Behavior of tethered debris with flexible appendages

Active exploration of the space leads to growth of a near-Earth space pollution. The frequency of the registered collisions of space debris with functional satellites highly increased during last 10 years. As a rule a large space debris can be observed from the Earth and catalogued, then it is possible to avoid collision with the active spacecraft. However every large debris is a potential source of a numerous small debris particles. To reduce debris population in the near Earth space the large debris should be removed from working orbits. The active debris removal technique is considered that intend to use a tethered orbital transfer vehicle, or a space tug attached by a tether to the space debris. This paper focuses on the dynamics of the space debris with flexible appendages. Mathematical model of the system is derived using the Lagrange formalism. Several numerical examples are presented to illustrate the mutual influence of the oscillations of flexible appendages and the oscillations of a tether. It is shown that flexible appendages can have a significant influence on the attitude motion of the space debris and the safety of the transportation process.     

Attractive manifold-based adaptive solar attitude control of satellites in elliptic orbits

The paper presents a novel noncertainty-equivalent adaptive (NCEA) control system for the pitch attitude control of satellites in elliptic orbits using solar radiation pressure (SRP). The satellite is equipped with two identical solar flaps to produce control moments. The adaptive law is based on the attractive manifold design using filtered signals for synthesis, which is a modification of the immersion and invariance (I&I) method. The control system has a modular controller–estimator structure and has separate tunable gains. A special feature of this NCEA law is that the trajectories of the satellite converge to a manifold in an extended state space, and the adaptive law recovers the performance of a deterministic controller. This recovery of performance cannot be obtained with certainty-equivalent adaptive (CEA) laws. Simulation results are presented which show that the NCEA law accomplishes precise attitude control of the satellite in an elliptic orbit, despite large parameter uncertainties.     

Methods to obtain the principal parameters of simple attitude control systems for small satellites

The present article deals with methods to determine the dynamical characteristics of satellites with passive and semipassive attitude control systems (ACS). On the basis of determined dynamical characteristics the principal parameters of ACS are obtained. The ACS interacting with the geomagnetic are considered here. It's reputed the ACS of such kind are wide used and simple one. Analytical relationships of these characteristics with the basic attitude control system parameters are presented, and the most important peculiarities of such systems that were found while carrying out satellite dynamics analysis are discussed. The results of system parameters optimization with certain criteria are also given where possible. The results presented may be applied at the preliminary design phase of satellite development.     

Validation of attitude/deformation sensing techniques for space flexible manipulators

This paper proposes an approach that makes use of two different techniques to sense and identify both the rigid attitude motion and the flexible dynamics of a manipulator. With the first technique, an accurate attitude motion determination, based on the use of a global navigation satellite systems (GNSS) signals, is performed. For this purpose, some antennas are placed on the manipulator in order to obtain the observable phase of the GNSS signal. The second technique, based on the use of accelerometer sensors, is used in order to identify the dynamic signature during the motion of the flexible link. Specifically, the modal parameters are estimated using data recorded from accelerometers, conveniently placed on the structure, by means of an output-only based approach. The developed algorithms used for both the attitude estimation and the output-only modal analysis are validated by experimental activities carried out on an in-house testbed representing a two flexible arm manipulator.     

Analysis and experiments for delay compensation in attitude control of flexible spacecraft

Space vehicles are often characterized by highly flexible appendages, with low natural frequencies which can generate coupling phenomena during orbital maneuvering. The stability and delay margins of the controlled system are deeply affected by the presence of bodies with different elastic properties, assembled to form a complex multibody system. As a consequence, unstable behavior can arise. In this paper the problem is first faced from a numerical point of view, developing accurate multibody mathematical models, as well as relevant navigation and control algorithms. One of the main causes of instability is identified with the unavoidable presence of time delays in the GNC loop. A strategy to compensate for these delays is elaborated and tested using the simulation tool, and finally validated by means of a free floating platform, replicating the flexible spacecraft attitude dynamics (single axis rotation). The platform is equipped with thrusters commanded according to the on–off modulation of the Linear Quadratic Regulator (LQR) control law. The LQR is based on the estimate of the full state vector, i.e. including both rigid – attitude – and elastic variables, that is possible thanks to the on line measurement of the flexible displacements, realized by processing the images acquired by a dedicated camera. The accurate mathematical model of the system and the rigid and elastic measurements enable a prediction of the state, so that the control is evaluated taking the predicted state relevant to a delayed time into account. Both the simulations and the experimental campaign demonstrate that by compensating in this way the time delay, the instability is eliminated, and the maneuver is performed accurately.     

