• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
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    • 专利摘要:
    A space system for reducing space defect angular velocities (4) comprises a hunter spacecraft (6), one or more magneto-couplers (8, 10, 12), a pulse launching device (14) or magneto couplers of the hunter spacecraft (6) to the space debris (4). The launcher (14) has at least one launcher barrel (40) for guiding the one or more magneto-couplers (8, 10, 12) to the space debris (4), and the one or more magneto-couplers (8). , 10, 12) each comprise an electromagnetic coil (54) and at least one self-securing element (56) at one face of the debris (6) under the action of the momentum (s) of the magnetometer (s). couplers (8, 10, 12) printed by the launching device (14).
    公开号:FR3038297A1
    申请号:FR1501396
    申请日:2015-07-01
    公开日:2017-01-06
    发明作者:Peuvedic Catherine Le
    申请人:Thales SA；
    IPC主号:
    专利说明:

    Space system to reduce the angular velocities of a space debris before desorbing it
    The present invention relates to a space system for reducing the angular velocities of a space debris before desorbing it and a corresponding method of implementing said system.
    Nowadays, the need for active removal of space debris ADR (English Active Debris Removal) is recognized.
    During an active removal mission of space debris in orbit around the Earth, a hunter spacecraft or a fighter satellite must encounter large debris, such as a target satellite, with the objective to modify its orbit either for re-entry into the atmosphere or placement in an orbit cemetery of the latter.
    Different large debris capture techniques have been proposed and can be classified in three classes: .- a first class in which a rigid link between the debris and the hunting machine is established for example through robotic arms or mechanisms seizure or catch; a second class in which a flexible link between the debris and the hunting craft is implemented for example using nets or harpoons; a third class, formed by non-contact capture systems of the fighter with the debris and using for example a foam projection or an ion beam guidance.
    One of the main problems of the active removal of an ADR debris is the control of the variations of the attitude angles of the target satellite, by its own rotation (English tumbling), these variations can be fast and even disordered.
    A fighter satellite approaching a target satellite with uncontrolled angular variations has a higher collision risk with the latter, and the process of capturing the debris is made more complex, requiring a control system on board the fighter satellite having high navigation performance and relative positioning. It has been proposed, for example, to approach the debris by avoiding colliding with its appendages, then to cling to the debris before curbing its rotation. This solution requires a good maneuverability of the fighter satellite, a sufficient amount of fuel available to it, and remains quite risky.
    When a first class technique is used, for example that of a robotic arm, and the size of the debris is large, the maximum loads exerted on the arm by the debris can be high, and make difficult the implementation of this technique.
    The techniques of the third class, for example the interaction by ion beam or particles (nozzle jets for example) or the electrostatic interaction, are compatible with high debris angular velocities, but have the disadvantage of very long deorbitation. In second class techniques using nets or harpoons, they capture a wider range of debris in terms of geometric configuration, but are tricky to implement when debris rotational velocity is high because of risks of winding the flexible link around the debris.
    In the context of second-class techniques, the article by A. Caubet et al., Entitled "Design of an Attitude Stabilization Electromagnetic Module for Detumbling Uncooperative Targets", 2014 IEEE Aerospace Conference, Pitscataway, New Jersey describes a stabilization system the dynamics in attitude of a large debris to facilitate the capture of the latter. The system includes an electromagnetic attitude stabilization module having a small size relative to debris and including at least two magneto-couplers as well as a power source. The electromagnetic attitude stabilization module, initially embarked on board a fighter spacecraft, is attached or fixed in a first step to the debris, which is for example a target satellite, and is then activated in a second step to function as an actuator. generating an external magnetic field that stabilizes the target debris's attitude by interacting with the Earth's magnetic field and damping the angular momentum of the debris. Once the debris attitude has stabilized, the spacecraft can approach the debris slowly and capture safely. The article by A. Caubet describes a first embodiment of the first step of attaching and fixing the module to the satellite using a harpoon attached to a lanyard whose other end is attached to the hunter. The harpoon attached to the lanyard is thrown from the hunter onto the target debris with a harpoon flight and a deployment of the short-range lanyard. Then the electromagnetic module is moved along the loin for example with a simple motorized pulley device to reach the surface of the target debris in which is hung the harpoon. If this approach is not executed quickly enough, there is a significant risk of entanglement and winding of the lanyard around the target satellite. As a result, the hunter must move near the debris with a high collision risk.
    In order to overcome these disadvantages, the article by A. Caubet describes a second embodiment of the first step of attaching and fixing the module to the satellite in which the electromagnetic module uses own propulsion means to autonomously fly from the hunter gear towards the target debris. However, this approach requires the installation of autonomous propulsion means, and additional sensors aboard the electromagnetic module, as well as the increase of its computing capabilities, which makes the implementation of the attachment and the deployment more difficult. attachment of the electromagnetic module to the target debris.
