CN114715438A - Thruster system suitable for thrust vector adjustment and working method thereof - Google Patents

Abstract

The invention provides a thruster system suitable for adjustable thrust vector, comprising: a first vector adjustment mechanical arm, a second vector adjustment mechanical arm, a satellite star, an electric thruster and a rotary joint; the first vector adjustment mechanical arm and the The second vector adjustment manipulator is respectively arranged on the satellite star; the electric thruster is arranged on the first vector adjustment manipulator and the second vector adjustment manipulator; the first vector adjustment manipulator and the second vector adjustment manipulator reach the The target position of the thrust vector. The invention also provides a working method suitable for the thruster system with adjustable thrust vector. The invention solves the problem that the number of thrusters is small and the on-orbit thrust vector can be adjusted in real time while meeting the requirements of the plume opening angle of the electric thruster.

Description

Thruster system suitable for adjustable thrust vector and its working method

technical field

The present invention relates to the technical field of propulsion, in particular, to a thruster system suitable for adjustable thrust vector and a working method thereof.

Background technique

The traditional satellite propulsion system adopts multiple sets/groups of thrusters, and different thrusters respectively realize the functions of satellite orbit change maneuver, position maintenance, attitude adjustment and angular momentum unloading. This will make the design of the satellite propulsion system complicated, the number of thrusters is too large, and the redundancy is too high, which inevitably brings some engineering practice problems to the pipeline welding assembly and layout of the satellite propulsion system.

Electric propulsion technology obtains thrust through high-speed ejection of working medium driven by electrical energy, and has the characteristics of high specific impulse, low thrust, and long life. At present, more and more satellites are beginning to be equipped with electric thrusters to perform tasks such as maintaining in-orbit position and unloading angular momentum. Since the plume opening angle of the electric thruster must reach 90°, the requirements for the satellite layout position are higher than that of the chemical thruster.

After searching, the patent document CN106802125B discloses a method for determining the eccentricity of the thrust vector of an electric thruster for a spacecraft, using a plume measuring device and an electric thruster, and using the plume measuring device to measure the ionic current distribution of the electric thruster. The plane position of the peak obtains the spatial position of the ion current peak, and the eccentricity of the thrust vector of the electric thruster is finally determined by the spatial position of the ion current peak. However, the prior art still has high requirements on the plume opening angle, and cannot simultaneously realize functions such as positional maintenance, yaw and angular momentum unloading.

Xia Yongquan et al. took the design parameters of a satellite in GEO orbit as an example in "Exploration of Satellite Thruster Layout Design Methods" (Proceedings of the 10th China CAE Annual Conference), and optimized the design process to reduce the single design iteration cycle and ensure the best design scheme. It is preferred to take. "A thruster layout scheme for all-electric propulsion satellites" (Wang Min et al., application number: 201611046925.5) Three electric thrusters are installed on the side of the satellite back floor near the south plate, and three electric thrusters are installed on the side of the satellite back floor near the north side. Taipower thrusters, a total of six electric thrusters complete various tasks of the satellite in orbit. Zhou Zhicheng et al. provided a truss-type GEO satellite thruster layout method with subdivision optimization design (application number: 201510548792.0), which requires 16 10N thrusters to achieve functions such as positional protection, yaw and angular momentum unloading. Once the placement of the thrusters in the above related papers and patents is completed, the on-orbit thrust vector adjustment function cannot be realized. Therefore, a large number of thrusters are required to generate different thrust vectors to achieve positional maintenance and yaw at the same time. and angular momentum unloading.

Therefore, there is an urgent need to develop an electric thruster layout and implementation method that can satisfy the adjustable thrust vector.

SUMMARY OF THE INVENTION

In view of the defects in the prior art, the purpose of the present invention is to provide a thruster system suitable for adjustable thrust vector and its working method, which can meet the requirements of the plume opening angle of the electric thruster and have a small number of thrusters, and The advantage that the orbital thrust vector can be adjusted in real time.

A thruster system suitable for adjustable thrust vector provided according to the present invention includes: a first vector adjustment mechanical arm, a second vector adjustment mechanical arm, a satellite star, an electric thruster and a rotary joint; a first vector adjustment mechanical arm and the second vector adjustment mechanical arm are respectively arranged on the satellite star; the electric thruster is arranged on the first vector adjustment robot arm and the second vector adjustment robot arm; the first vector adjustment robot arm and the second vector adjustment robot arm pass through the rotating joint The target position of the thrust vector is reached.

Preferably, the start-up time of the electric thruster is obtained by analyzing the speed increment required for maintaining the satellite orbit and the specific impulse of the electric thruster.

Preferably, the satellite bodies are arranged as hexahedrons.

Preferably, the nominal thrust of the electric thruster is 80 mN and the specific impulse is 1600 s.

Preferably, the rotary joint adopts a universal rotary joint.

Preferably, it also includes a first satellite side plate and a second satellite side plate, the first satellite side plate is provided with a second vector adjustment mechanical arm, and the second satellite side plate is provided with a first vector adjustment mechanical arm.

According to a working method suitable for a thruster system with adjustable thrust vector provided by the present invention, the above-mentioned thruster system suitable for adjustable thrust vector is used to work, including the following steps:

Step S1: according to the size of the satellite star and the position of the center of mass, the first vector adjustment manipulator and the second vector adjustment manipulator are rotated to reach the target position of the thrust vector;

Step S2: Obtain the start-up time of the electric thruster by analyzing the required speed increment for maintaining the satellite orbit and the specific impulse of the electric thruster;

Step S3: Turn on the electric thruster, so that the satellite star remains at the set position in real time for ground detection.