Nonlinear H∞ based underactuated attitude control for small satellites with two reaction wheels

Underactuated attitude control is supposed to be used on spacecraft when failure happens with onboard actuators. One main problem with existing underactuated attitude control designs is their limited capabilities against disturbances. In order to solve this problem, an approach based on the theory of H∞$H\infty$ is proposed in this paper. Two propositions are derived from the H∞$H\infty$ theory to improve the robustness of one popular underactuated attitude control design, which was presented by Tsiotras et al. It is proved mathematically that the controller satisfying these two propositions respectively can stabilize the underactuated attitude system locally or globally. The numerical simulations show that the improved controllers based on the H∞$H\infty$ theory could provide higher pointing accuracy for small satellites against disturbances. This validates the effectiveness of the proposed H∞$H\infty$ based approach to improve existing underactuated attitude control designs.     

General dynamics of a large class of flexible satellite systems

The paper presents a general formulation for librational dynamics of satellites with an arbitrary number, type and orientation of deploying flexible appendages. In particular, the case of beam-type flexible appendages deploying from a satellite in an arbitrary orbit is considered. The governing nonlinear, nonautonomous and coupled equations for vibration of the appendages and libration of the satellite are integrated numerically. Several cases of practical importance are considered making the system progressively more general and hence complex: (i) planar case representing pitch and appendage oscillations in the orbital plane; (ii) general attitude motion with planar vibrations of flexible members; (iii) above two cases together with the out-of-plane component of vibrations. Results show that under critical combinations of the system parameters the combined effect of flexibility and deployment can be substantial.     

Environmental effects on the dynamics and control of an orbiting large flexible antenna system

The environmental effects on a proposed large flexible space structure, namely, the Hoop/Column antenna system are studied. Mathematical models for the disturbances resulting from the interaction of solar radiation pressure with the vibrating and also thermally deformed antenna structure are developed. Expressions for the stabilizing gravity-gradient torques are also obtained. The uncontrolled transient response of the antenna system shows that the structure may tumble in orbit due to the expected disturbances. Linear quadratic regulator techniques are used to develop control laws for the actuators which could provide both shape and orientation control. The controlled response of the system is simulated for various initial conditions. The steady state rms pointing accuracy and the antenna surface accuracy are met in all the cases considered here. In order to reduce the control effort required to maintain the shape and orientation, the thermal deformations will have to be minimized. In the preliminary design of the system, materials should be considered which have a higher thermal conductivity and a lower coefficient of linear expansion, within cost constraints.     

卫星的光散射建模研究

目标光散射特性理论建模研究是空间目标光学特性研究的重要组成部分。对于卫星等复杂空间目标,进行光散射建模计算的关键点和难点是解决复杂目标不同部件之间的遮挡关系和光线在目标内部的再次散射问题。通过对已有方法的比较,依据光线跟踪算法并结合蒙特卡罗法思想给出了更为有效和快速的建模计算方法,并把该方法运用到对某卫星光散射特性理论建模中,给出了该卫星在太阳光照下的光散射亮度图像。     

Stochastic motion of geosynchronous satellites

Long-period evolution of the orbital elements of geosynchronous objects moving in the neighborhood of separatrices of the region of libration resonance is studied. At the phase plane “the longitude of the subsatellite point-semi-major axis” the regions of migration of separatrices where the separatrices can move due to the influence of perturbations are isolated. The dimensions of these regions and the distances between them have the same order of magnitude, several kilometers along the semi-major axis. The regions of migration do not overlap at the initial value of the orbit inclination 0°. When inclination increases, gradual overlapping of these regions takes place. On average, the width of the zones of stochasticity increases when the area to mass ratio increases and decreases when inclination of the orbit increases. The zones of stochasticity corresponding to different separatrices are separated from each other. A catalog of the passive geosynchronous objects moving in the neighborhood of separatrices is compiled. The evolution of the objects of the catalog is studied.     

Stability of a ring of connected satellites

The motion of a large number of artificial satellites connected in a ring one after another by tethers of variable length is considered. Every satellite is supposed to have a control system programmed according to some tether tension law as a function of the distance between tethered satellites. The effect of the tension control law on the stability of stationary rotation of this ring is investigated. The final stability condition includes two requirements: 1) the nominal tether tension should be less than a definite limit equal, up to numerical coefficient, to one satellite weight divided by the number of satellites; 2) tether tension should decrease (or remain constant) with the increase of the distance between tethered satellites. In dynamics the artificial rings of this kind are much like their natural prototype—meteor rings. On the other hand, the investigation of the artificial rings contributes to developing an unexpected view upon meteor rings, suggesting a model of an imaginary equivalent string.     