    The technical problem is thus to achieve an electromagnetic magneto-coupler system (s) for reducing large debris angular velocities that is both simple in terms of architecture and implementation, and without danger of collision for the hunting machine in charge of the later deorbitation of the debris. For this purpose, the subject of the invention is a spatial system for reducing the angular velocities of a space debris, the space system comprising: a hunter spacecraft, placed sufficiently far from the space debris to avoid colliding with the latter and allow a target of at least one of its large faces to attach one or more magneto-couplers, .- at least one or more magneto-couplers configured to be launched from the fighter to the space debris and generate on command after their attachment to the space debris one or more magnetic fields of coupling to the Earth's magnetic field; characterized in that the space system comprises: a device for launching the spacecraft spacecraft or magneto-couplers by impulse towards the space debris, the launching device being attached to the hunting craft and including at least one barrel barrel launcher for guiding the one or more magneto couplers towards the space debris, and the magnetocoupler or the magneto-couplers each comprise an electromagnetic coil and at least one self-securing element on one side of the debris under the action of the quantities of movement of the magneto-couplers printed by the launcher.
    According to particular embodiments, the system for reducing the angular velocities of a space debris comprises one or more of the following characteristics: each magnetocoupler is configured to be launched separately from the hunting machine and secured separately to the space debris, or at least two magneto-couplers are integrated into an electromagnetic module and share within the electromagnetic module one or more self-securing elements; when at least two magneto-couplers are integrated in an electromagnetic module, the at least two magneto-couplers are predeployed before they are launched, or the at least two magneto-couplers are compactly tightened against one another in a stacking position during their launch and deployed in dihedron or polyhedron under the action of a deployment mechanism during their stowage with debris; the launcher comprises a single barrel of a barrel adapted to the size of a magneto-coupler or the size of the electromagnetic module, and a loading barrel of the magneto-couplers when it is intended to launch and dock separately each magneto-coupler; the self-securing element is an element comprised in the assembly formed by the self-adhesive elements, the gripper type elements and the harpoon-type elements; when the magneto-couplers are configured to be launched and stowed separately, each magneto-coupler comprises a different power supply battery, or when at least two magneto-couplers are integrated in an electromagnetic module, the at least two magneto -couplers can share a same battery power supply within the electromagnetic module; each magneto-coupler comprises a different shock absorber when the magneto-couplers are configured to be launched and stowed separately, or when at least two magneto-couplers are integrated in an electromagnetic module, the at least two magneto-couplers share the same shock absorber within the electromagnetic module; each magnetocoupler comprises a different RF radio control receiver and a different current pulse generator connected to its battery, the width and polarity of the current pulses being modulated according to the radio frequency RF commands received when the magneto-couplers are configured to be launched and stowed separately; or when at least two magneto-couplers are integrated in an electromagnetic module, the at least two magneto-couplers share a same RF radio frequency control receiver within the electromagnetic module and each comprise a different current pulse generator connected to the common power battery, the width and polarity of the current pulses being modulated according to different radio frequency commands received by the common RF receiver; the space system further comprises at least one radiofrequency RF command transmitter intended for the at least one RF radio control receiver, the at least one transmitter being on board the hunting craft; each radio frequency transmitter comprises a radiofrequency signal modulator and an emission radio frequency amplification system, and each radio frequency receiver comprises a radiofrequency amplification system and a demodulator, and the modulators and demodulators use a robust multi-state digital modulation. preferably two-state; the frequency band of the radiofrequency control signal is a frequency band included in the set of VHF and UHF bands; each magneto-coupler comprises a cylindrical ferromagnetic rod on which is wound an electromagnetic coil; when the magneto-couplers are configured to be launched and stowed separately, the rod of each magneto-coupler comprises one or more cavities for receiving and housing a power supply battery and / or a radio frequency control receiver and / or a current pulse generator, and / or each magneto-coupler comprises a shock absorber disposed longitudinally on either side of its ferromagnetic rod; the magneto-coupler or the electromagnetic module are attached during their launch to the hunting machine by at least one flexible lanyard and of low mass, the lanyard or lanyards being detachable from the hunting machine after self-stowage of the or magneto-couplers to space debris; the space system further comprises a device for observing the angular movements and for estimating the attitude and angular velocities of the debris, a set of magnetometers mounted on the hunting vehicle for estimating the terrestrial magnetic field Bt, and a module for developing commands for reducing the angular velocities of the debris from the estimated angular velocities of the debris and the estimated earth magnetic field. The invention also relates to a method of reducing angular velocities of a space debris implemented by a space system comprising: a hunter spacecraft, at least one or more magneto-couplers each comprising an electromagnetic coil different and at least one self-securing element, .