Approaching control for tethered space robot based on disturbance observer using super twisting law

Approaching control is a key mission for the tethered space robot to perform the task of removing space debris. But the uncertainties of the TSR such as the change of model parameter have an important effect on the approaching mission. Considering the space tether and the attitude of the gripper, the dynamic model of the TSR is derived using Lagrange method. Then a disturbance observer is designed to estimate the uncertainty based on STW control method. Using the disturbance observer, a controller is designed, and the performance is compared with the dynamic inverse controller which turns out that the proposed controller performs better. Numerical simulation validates the feasibility of the proposed controller on the position and attitude tracking of the TSR.     

A deorbiter CubeSat for active orbital debris removal

This paper introduces a mission concept for active removal of orbital debris based on the utilization of the CubeSat form factor. The CubeSat is deployed from a carrier spacecraft, known as a mothership, and is equipped with orbital and attitude control actuators to attach to the target debris, stabilize its attitude, and subsequently move the debris to a lower orbit where atmospheric drag is high enough for the bodies to burn up. The mass and orbit altitude of debris objects that are within the realms of the CubeSat’s propulsion capabilities are identified. The attitude control schemes for the detumbling and deorbiting phases of the mission are specified. The objective of the deorbiting maneuver is to decrease the semi-major axis of the debris orbit, at the fastest rate, from its initial value to a final value of about 6471?km (i.e., 100?km above Earth considering a circular orbit) via a continuous low-thrust orbital transfer. Two case studies are investigated to verify the performance of the deorbiter CubeSat during the detumbling and deorbiting phases of the mission. The baseline target debris used in the study are the decommissioned KOMPSAT-1 satellite and the Pegasus rocket body. The results show that the deorbiting times for the target debris are reduced significantly, from several decades to one or two years.     

Feasibility analysis of LEO and GEO large space debris de/re-orbiting taking into account launch mass of spacecraft-collector and its configuration layout

Analysis of the efficiency of two basic strategies for de/re-orbiting large space debris objects to disposal orbits (DO) is given. Large objects in LEO are classified into groups with similar orbital inclinations and comprise primarily last stages of launch vehicles, in GEO vicinity the paper studies upper stages. Under the first de/re-orbiting variant, it is assumed a spacecraft-collector is equipped with several thruster de/re-orbiting kits (TDKs); one of them can be fixed on an object and is capable of de/re-orbiting an object to a DO independently of the collector. In the second variant, a collector operates as a space tug: transfers objects to a DO and then returns to the next objects in line. The authors study possible configuration layouts of collectors in LEO and near GEO. The available analogous projects are analyzed. The efficiency of both de/re-orbiting variants can be properly compared using the estimations of collector's dry mass and having at one's disposal the parameters of the maneuvers required for transfers between all objects in the group. As reasonable criteria of effectiveness, one can consider (separately or jointly) the launch mass of an equipped collector, its ΔV budget, and the required number of such active spacecraft. Two de/re-orbiting variants are compared in terms of these criteria via mass-energy diagrams constructed for each group of objects in both altitude regions. Analysis of these diagrams shows that low Earth orbits can be more efficiently cleaned under the first de-orbiting variant by using a two-stage space system consisting of an active spacecraft carrying TDKs. For GEO, it is expedient to choose the second re-orbiting variant using a single-stage spacecraft. Our analysis shows that LEO cleaning is an order of magnitude more expensive than that for GEO, hence the problem of LEO population should be given increased attention.     

Exploration life support technology challenges for the Crew Exploration Vehicle and future human missions

As NASA implements the U.S. Space Exploration Policy, life support systems must be provided for an expanding sequence of exploration missions. NASA has implemented effective life support for Apollo, the Space Shuttle, and the International Space Station (ISS) and continues to develop advanced systems. This paper provides an overview of life support requirements, previously implemented systems, and new technologies being developed by the Exploration Life Support Project for the Orion Crew Exploration Vehicle (CEV) and Lunar Outpost and future Mars missions. The two contrasting practical approaches to providing space life support are (1) open loop direct supply of atmosphere, water, and food, and (2) physicochemical regeneration of air and water with direct supply of food. Open loop direct supply of air and water is cost effective for short missions, but recycling oxygen and water saves costly launch mass on longer missions. Because of the short CEV mission durations, the CEV life support system will be open loop as in Apollo and Space Shuttle. New life support technologies for CEV that address identified shortcomings of existing systems are discussed. Because both ISS and Lunar Outpost have a planned 10-year operational life, the Lunar Outpost life support system should be regenerative like that for ISS and it could utilize technologies similar to ISS. The Lunar Outpost life support system, however, should be extensively redesigned to reduce mass, power, and volume, to improve reliability and incorporate lessons learned, and to take advantage of technology advances over the last 20 years. The Lunar Outpost design could also take advantage of partial gravity and lunar resources.     

