Control over orientation of supply spaceship with stationary solar battery panels at jobs under conditions of spinning

FIELD: aircraft engineering.

SUBSTANCE: invention relates to aerospace engineering. Proposed method comprises supply spaceship spinning around perpendicular to solar battery working surface directed to the Sun at angular velocity of at least 1.5 degree/s. During said spinning at time interval of duration making at least one circuit supply angular velocity components are measured in structural system of coordinates. Measured magnitudes are used to define the directions of the main central axis of inertia of supply spaceship. Spaceship is turned to alignment of the central axis of inertia making the minimum angle with perpendicular to solar battery working surface with direction to the Sun. Spaceship is spun around spaceship around said axis to measure solar battery current. After current reaches minimum permissible magnitudes spaceship is, again, turned to align said axis of inertia with direction to the Sun. Again, spaceship is spun around said axis.

EFFECT: higher power yield of solar batteries owing to radiation reflected from the Earth at spaceship gravity orientation with spinning with allowance for actual main central axes of inertia.

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The invention relates to the field of space technology and can be used for attitude control of a SPACECRAFT (SC) in the works in terms of rotational motion.

The rotary motion of the SPACECRAFT is used, for example, when conducting experiments and research in the field of microgravity and implemented spins around KA directions specified in the building coordinate system KA.

Consider what type of vehicle cargo ships (THC), undertaking missions to the space station - for example, to the international space station. Data KA convenient to carry out research at the stage of their Autonomous flight after undocking from the space station.

There is a method of attitude control of SPACECRAFT, including exhibition axes AC and maintaining the angular position of the engine orientation (Alekseev, K. B., byabenin,, office of space flight vehicles. M: Mechanical Engineering, 1974). However, to use this method you must consume a working medium, which causes, in addition, unpredictable microcornea on Board the SPACECRAFT.

There is a method of attitude control of SPACECRAFT with a fixed solar panels when performing experiments on orbits with a maximum duration of shadow plot (Patent RF №2457158, priority from 22.09.2010, the PC (2006.01) B64G 1/24, 1/44), including the gravitational orientation of the SPACECRAFT and spin around its longitudinal axis corresponding to the minimum moment of inertia, when the Sun is near to the plane of the orbit combine this plane with the plane SAT by the passing of the morning terminator, measure and monitor the angle between the normal to the active (working) surface SB and the direction to the Sun, at the moment of passing of the morning terminator perform the spin of the SPACECRAFT in the direction corresponding to the reduction of the specified angle, and the angular velocity of the spin is chosen from a specified range of values. The method allows to provide some coverage of the SAT and the coming of electricity to conduct non-energy-intensive experiments. When solar radiation enters the SB with directions, substantially separated from the normal to the working surface SB, resulting generated by SB current is significantly different from the maximum current that can generate Coll. At the same time, while performing a number of experiments, including crystal growth, it is necessary to provide a large eat electricity SB, because for conducting such experiments used energy-intensive equipment.

Closest to the proposed prototype is the way (Belyaev, M. Y. "Scientific experiments in space ships and space stations". M. Engineering, 1984), including the reversal of THC, the normal to the working surface SB of which coincides with one of the principal axes of inertia, to match the direction normal to the working surface SB with direction to the Sun and spin TGC around the given axis. Prototype method allows to provide the highest possible arrival of electricity from SAT to work with energy-intensive equipment.

TGC is used for cargo delivery to the space station and to remove the goods from the station. The distribution of masses of disposable cargoes within THC is poorly predictable and loaded THC is not accurately known inertial characteristics - their actual values differ significantly from the design or theoretically predicted estimates. Prototype method does not take into account the mismatch between projected and actual inertial characteristics of THC, including to determine the actual inertial characteristics of THC after downloading it to remove from orbital space station cargo. This leads to a management orientation TGC his servants (i.e. unreliable) inertial characteristics. While unmanaged rotational movement of THC in the process of spin, made around inaccurately defined the main Central axes of inertia, will have indignation, the cat is who are undesirable for experimentation and research in the field of microgravity.