- a device for launching by pulse of the magneto-couplers, boarded and attached to the fighter, the launch device including at least one barrel barrel launcher for guiding the magneto-coupler (s); said method comprising the steps of: placing the hunting craft sufficiently far from the space debris to avoid colliding with it and allowing it to be aimed at at least one of the large faces of the debris to attach a or several magneto-couplers; launching the magnetocoupler (s) by the launching device from the fighter unit towards the space debris, guiding them along the launching barrel (s) after the creation of the initial pulse (s); .- self-staking the one or more magneto-couplers on one side of the debris by the at least one self-securing element under the action of the movement quantity (s) of the magneto-coupler (s) printed by the device of launch; generating one or more magnetic fields for coupling to the earth magnetic field by means of the magnetocoupler (s), the magnetic coupling field (s) being modulated according to a control law transmitted through a radio frequency link, the control law being developed from an estimate of the Earth's magnetic field and an estimate of the attitude and angular velocities of the debris at the fighter satellite. The invention will be better understood on reading the description of several embodiments which will follow, given solely by way of example and with reference to the drawings in which: FIG. 1 is a view of a first embodiment of a space system for reducing angular velocities of space debris; Figure 2 is a view of a magneto-coupler of the system of Figure 1 according to the first embodiment, the magnet coupler being provided to be launched and self-stowed individually to the debris; FIG. 3 is a view of a set of three magneto-couplers of a second embodiment of an angular speed reduction system, derived from the system of FIG. 1, the three magneto-couplers being integrated in FIG. an electromagnetic module, which electromagnetic module is configured to be launched from a fighter space vehicle and self-stowed to a space debris; FIGS. 4A and 4B are respective views of a set of three magneto-couplers of a third embodiment of a system for reducing angular velocities of a space debris in a stacked position when they are launched and in a deployment position after being tied to the debris; FIG. 5 is a view of a phase of a separate launch of three magneto-couplers of the system of FIG. 1, two magneto-couplers being already moored on two different non-copianary faces of the debris and the third magneto-coupler being in launching course to a third face of the debris having a different orientation than those of the other two sides of self-docking debris; FIG. 6 is a view of a phase of a separate launch of three magneto-couplers of a third embodiment of an angular speed reduction system, derived from the system of FIG. 1, in which FIG. magneto-couplers are attached to the fighter during their launch phase, and detached from the latter after docking them with debris; Figure 7 is a view of a flowchart of a method of angular velocity reduction implemented by the system of Figure 1; Figures 8 and 9 are views of a typical example of the simulated temporal evolution of three angular velocities of a satellite debris around three mutually orthogonal X, Y, Z axes, and the simulated temporal evolution of three magnetic moments along the X, Y, Z axes generated by the magneto-couplers of the system 1, launched and self-moored according to the method of FIGS. 5 to 7; Figure 10 is a view of the activation times of the magneto-couplers along the X, Y, Z axes used in the simulation conditions described in Figures 8 and 9.
    According to FIG. 1 and a first embodiment, a spatial system 2 for reducing angular velocities of a space debris 4 comprises a hunter spacecraft 6, three magneto-couplers 8, 10, 12, a launching device 14 of the magneto -couplers 8, 10, 12 to the debris, a device 16 for observing the angular movements and for estimating the attitude and angular velocities of the space debris 4, a set of magnetometers 18 mounted on the hunting machine 6 for estimating the terrestrial magnetic field, a module 20 for developing commands for reducing the angular velocities of the debris 4 to be executed by the three magneto-couplers 8, 10, 12, and at least one emitter 22 of radio-frequency RF commands intended for the magneto Couplers 8, 10, 12. The fighter spacecraft 6 is placed by its propulsion and navigation devices, not shown in Figure 1, sufficiently distant from the space debris 4 to avoid entanglement. collide with the latter and allow a target of at least one of its large faces to attach one or more magneto-couplers. The hunter spacecraft 6 is here a hunter satellite.
    As a variant, the fighter spacecraft is a space shuttle or any spacecraft having a certain autonomy to approach a debris, and of a certain size to support a launcher and its magneto-coupling projectiles and to embark an electronic calculator magneto-coupler control
    In FIG. 1, three magneto-couplers 8, 10, 12 are used to stabilize the large debris 4 that constitutes a target satellite here, only the magneto-coupler 8 being clearly represented during launching or projection towards a Large face 24 of the debris 4. The face 24 is here a panel of the platform of a satellite.
    The two remaining magneto-couplers 10, 12 are housed inside the platform 26 of the fighter satellite 6 waiting to be launched to two other different faces 32, 34 of the target satellite 4.
    It should be noted that the number of magneto-couplers required to stabilize a large debris depends on its rotational speed (rotation along a pure or combined axis along two or three axes), the Earth's magnetic field in its orbit, the orientation of the accessible faces, and the desired stabilization time.
    In general, that is to say in the most frequent cases, this number is equal to 2 or 3.
    In Figure 1, it is assumed that the braking of the rotation requires a number of three magneto-couplers.
    The magneto-couplers 8, 10, 12 are configured to be launched from the fighter unit 6 to the space debris 4 and generate on command after their attachment to the space debris 4 one or more magnetic coupling fields B to the Earth's magnetic field Bt.
