基于柔性毛刷的自旋卫星的消旋动力学分析

Dynamic analysis of rotating satellite de-spun using flexible brush

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.