In addition, in the General case, for a spin THC over time due to harmful effects on the orientation of THC external moments rotational movement of the THC will "fall apart", which will then decrease the advent of electricity from SB and worsen conditions for experiments.

Task to be solved by the present invention is directed is to provide attitude control of THC with fixed panels SAT in the works in terms of the rotational motion of THC around its main Central axes of inertia.

The technical result of the invention is to provide maximize energoprivod from SAT in the spinning mode is loaded deleted orbital space station cargo THC.

The technical result is achieved in that in the method of controlling the orientation space TGC with fixed panels SAT in the works in terms of rotational motion, including the reversal of THC to match the direction normal to the working surface SB with direction to the Sun and spin TGC around a given axis, additionally produce spin around THC direction normal to the working surface of the security Council aimed at the Sun, the angular velocity of not less than 1.5 deg/sec, in this twist on the time interval of a duration of at least one in the TKA measure the components of the angular velocity of THC in the building coordinate system, on the measured values of the component of angular velocity of THC determine the directions of the principal Central axes of inertia of THC, deploy THC to match the main Central axes of inertia component of the minimum angle with the normal to the working surface SB, with the direction to the Sun and produce the spin TGC around this axis, in this twist measure the current from the SB, when reaching the measured value of the current solar minimum allowable values again deploy THC to align above the main Central axes of inertia with the direction to the Sun and re-produce the spin TGC around this axis.

The essence of the invention is illustrated in Fig.1 which shows a diagram of the orientation of THC in the process of spin TGC around the main Central axes of inertia.

In Fig.1 introduced the notation:

1 - the scope of the provisions of the normal to the working surface SB in the process of spin THC;

N is the direction normal to the working surface SA; S - direction to the Sun;

x₁x₂x₃axis parallel to the main Central axes of inertia of THC;

g is the angle between the normal to the working surface SB and the main Central axis of inertia THC minimum angle with the normal to the working surface SB.

Explain proposed mode of action.

Consider the Autonomous stage is on flight THC. In the proposed method, deploy THC to match the direction normal to the working surface SB with direction to the Sun and produce the spin TGC around the direction normal to the working surface SB with an angular speed of not less than 1.5 deg/sec.

In this orientation provides maximum arrival power from the SAT required for charging rechargeable batteries, the power supply system of THC.

In the course of execution of twist is measured components of the angular velocity of THC in the building coordinate system of THC on the time interval of a duration of at least one turn.

On the measured values of the component of angular velocity of THC determine the current actual values of the directions of the principal Central axes of inertia of THC in the building coordinate system.

The assay can be performed, for example, as follows.

Use the following coordinate system. Building system₁y₂y₃rigidly connected with the body of THC. Consider, for example, that the y axis₁parallel to the longitudinal axis of the ship and sent from the docking station to the aggregate compartment, the y axis₂directed normal to the working surface SB. Axis system x₁x₂x₃parallel to the main Central axes of inertia of THC. The position of the system x₁x₂x₃relatively systemyou ₁the₂the₃will ask angles γ, α and β, which will enter through the following conditions. System₁the₂the₃can be transferred to the system x₁x₂x₃three successive rotations: 1) by the angle α around the y-axis₂, 2) the angle β around the new y₃, (3) the angle γ around the new y₁coinciding with the axis x₁. The transition matrix from system x₁x₂x₃to the system in₁the₂the₃letwhereand_ijthe cosine of the angle between the axes y_iand x_i. The elements of this matrix are functions of the entered angles.

The components of the angular velocity of THC in the system x₁x₂x₃denote ω_i(i=1, 2, 3). To describe the time-dependent values of ω_iuse dynamic Euler equations of a free rigid body, which is not acted upon by external mechanical things. These equations have the form

$${\stackrel{}{\omega }}_1=\mu {\omega }_2{\omega }_3$$,$${\omega }_2=\frac{\mu \text{'}-\mu }{1-\mu \mu \text{'}}{\omega }_3{\omega }_1$$ ,$${\stackrel{}{\omega }}_3=\mu \text{'}{\omega }_1{\omega }_2,\left(1\right)$$

$$\mu =\frac{J_2-J_3}{J_1}$$,$$\mu \text{'}=\frac{J_2-J_1}{J_3}$$,

where J_ithe moments of inertia of THC relative to the axes x_i. The parameters µ, µ' and the angles γ, α and β for a particular phase of flight specific TGC have some project predicted values and actual values are determined from the data of measurements of angular velocity obtained during the execution of the spin THC.