    The launching device 14 is an impulse launching device, for example of the pyrotechnic type, fixed to the fighter satellite 6, turned towards the outside of the fighter satellite 6, and including a single launching gun barrel 40 to guide the one after the other the three magneto-couplers 8, 10, 12 to the space debris.
    Alternatively, the launch device comprises a battery of three barrels pre-loaded each with a magneto-coupler.
    According to FIG. 1, each magnetocoupler 8, 10, 12 is configured to be launched separately, that is to say individually, from the fighter unit 6 and stowed separately on a different face 24, 32, 34 of the debris. 4.
    The magneto-couplers 8, 10, 12 each comprise, stacked in a longitudinal stacking direction, at the tail an electromagnetic coil and at the head a self-tie-off element, configured to self-tie to a corresponding face 24, 32, 34 of the debris 4. The self-locking of the magneto-couplers 8, 10, 12 is implemented by their respective self-securing element under the action of the magneto-coupler movement quantities printed by the launcher 14.
    Each magneto-coupler 8, 10, 12 comprises a ferromagnetic rod of cylindrical shape on which is wound its electromagnetic coil.
    Each magneto-coupler 8, 10, 12 has a different RF radio control receiver and a positive or negative current pulse generator connected to its battery pack. The width and polarity of the current pulses are modulated according to the RF radio commands received. For example, the pulse generator is a tri-state controllable switch, a first current flow state, a second current flow state in the other direction, a third current power off or on state.
    Each radio frequency receiver has a different radio frequency amplification chain and a different demodulator. The at least one modulator of the at least one transmitter and the demodulators use a robust multi-state digital modulation, here for example two-state.
    The frequency band of the radiofrequency control signal is a frequency band included in the set of VHF and UHF bands.
    According to FIGS. 1 and 2, only elements forming the magneto-coupler 8 are represented. Thus, the magneto-coupler 8 comprises, fixed together, at the tail a ferromagnetic rod 52 of elongate cylindrical shape on which is wound its electromagnetic coil 54 and at the head a self-securing element 56, here a harpoon head.
    In general, the self-securing element is an element comprised in the assembly formed by the self-adhesive elements, the pliers-type elements, and the harpoon-type elements.
    The magneto-coupler rod 8 comprises a cavity 60 for receiving and housing an electric power supply battery 62, a radio frequency RF control receiver 64 and a current pulse generator 66.
    The power supply battery 62, the RF radio control receiver 64 and the current pulse generator 66 are part of the magneto-coupler 8.
    According to FIG. 2 which describes in more detail than FIG. 1 the architecture of the magneto-coupler 8, the magneto-coupler 8 further comprises a shock absorber 70 divided into two parts 72, 74 arranged longitudinally on both sides. other of the ferromagnetic rod 52, at the tail end of the magneto-coupler 8, and between the leading end of the ferromagnetic rod 52 and the self-securing element 56.
    The two magneto-couplers 10, 12 have a structure identical to that of the magneto-coupler 8 described in FIG. 2.
    According to FIG. 3 and a second embodiment, a system for reducing angular velocities 102 comprises, like the system 2 of FIG. 1, a hunter spacecraft 106, three magneto-couplers 108, 110, 112, a device 114 of the magneto-couplers 108, 110, 112 to the space debris 4, the observation device 16 of the angular movements and of the attitude estimation and angular velocities of the space debris 4, the set of magnetometers 18 mounted on the hunting machine 106 for estimating the earth's magnetic field, the module 20 for developing commands to reduce the angular velocities of the debris 4 to be executed by the magneto-couplers 108, 110, 112, and at least one radio frequency RF transmitter 22 for magneto-couplers 108, 110, 112.
    The angular speed reduction system 102 differs from the angular speed reduction system 2 in that the three magneto-couplers 108, 110, 112 are integrated into an electromagnetic module 120 through a carrier structure or housing 122 of external shape cylindrical, and share within said electromagnetic module 120 a single self-securing element 124. The self-securing element 124 is a disc having a head surface covered with a self-adhesive material, here Gecko type.
    The magneto-couplers 108, 110, 112 of elongated form each comprise an electromagnetic coil 126, 128, 130, wound around a ferromagnetic rod 132, 134, 136 for channeling the lines of the magnetic field generated by the associated coil 126, 128 , 130.
    The electromagnetic coils 126, 128, 130 are arranged in a trihedron having three axes designated respectively by X, Y, Z. The X, Y, Z axes here are mutually orthogonal and pass longitudinally and respectively the coils 126, 128, 130.
    Here, the three magneto-couplers 108, 110, 112 share a same power supply battery 142, share a same shock absorber 144, and a same receiver RF RF RF commands.