管道相连泄爆容器中粉尘爆炸的实验研究

采用管道相连容器进行了工业规模的粉尘爆炸实验,目的是研究粮食粉尘在管道相连的加工和输送工业设备中发生粉尘爆炸时火焰和爆炸压力的传播过程及粉尘的Kst值对爆炸的影响。实验装置为一个气力输送系统,由两个不同体积的容器通过管道连接构成。采用粮食工业上具有代表性的两类粉尘进行了粉尘爆炸测试,爆炸从一个容器中通过管道传播到另一个容器中并引发了随后的二次爆炸,测试了不同位置的火焰和压力信号。实验结果表明：即使在起爆容器采取了泄爆措施,管道中没有粉尘喷入的情况下,粉尘爆炸火焰也可沿管道传播达30m并引发二次爆炸;随着粉尘爆炸指数的增大,初始爆炸的猛烈程度增强,火焰传播速度加快,二次爆炸的猛烈程度也随之增强。     

空间绳系组合体的继电型控制离轨策略

为了使空间绳系组合体更好地完成空间碎片清理任务,提出一种更接近工程实际应用的继电型推力（Bang-Bang）离轨控制策略。利用带有差动间隙的Bang-Bang控制策略,实现绳系组合体切向的继电式推力加速;设计了一种全新的被动式卷扬机构,以避免在使用继电式推力离轨的过程中多次开关发动机对绳系组合体带来的负面影响;针对径向推力设计了输入受限的滑模控制器,且最终控制指令同样以继电式推力形式实现,抑制了离轨过程中绳系组合体的面内摆动。数值仿真结果显示,继电型推力能够实现与连续推力近似的效果,能够将绳系组合体的摆动角度抑制在一个较小的范围内;整个离轨控制策略能够使得空间绳系组合体在保持姿态稳定的前提下将空间碎片拖曳到坟墓轨道。     

火星尘埃对太阳电池阵的影响与电帘除尘研究

火星表面大量尘埃在太阳电池阵表面的累积将会导致其输出功率下降,甚至使太阳电池阵功能失效。近年来,电帘除尘方法被认为是在火星着陆任务中进行尘埃防护最有效的手段之一。本文开展了火星尘埃累积对三结砷化镓太阳电池性能影响的实验研究,得到了火星尘埃累积量与太阳电池电压、电流和相对输出功率数值模型;通过除尘技术分析,确定电帘除尘装置构型;依据制备得到的除尘电帘,对不同火星尘埃累积下电帘的除尘效率进行了研究,为火星着陆太阳电池阵遥测数据分析和开发自适应除尘太阳电池阵提供有力的技术支持。     

AutoScan系列复杂零件自动化三维测量装备开发与应用

自动化三维测量可实现复杂零件的精度检测,为后续工艺优化提供基础数据,是保证航空航天领域复杂零件成形精度的关键技术,但应用时尚存在以下问题：其一,自动化三维测量视点规划仍以人工示教为主,规划效率低、效果差;其二,锻造成形等工业现场工况恶劣,易使系统预先标定的参数发生漂移,测量精度难以保证;其三,多视测量数据拼接仍主要采用标志点拼接的方式,过程繁琐,应用局限大;其四,在线自动化测量时受工装夹具等影响,测量点云中存在大量背景噪声,影响数据自动处理的精度与稳定性。针对上述难题,介绍了基于双目测头的自动化测量视点规划、基于耦合焦距比例约束的系统参数自标定、基于全局优化的多视测量数据拼接、基于自适应阈值迭代最近点（ICP）点云背景噪声自动去除等关键技术;在此基础上,研制了系列自动化三维测量装备,包括PowerVirtualPlan视点规划软件、PowerScan三维测量软件、iPoint3D数据处理软件的开发;最后,介绍自动化三维测量装备在航天航空等领域的工程应用情况。     

天基激光清除空间碎片方案与可行性研究

介绍了激光烧蚀驱动机理和空间碎片降轨清除原理,通过分析计算确立了空间碎片降轨清除判据和2 种降轨清除模式。理论计算给出了清除1200、800 和500 km 三个典型低地球轨道上空间碎片所必须的速度增量、激光器功率、单脉冲能量、激光发射镜直径等主要参数值。对比分析显示现有的硬件指标和条件能够满足清除低地球轨道上空间碎片的设计要求,因此,天基激光清除空间碎片方案从技术角度是可行的。     

Prospects of de-tumbling large space debris using a two-satellite electromagnetic formation

Capturing large space debris with complex rotational motion is extremely challenging. A de-tumbling phase before capturing may be necessary to reduce the risk of collision with debris. This paper proposes a new noncontact de-tumbling method using a two-satellite electromagnetic formation, in which two small electromagnetic satellites, each having a high-temperature superconducting coil, generate control torques to reduce the rotation rate of debris prior to making any physical contact. The electromagnetic interaction of the target-satellite system is analyzed. A relative translational dynamics of the target–satellite system and the attitude dynamics of the target are established. Simulation results show that the proposed method effectively eliminates the rotational motion of the target. It can be safely concluded that the noncontact method for de-tumbling space debris using a two-satellite electromagnetic formation is feasible and potentially applicable to on-orbit capture.