Solving equations (1), describes the change of variables ω_iduring these spins, expressed approximate formulas

ω₁=λ[Asinv(t-t₀)+Bcosv(t-t₀)],

$${\omega }_2=\Omega ,\text{the}\left(2\right)$$

ω₃=Acosv(t-t₀)- Bsinv(t-t₀),

$$\lambda =\sqrt{\frac{\mu }{\mu \text{'}}}$$,$$v=\Omega \sqrt{\mu \mu \text{'}}$$.

Here A, b and Ω are arbitrary constants. Formula (2) is the more accurate, the smaller the absolute value of the relationship A/Ω B/Ω.

During the twist is measured angular velocity of THC. Measurement data have the form

$$t_n,{\Omega }_1^{(n)},{\Omega }_2^{(n)},{\Omega }_2^{(n)}(n=1,2,3,...,N),\left(3\right)$$

where$${\Omega }_i^{(n)}(i=1,2,3)$$- the measured values of the Ω_ithe angular velocity in the construction of the coordinate system at time t_n:$${\Omega }_i^{(n)}\approx {\Omega }_i(t_n)$$, t₁<t₂<...<t_N. The processing of data relating to a specific twist of THC, is to find the solution of the equations (1), the best matching these data with their estimated counterparts

$${\Omega }_{\mathrm{i/mi>}}={\displaystyle \underset{k=1}{\overset{3}{\sum }}{a}_{ik}{\omega }_k}\left(i=1,2,3\right)$$.

Here ω_kcan be specified as formulas (2) and exact solution of equations (1).

Processing of measurement data (3) is performed by the method of least squares is to minimize the expression

$$\Phi ={\displaystyle \underset{n=1}{\overset{N}{\sum }}{\displaystyle \underset{i=1}{\overset{3}{\sum }}[{\Omega }_i^{\left(n\right)}-{\Omega }_i(t_n)}}{]}^2$$.

By using formulas (2) the minimization is performed on eight parameters: a, b, Ω, λ, ν, γ, α and β, which are considered to be independent. After evaluation of these parameters is found, calculated µ=λµ/Ω, µ'=ν/λΩ. While minimizing f on exact solutions of equations (1) (this gives a somewhat more accurate estimates) used other eight parameters: ω_i(t 1) (i=1, 2, 3), µ, µ', γ, α and β. Characteristics accuracy of the found estimates are calculated under the standard assumptions of the least squares method.

The described data processing method of measurement (3), obtained for a particular spin specific THC loaded removed from the space station with cargo and making Autonomous flight after undocking from the station, are mentioned sets of eight parameters, which determine the actual direction of the main Central axes of inertia of THC in the construction of the coordinate system and the dimensionless combination of its principal Central moments of inertia

To obtain an acceptable accuracy of determination of the main Central axes of inertia angular velocity of spin THC, is used to determine the principal Central axes of inertia, must be large enough. High speed twist parries the harmful influence of external moments, because the higher the speed of the spin, the greater the time interval of movement of THC can be considered to be free and to obtain the necessary measurements for subsequent target processing. Calculations and numerical estimates show that the lower the guaranteed value of the angular velocity of the spin performed to determine the principal Central axes of inertia of THC, is 1.5 deg/sec in duration and the interval of measurements of angular velocity of not less than one revolution.

Thus, the above computational algorithm determines the actual values of the directions of the principal Central axes of inertia of THC in the building coordinate system.

After determining the actual values of the component directions of the main Central axes of inertia of THC in the building coordinate system define the main Central axis of inertia, which is the minimum angle with the direction normal to the working surface SB.

Deploy THC to match this main Central axes of inertia with the direction to the Sun and produce the spin TGC around this axis.