    Each magneto-coupler 108, 110, 112 comprises a different current pulse generator 158, 160, 162, connected to the common power supply battery 142, the width and / or the frequency and the polarity of the current pulses being modulated. according to the radio frequency commands received by the RF receiver 146 and assigned to the relevant magneto-coupler through a predetermined communication access scheme.
    The angular velocity reduction system 102 also differs from the angular velocity reduction system 2 in that the launcher 114 comprises a barrel barrel adapted to the size of the electromagnetic module 120 and is devoid of a charging barrel.
    According to FIGS. 4A-4B and a third embodiment, derived from the second embodiment world 102 of FIG. 3, a system for reducing angular velocities 172 comprises, like system 102, a hunter spacecraft 106 (not shown). 4A-4B), three magneto-couplers 178, 180, 182, a launcher 114 of the magneto-couplers 178, 180, 112 to the space debris 4, the observation device 16 of the angular movements and estimation of the attitude and angular velocities of the space debris 4, the set of magnetometers 18 mounted on the fighter 106 to estimate the earth's magnetic field, the module 20 for developing commands for reducing the angular velocities of the debris 4 to be carried out by the one or more magneto-couplers 172, 180, 182, and the at least one radiofrequency RF transmitter 22 for the magneto-couplers 178, 180, 182.
    The angular speed reduction system 172 differs from the angular speed reduction system 102 in that the three magneto-couplers 178, 180, 182 are integrated into an electromagnetic module 184 through a carrier structure or housing 186, and share within said electromagnetic module 184 a single self-securing element 186 formed by a harpoon, the electromagnetic module 184 being configured such that the electromagnetic coils 188, 190, 192 of the magneto-couplers 178, 180, 182 are arranged in a manner parallel and elongate in the launching device and during launch in a stacked position (Figure 4A) and deploy in trihedron at the moment of impact with the debris 4 under the action of a deployment mechanism (Figure 4B).
    The electromagnetic coils 188, 190, 192 are each wound around a ferromagnetic rod to channel the lines of the magnetic field generated by the associated coil and each incorporate a different power supply battery, a different shock absorber, and a receiver. different radio frequency RF controls like the magneto-couplers of the system 2 of Figures 1 and 2.
    In a variant of the system 172 of FIGS. 4A-4B, the magneto-couplers share a same power supply battery, a shock absorber, and the same RF radio frequency control receiver, like the magneto-couplers of the system 102 of FIG. Figure 3
    According to FIG. 5 and a phase of the launching of magneto-couplers implemented by the angular speed reduction system 2 of FIG. 1, the magneto-coupler 8, launched from the fighter satellite 6 by the launching device 14, continues rapidly a launch trajectory to the face 24 of the target satellite 4 forming the space debris. The two magneto-couplers 10, 12 are already moored respectively on the faces 34, 32 of the target satellite.
    According to FIG. 6, a phase of a separate launching of three magneto-couplers 8, 10, 12 is implemented by a third embodiment of an angular speed reduction system 202, derived from the system 2 of reduction of angular velocities of Figure 1.
    The angular speed reduction system 202 differs from the system 2 of Figure 1 in that the magneto-couplers 8, 10, 12 are each attached when they are launched to the fighter 6 by a different lanyard 208, 210, 212 , flexible and low mass. The lanyards 208, 210, 212 are detachable from the hunting machine 6 after self-docking of the magneto-couplers 8, 10, 12 to the space debris 4.
    Here, the magneto-couplers 10, 12 are already stowed to the target satellite 4 and their lanyards 210, 212 are detached from the fighter satellite 6. The magneto-coupler 8 being launched is attached to the fighter 4 satellite by its lanyard 208 and it remain attached as long as the 6 debris stowage has not occurred. This avoids the creation of new uncontrolled debris.
    According to Figure 7, a method of reducing angular velocities 302 of a space debris, implemented for example by the space system of Figure 1, comprises a set of steps.
    In a first step 304, the hunting machine is placed sufficiently distant from the space debris 4 to avoid colliding with it and allow it to target at least one of the large faces of the debris 4 to tie him one or more magneto-couplers.
    Then in a second step 306, the one or more magneto-couplers are launched by the launcher from the fighter 6 to the space debris 4, guiding them along the launcher barrel or barrels after the creation of the initial impulses.
    Then in a third step 308, the one or more magneto-couplers are self-stowed to one face of the debris 4 by the at least one self-locking element under the action of the momentum or magnitudes of the magneto-couplers printed by the launch device.
    Then in a fourth step 310, the one or more magneto-couplers generate one or more magnetic fields of coupling with the terrestrial magnetic field, the magnetic field or fields of coupling being modulated according to a law of commands transmitted through a radiofrequency link, the control law being developed from an estimate of the Earth's magnetic field Bt and an estimate of the attitude and angular velocities of the debris made at the level of the hunter satellite.
    According to FIGS. 8 and 9, computer simulation results of a control of the reduction of typical angular velocities, implemented by a system 2 as described in FIGS. 1 and 2 and concretely pre-dimensioned with FIGS. currently achievable elements are presented.
