13 Sinn T,Thakore T,Maier P.Space debris removal using self-inflating adaptive membrane.In:Proceedings of the 63rd International Astronautical Congress.2012
14 Yoshida K,Mavroidis C,Dubowsky S.Impact dynamics of space long reach manipulators.In:1996 IEEE International Conference on Robotics and Automation.Minneapolis,1996.1909-1916
15 Cyril X,Jaar G J,Misra A K.The effect of payload impact on the dynamics of a space robot.In:Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems.Yokohama,1993.2070-2075
16 Huang P,Xu Y,Liang B.Contact and impact dynamics of space manipulator and free-flying target.In:2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.Edmonton,2005.1181-1186
17 Zhang T,Yue X,Ning X,et al.Stabilization and parameter identification of tumbling space debris with bounded torque in postcapture.Acta Astronaut,2016,123:301-309
18 Huang H W.Synchronization analysis of spin stabilized stationary satellites(in Chinese).Spacecraft Eng,1998,7:19-24[黄汉文.自旋稳定静止卫星同步技术分析.航天器工程,1998,7:19-24]
19 Wei W S,Jing W X,Gao C S.Research on autonomous stabilization of spacecraft after capturing non-cooperative targets(in Chinese).JAeronaut,2013,34:1520-1530[韦文书,荆武兴,高长生.捕获非合作目标后航天器的自主稳定技术研究.航空学报,2013,34:1520-1530]
20 Li K,Wang Z.Dynamic decoupling system simulation of racemic active nutation control for slender dual-spin satellite(in Chinese).Space Control,1994,43:47-52[李坤,王钊.细长体双自旋卫星消旋主动章动控制动力学解耦的系统仿真.航天控制,1994,43:47-52]
21 Cao X B,Li F,Zhang J X.Development status and trend of space debris active removal technology(in Chinese).J National Univ Defense Sci Tech,2015,37:117-120[曹喜滨,李峰,张锦绣.空间碎片天基主动清除技术发展现状及趋势.国防科技大学学报,2015,37:117-120]