In the process, the twist angle between the normal to the working surface SB and the direction to the Sun coinciding with the axis of spin and videopreteen principal Central axis of inertia of THC, will have a constant value. The arrival of electricity from SAT for one revolution of the rotational motion of THC will be equal to the value of

where g is the angle between the normal to the working surface SB and videopreteen principal Central axis of inertia TGK,

K - coefficient characterizing the efficiency of solar cells SB.

However, in this twist over time due to the influence of external moments rotational movement of the THC will evolve, resulting in the angle between the normal to the working surface of the security Council and the Sun will rise and the arrival of electricity from SB will decrease.

During the spin measure the current from SB and compare it to the minimum allowable value of current. Upon reaching the measured current value from SB minimal value again deploy THC to align above the main Central axes of inertia with the direction to the Sun and re-produce the spin TGC around this axis.

Describe the technical effect of the invention.

The proposed solution ensures the maximum possible Energoproekt from SA loaded deleted orbital space station cargo THC with fixed panels SAT when performing spinning mode TGC around one of the actual main Central axes of inertia, namely, around the actual main Central axes of inertia of THC, nearest to but the Mali to the working surface SB, with the actual main Central axes of inertia of THC pre-determined by measuring the angular speed of rotation of THC.

Performing a spin around THC actual main Central axes of inertia ensures that the perturbation of the rotational motion of THC that is required for conducting experiments and research in the field of microgravity, and the actual axis of inertia may differ significantly from their project estimates.

This ensures both precision control of spin and control to ensure the necessary energoprivod from SB by measuring in the process of spin current on SAT and restore all settings to twist when the measured current value PV becomes smaller than the minimum value.

The arrival of electricity from SAT for one revolution of the rotational motion of THC is determined by equation (4), any other orientation of THC relative to the Sun during a spin around the actual main Central axes of inertia of THC makes the smaller advent of electricity. So, for example, the arrival of electricity from SAT for one revolution of the rotational motion of THC, provided that in the beginning of the twist normal to the working surface SB is pointed exactly at the Sun, equal to K·2·π·cosg, less (4). Thus, in the process of twisting the provides the maximum possible arrival of electricity from SAT.

The achievement of the technical result is achieved by constructing the proposed orientation of THC, in which the normal to the working surface SB is aimed at the Sun, and the proposed spin around THC direction normal to the working surface SB, the proposed measurement of the angular velocity of THC in the suggested times in the course of this twist and identify the current actual values of the inertial characteristics of THC, the construction of the proposed orientation of THC, which proposed a way selected the actual main axis of inertia of THC aimed at the Sun, and then perform a spin TGC around this axis, and by the proposed measure in the process of this spin current from SB and restore all settings to twist when the measured current value PV becomes smaller than the minimum value.

Now technically ready to implement the proposed method to that of THC, as the ship "Progress". For the implementation of u-turns, spin THC and the necessary calculations can be used regular controls of the ship "Progress" - the standard sensors of angular velocity (VCS), the system control the orientation of the spacecraft "Progress", the orientation engines, on-Board computer. To measure and adlerian is I the angle between the normal to the surface SB and the direction to the Sun can be used in standard solar sensors and computing devices. The spin of the ship is for the time needed for experiments.

The method of controlling the orientation of cargo transport vehicle with a fixed solar panels in the works in terms of rotational motion, including the reversal of the ship to match the direction normal to the working surface of the solar panels pointed at the Sun and the spin of the spacecraft around an axis, characterized in that produce the spin transport cargo ship around the direction normal to the working surface of solar panels aimed at the Sun, the angular velocity of not less than 1.5 deg/sec, in this twist on the time interval of a duration of at least one coil is measured components of the angular velocity transport cargo vehicle in the construction of the coordinate system, on the measured values of the component of the angular velocity transport cargo vehicle, determine the direction of the main Central axes of inertia of the cargo vehicle, deploy cargo vehicle to align a Central axis of the inertial component of the minimum angle with the normal to the working surface of solar panels, with the direction to the Sun and produce the spin transport cargo vehicle around this axis, within this takrut and measure the current from the solar battery, upon reaching the measured value of the current solar minimum allowable values again deploy cargo vehicle to align above the main Central axes of inertia with the direction to the Sun and re-produce the spin transport cargo vehicle around this axis.