    These results make it possible to establish a preliminary dimensioning of the battery necessary to supply the magneto-couplers used for braking the rotation of the debris.
    The time required to brake the debris is evaluated by simulating the effects observed on the angular velocities of the debris by the application of a predetermined control law.
    The simulation is based on the following assumptions: • Orbit described by debris 680km, inclination 98 °; • Inertia matrix of debris: [1400 50 -20; 50, 1100-20; -20 -20 2200] kg.m2; • Initial angular velocity of the debris: [0.05 0.05 0.05] rad / s; • Three magneto-couplers mounted orthogonally on the debris (along three mutually orthogonal axes X, Y and Z) each having a maximum magnetic moment (Mmax) equal to 180 A.m2; • The law of control or command assumes that the attitude and the angular velocities of the debris are estimated, for example with a camera mounted on the hunter satellite, and that the magnetic field is estimated using magnetometers mounted on the hunter gear.
    The control law tested is of type:
    Mx Mmax * sign (ù) * Bt) x My Mmax * sign (ü) Bt ^ y Mz Mmax * sign (ü) Bt ') z in which: (mx, My, Mz) denote the components in the frame (X , Y, Z) of the control magnetic moment; (ωΛΒΐ) χ, (ü) ABt) y, (ü) ABt) z denote the components in the reference (X, Y, Z) of the vector (ωΛ £ ί), vector product of the instantaneous rotation speed ω of the debris 4 and the Earth's magnetic field Bt, estimated by the fighter satellite 6 respectively with the aid of the camera and the magnetometers;
    Sign (.) Designates the sign function;
    Mmax denotes the maximum magnetic moment equal to 180 A.m2, which can be applied to each magnetocoupler.
    According to FIG. 8, the temporal evolutions of the X, Y, Z components of the debris angular velocity in the hunter satellite marker are described respectively by a first curve 412, a second curve 414, and a third curve 416.
    According to FIG. 9, the temporal evolutions of the three magnetic moments Mx, My, Mz, actually applied along the X, Y, Z axes of the target satellite and generated by the magneto-couplers 8, 10, 12 of the system 2 are described by a fourth curve 422, a fifth curve 424, and a sixth curve 426.
    The magnetic moment controlled on each magneto-coupler 8, 10 and 12 is limited to three values: -Mmax, 0 or Mmax.
    The angular velocities Ù) X, Ù) y, Ù) Z along the X, Y and Z axes, initially set around 3 degrees / s are reduced to less than 0.2 degrees / s in about 25000 seconds, this is say 7 hours.
    In reality, the actual activation time of each magnetocoupler is less than 25000 seconds when the control time is zero.
    According to FIG. 10, the time evolution of the cumulative activation durations (-Mmax or + Mmax controlled) of each magnetocoupler is represented by a seventh curve 432 for the magneto-coupler of magnetic moment 8 oriented along the X axis by an eighth curve 434 for the magneto-coupler 10 of magnetic moment oriented along the Y axis, and by a ninth curve 436 for the magneto-coupler 12 of magnetic moment 12 oriented along the Z axis.
    It appears that the actual activation time of a magneto-coupler is at most 17000 seconds, that is to say 4.7 hours. On the other hand, the technical data available from OEMs supplying magneto-couplers show that a magneto-coupler capable of generating a magnetic moment of 180 A.m2 weighs approximately 2.5 kg and consumes 7.3W for a magnetic moment supplied equal to Mmax. The energy required for the power supply is therefore: 7.3x4.7 = 34Wh.
    By analogy with the batteries currently produced, it is possible to estimate the mass and the volume of the battery. Indeed, a conventional battery of 720Wh weighing 7.2 kg and occupying 6.7dm3, the supply of energy of 34 Wh corresponds to a battery of 0.34 kg and volume 0.32 dm3.
    权利要求:
    Claims (16)
    [1" id="c-fr-0001]
    CLAIMS .1 space system for reducing the angular velocities of a space debris (4), the space system comprising a hunter spacecraft (6), placed sufficiently far from the space debris (6) to avoid colliding with it and allowing a target of at least one of its large faces to attach one or more magneto-couplers, at least one or more magneto-couplers (8, 10, 12; 108, 110, 112; 178, 180; 182) configured to be launched from the fighter (6) to the space debris (4) and generate on command after docking them with space debris (4) one or more magnetic fields of coupling to the Earth's magnetic field; Characterized in that the space system comprises: a pulse-launching device (14; 114) of the spacecraft magnet-coupler or magneto-couplers to the space debris (4), the launching device (14; 114) being attached to the hunter (6) and including at least one launcher barrel (40) for guiding the one or more magneto-couplers (8, 10, 12, 108, 110, 112, 178, 180, 182) to the space debris (4), and the one or more magneto-couplers (8, 10, 12; 108, 110, 112, 178, 180, 182) each comprise an electromagnetic coil (54; 126, 128, 130; 190, 192) and at least one self-securing element (56; 124) at one side of the debris (4) under the action of the momentum (s) of the magneto-coupler (8, 10, 12). 108, 110, 112; 178, 180, 182) printed by the launching device (14; 114).