Telecommunications and the economic impact of communications satellites

This article provides several illustrations of the growing economic importance and scope of communications satellite service and discusses how rapid development of new telecommunications systems, particularly those that include communications satellite systems, serve as a major stimulant of economic growth. There is evidence that communications satellites are capable of making important economic contributions to developed and developing countries alike. The rapid proliferation of separate communications satellites, although stimulating economic growth, is giving rise to concerns about intersystem connectivity and saturation of the available radio frequencies in geosynchronous orbit. The growth of the communications satellite industry to an activity level of perhaps $10,000 million per annum by the mid-to-late-1980s could assist in the development of multipurpose space platforms that could minimize the problems created by satellite proliferation.     

双星编队星座相对状态自主确定

针对NASA的ST-3中自主编队飞行的双星星座，研究在无GPS信号覆盖区域，利用星载类GPS的伪距和载波观测数据自主确定双星星座之间相对位置与钟差的问题。文中首先给出了系统的数学模型；然后研究利用卫星姿态机动提供的几何信息，进行单差整周模糊度初始化的问题，讨论了最优化的卫星姿态机动方案；最后给出了仿真协方差分析结果。     

Comparative economics of very high capacity communications satellites

Technology advances expected by the late 1980 or early 1990 time period will allow the construction of powerful and complex communications satellites with large multibeam antennas and very many transponders, and their operation and maintenance in geostationary orbit. The high sensitivity and effective radiated power of such satellites will enable the Earth stations using them to shrink dramatically in size and cost, thus becoming readily available to very large numbers of users as well as making possible new kinds and levels of communications services simply not possible with smaller satellites. This paper briefly describes three such new designs, concerning electronic mail transmission, educational TV distribution, and mass personal communications; it compares the users' service costs with those of terrestrial networks designed for the same performance.     

Electrodynamic stabilization of earth-orbiting satellites in equatorial orbits

A satellite with electrodynamic stabilization system is considered. Based on the method of Lyapunov functions, sufficient conditions of the asymptotic stability of direct equilibrium position of this satellite in the orbital coordinate system under perturbing action of a gravitational moment are obtained. These conditions allow one to ensure a rational choice of parametric control coefficients depending on parameters of the satellite and its orbit.     

变厚度弹性件柔性接头的非线性分析

结合试验数据,采用Mooney-Rivlin模型模拟了柔性接头的弹性件材料;根据非线性理论,采用混合插值有限元法对某一摆角状态下的柔性接头进行了大变形非线性弹性分析,并在此基础上初步探讨了厚度不均匀弹性件对层间应力的影响。计算结果表明,弹性层减薄到一定程度时,层间剪切应力沿宽度方向分布变得均匀,应力值仍集中在2 MPa以下;层间法向应力分布变化较小,呈二次曲线分布,最大值有所降低;其中,接近后法兰的弹性件厚度不均时,对各项应力最大值影响较大。     

The potential of direct broadcast satellites for the USA

The extensive coverage of the USA by cable television has posed a major hurdle for successful use of direct broadcast satellites. However, the potential for DBS service is improving because of breakthroughs in development of digital video compression and the availability of high-power satellites, combined with ample allocations of radio spectrum and orbital slots to DBS service. The success of DBS applications will depend critically on (a) the cost of small-antenna home receiving terminals, (b) operating expenses, and (c) demand for new services, such as HDTV, that could be provided by DBS systems more quickly and cheaply than through terrestrial transmission.     

Stability of large damped flexible spacecraft with stored angular momentum

Vibrational stability of large flexible structurally damped spacecraft carrying internal angular momentum and undergoing large rigid body rotations is analysed modeling the systems as elastic continua. Initially, analytical solutions to the motion of rigid gyrostats under torque-free conditions are developed. The solutions to the gyrostats modeled as axisymmetric and triaxial spacecraft carrying three and two constant speed momentum wheels, respectively, with spin axes aligned with body principal axes are shown to be complicated. These represent extensions of solutions for simpler cases existing in the literature. Using these solutions and modal analysis, the vibrational equations are reduced to linear ordinary differential equations. Equations with periodically varying coefficients are analysed applying Floquet theory. Study of a few typical beam- and plate-like spacecraft configurations indicate that the introduction of a single reaction wheel into an axisymmetric satellite does not alter the stability criterion. However, introduction of constant speed rotors deteriorates vibrational stability. Effects of structural damping and vehicle inertia ratio are also studied.