    [2" id="c-fr-0002]
    Spatial debris angular velocity reduction space system according to claim 1, wherein each magnetocoupler (8, 10, 12) is configured to be separately launched from the fighter (6) and separately secured to the space debris (4), or at least two magneto-couplers (108, 110, 112; 178, 180, 182) are integrated into an electromagnetic module (120) and share within the electromagnetic module (120; 184) one or more self-locking elements (56; 124; 186).
    [3" id="c-fr-0003]
    Spatial debris angular velocity reduction system according to claim 2, wherein at least two magneto-couplers (108, 110, 112; 178, 180, 182) are integrated into an electromagnetic module (120). 184), the at least two magneto-couplers (108, 110, 112) are pre-deployed prior to their initiation, or the at least two magneto-couplers (178, 180, 182) are clamped parallel to one another compactly in a stacking position when launched and deployed dihedron or polyhedron under the action of a deployment mechanism during their stowage debris.
    [4" id="c-fr-0004]
    Spatial deformation reduction system of space debris according to any of claims 2 to 3, wherein the launching device (14; 114) comprises a single barrel of a barrel adapted to the size of a magneto -coupler (8, 10, 12) or the size of the electromagnetic module (120; 184), and a magneto-coupler charging barrel when it is intended to separately launch and dock each magneto-coupler (8, 10, 12).
    [5" id="c-fr-0005]
    Spatial debris angular velocity space-saving system according to any of claims 1 to 4, wherein the self-docking element (56; 124; 186) is an element included in the assembly. formed by the self-adhesive elements, the gripper type elements, and the harpoon type elements.
    [6" id="c-fr-0006]
    Spatial debris angular velocity reduction system according to any one of claims 1 to 5, wherein: when the magneto-couplers (8, 10, 12) are configured to be launched and stowed separately, each magneto-coupler comprises a different power supply battery (62), or when at least two magneto-couplers (108, 110, 112) are integrated into an electromagnetic module (120), the at least two magneto- couplers (108, 110, 112) can share a common power supply battery (142) within the electromagnetic module (120).
    [7" id="c-fr-0007]
    Spatial debris angular velocity reduction system according to any one of claims 1 to 6, wherein each magnetocoupler (8, 10, 12) has a different shock absorber (70) when the magnetos -couplers (8, 10, 12) are configured to be separately started and stowed, or when at least two magneto-couplers (108, 110, 112) are integrated into an electromagnetic module (120), the at least two magneto-magnets couplers (108, 110, 112) share a same shock absorber (144) within the electromagnetic module (120).
    [8" id="c-fr-0008]
    Spatial spatial angular velocity reduction system according to any one of claims 6 to 7, wherein each magnetocoupler (8, 10, 12) has a different RF radio control receiver (66) and a different current pulse generator (64) connected to its power supply battery (62), the width and polarity of the current pulses being modulated according to the radio frequency RF commands received when the magneto-couplers (8, 10, 12) are configured to be launched and stowed separately; or when at least two magneto-couplers (108, 110, 112) are integrated into an electromagnetic module (120), the at least two magneto-couplers (108, 110, 112) share a same RF radio frequency control receiver (146) ) within the electromagnetic module (120) and each comprise a different current pulse generator (158, 160, 162) connected to the common power supply battery (142), the width and polarity of the current pulses being modulated according to different radio commands received by the common RF receiver (146).
    [9" id="c-fr-0009]
    The spacial space angular velocity reduction system of claim 8, further comprising at least one radio frequency RF transmitter (22) for the at least one RF radio control receiver, the at least one a transmitter (22) being on board the hunting craft (6).
    [10" id="c-fr-0010]
    Spatial spatial angular velocity reduction system according to any one of claims 8 to 9, wherein each radiofrequency transmitter (22) comprises a radio frequency signal modulator and an emission radiofrequency amplification chain, and each radio frequency receiver comprises a radio frequency amplification chain and a demodulator, and the modulators and demodulators use a robust multi-state, preferably two-state, digital modulation
    [11" id="c-fr-0011]
    Spatial space angular velocity reduction system according to claim 10, wherein the frequency band of the radio frequency control signal is a frequency band included in the set of VHF and UHF bands.
    [12" id="c-fr-0012]
    Spatial spatial angular velocity reduction system according to any one of claims 1 to 11, wherein each magneto-coupler (8, 10, 12; 108, 110, 112; 178, 180, 182). comprises a ferromagnetic rod (52; 132, 134, 136) of cylindrical shape on which is wound an electromagnetic coil (54; 126, 128, 130).
    [13" id="c-fr-0013]
    Spatial debris angular velocity space-saving system according to claim 12, wherein when the magneto-couplers (8, 10, 12) are configured to be launched and stowed separately, the rod of each magneto-coupler comprises one or more cavities for receiving and housing a power supply battery and / or a radio frequency control receiver and / or a current pulse generator, and / or each magneto-coupler comprises a shock absorber disposed longitudinally on each side; else of its ferromagnetic rod.
    [14" id="c-fr-0014]
    Spatial debris space angular velocity reduction system according to any one of claims 1 to 13, wherein the one or more magneto-couplers (8, 10, 12) or the electromagnetic module are attached at their launch. the hunter device by at least one flexible lanyard and low mass, the lanyard or lanyards being detachable from the hunting machine after self-docking or magneto-couplers to space debris.
    [15" id="c-fr-0015]
    Spatial debris space angular velocity reduction system according to any of claims 1 to 14, further comprising a device (16) for observing angular movements and for estimating attitude and velocities. angular debris, and A set of magnetometers (18) mounted on the hunter (6) for estimating the Earth's magnetic field Bt, A module (20) for developing commands to reduce the angular velocity of the debris from the velocities angular estimates of debris and the estimated earth magnetic field.
    [16" id="c-fr-0016]
    16. A method of reducing angular velocities of a space debris implemented by a space system comprising: a hunter spacecraft (6), at least one or more magneto-couplers (8, 10, 12; 110, 112) each having a different electromagnetic coil (54, 126, 128, 130) and at least one self-securing element (56; 124), a pulse-launching device (14; 114) of the magneto-couplers, boarded and attached to the fighter, the launch device including at least one launcher barrel for guiding the magneto-couplers; said method comprising the steps of: placing the hunter sufficiently far away from the space debris (304) to avoid colliding with the space debris and allowing it to be aimed at at least one of the large faces of the debris to attach one or more magneto-couplers to it; launching (306) the one or more magneto-couplers by the launching device from the hunting machine towards the space debris, guiding them along the launching barrel or barrels after the creation of the initial pulse or pulses; self-staking (308) the one-sided magneto-coupler (s) of the debris by the at least one self-securing element under the action of the movement quantity (s) of the magnetocoupler (s) printed by the device launching; .- generating (310) by the one or more magneto-couplers one or more magnetic fields of coupling to the Earth's magnetic field, the magnetic field or fields of coupling being modulated according to a command law transmitted through a radiofrequency link, the control law being developed from an estimate of the Earth's magnetic field and an estimate of the attitude and angular velocities of the debris made at the level of the fighter satellite.
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    同族专利:
    公开号 | 公开日
    FR3038297B1|2017-07-21|
    ES2650088T3|2018-01-16|
    EP3112274B1|2017-09-13|
    EP3112274A1|2017-01-04|
    引用文献:
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    US20110121139A1|2009-11-25|2011-05-26|Poulos Air & Space|Stabilization of unstable space debris|
    EP2774855A1|2011-11-02|2014-09-10|IHI Corporation|Device for removing space debris and method for removing space debris|
    EP2746163A1|2012-12-19|2014-06-25|Astrium Sas|System and method for capturing and removing space debris|
    EP2860115A1|2013-10-11|2015-04-15|Thales Alenia Space Deutschland GmbH|Method for modifying a position of uncontrolled objects in space and spacecraft for realizing the method|CN108213898A|2018-01-12|2018-06-29|中国科学院长春光学精密机械与物理研究所|A kind of in-orbit assembling docking facilities|
    CN106986050B|2017-03-31|2019-02-26|西北工业大学|More cubes of star composite structures of one kind and its changing method|
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    CN112904875A|2021-01-08|2021-06-04|北京理工大学|Approaching contact method of rigid-flexible variable mechanism to space target|
    法律状态:
    2016-06-28| PLFP| Fee payment|Year of fee payment: 2 |
    2017-01-06| PLSC| Search report ready|Effective date: 20170106 |
    2017-06-28| PLFP| Fee payment|Year of fee payment: 3 |
    2018-06-28| PLFP| Fee payment|Year of fee payment: 4 |
    2020-04-10| ST| Notification of lapse|Effective date: 20200306 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1501396A|FR3038297B1|2015-07-01|2015-07-01|SPACE SYSTEM TO REDUCE ANGULAR SPEEDS OF A DEBRIS BEFORE DESORBING IT|FR1501396A| FR3038297B1|2015-07-01|2015-07-01|SPACE SYSTEM TO REDUCE ANGULAR SPEEDS OF A DEBRIS BEFORE DESORBING IT|
    ES16170294.9T| ES2650088T3|2015-07-01|2016-05-19|Space system to reduce the angular velocities of a space residue before desorbiting it|
    EP16170294.9A| EP3112274B1|2015-07-01|2016-05-19|Spatial system for reducing the angular velocities of space debris before removing same from orbit|
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