Preferably, step S1 includes that according to the target position maintained by the satellite, the rotary joints connected with the first vector adjustment manipulator and the second vector adjustment manipulator meet the set target position to meet the requirement that the thrust vector can be adjusted.

Preferably, in step S2, when the satellite is running in the geostationary orbit, according to the target position maintained by the satellite body, the east-west position of the satellite body and the required speed increment for maintaining the north-south position of the satellite body are obtained.

Preferably, in step S3, the electric thruster is preheated so that the electric thruster reaches the nominal thrust.

Compared with the prior art, the present invention has the following beneficial effects:

1. The thruster system suitable for the adjustable thrust vector proposed by the present invention solves the inability to realize the adjustable function of the on-orbit thrust vector, and needs to use a large number of thrusters to meet the problem of generating different thrust vectors, which overcomes the problem of The large opening angle of the electric thruster plume brings technical difficulties to the satellite layout.

2. The present invention realizes that the satellite thrust vector can be adjusted on orbit with only a small number of thrusters, fulfills the requirements of satellite orbit maintenance and angular momentum unloading, reduces the consumption of the satellite propulsion system, and effectively prolongs the satellite on-orbit service life.

3. The thrust of the electric thruster in the present invention is small, so that the three-axis pointing accuracy and attitude stability of the satellite are high when the electric thruster is in operation, which satisfies the continuous operation of the remote sensing instrument in the satellite orbit.

4. The method of the present invention is simple and effective, and has extensive application and promotion value.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

Fig. 1 is the layout diagram on the satellite of the vector adjustment mechanical arm suitable for the thruster system with adjustable thrust vector in the present invention;

2 is a schematic diagram of the position of a vector adjustment mechanical arm and an electric thruster when the satellite position of the thruster system with adjustable thrust vector in the present invention is maintained;

Fig. 3 is the plume schematic diagram of the electric thruster in each predetermined position of the present invention;

FIG. 4 is a schematic diagram of the normal ground-to-ground attitude of the satellite in orbit according to the present invention.

In the picture:

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the inventive concept. These all belong to the protection scope of the present invention.

As shown in Figures 1-3, the present invention provides a thruster system suitable for adjustable thrust vector, including: a first vector adjustment robotic arm 1, a second vector adjustment robotic arm 2, a satellite star 3, a first satellite Side plate 4 , second satellite side plate 5 , electric thruster 6 and rotary joint 7 . It not only solves the technical problems caused by the large plume opening angle of the electric thrusters to the satellite layout, but also realizes that the satellite thrust vector can be adjusted on-orbit with a small number of thrusters, fulfills the requirements of satellite orbit maintenance and angular momentum unloading, and reduces the number of satellites. The consumption of the propulsion system effectively prolongs the service life of the satellite in orbit.

Among them, the first vector adjustment robotic arm 1 and the second vector adjustment robotic arm 2 are respectively arranged on the satellite star 3; the electric thruster 6 is arranged on the first vector adjustment robotic arm 1 and the second vector adjustment robotic arm 2; the first vector adjustment robotic arm 1 and the second vector adjustment robotic arm 2; The vector adjustment robot arm 1 and the second vector adjustment robot arm 2 reach the target position of the thrust vector by rotating the joint 7 . The first satellite side plate 4 is provided with a second vector adjustment mechanical arm 2 , and the second satellite side plate 5 is provided with a first vector adjustment mechanical arm 1 .

The start-up time of the electric thruster 6 is obtained by analyzing the speed increment required for maintaining the satellite orbit and the specific impulse of the electric thruster 6 . Establish the satellite layout coordinate system (O-XYZ), which is defined as follows: coordinate origin O: the center of the star-arrow separation surface; OZ axis: perpendicular to the star-arrow separation surface, pointing to the direction of the satellite body along the coordinate origin; OX axis: pointing along the coordinate origin The direction of the satellite is consistent with the flight direction of the satellite; the Y axis is right-handed with the X and Z axes.

Preferred examples in the present invention will be further described.

Based on the above embodiment, the satellite star 3 in the present invention is set as a hexahedron, and the star size (X×Y×Z) is 2500mm×2500mm×2195mm.

Based on the above-mentioned embodiment, the installation coordinates of the first vector adjustment mechanical arm 1 in the satellite layout coordinate system in the present invention are (1250mm, -1100mm, 1310mm); the installation coordinates of the second vector adjustment mechanical arm in the satellite layout coordinate system is (-1250mm, 1100mm, 1310mm).

Based on the above embodiment, the nominal thrust of the electric thruster 6 in the present invention is 80 mN, and the specific impulse is 1600 s.

Based on the above embodiment, the rotary joint 7 in the present invention adopts a universal rotary joint.

The present invention also provides a working method suitable for a thruster system with adjustable thrust vector, using the above-mentioned thruster system suitable for adjustable thrust vector to work, which specifically includes the following steps:

Step S1 : according to the size of the satellite 1 and the position of the center of mass, the first vector adjustment robotic arm 1 and the second vector adjustment robotic arm 2 are rotated through the joint 7 to reach the target position of the thrust vector. Specifically, according to the target position maintained by the satellite 1, the rotary joints 7 connected with the first vector adjustment robot arm 1 and the second vector adjustment robot arm 2 meet the requirements of the adjustable thrust vector according to the set target position. Specifically, the real-time centroid position (X×Y×Z) of the satellite star 1 is 0×0×1230mm; when the satellite’s north-south position is maintained and the east-west position is maintained, the two universal rotating joints of the vector adjustment robotic arm 1 meet the requirements for position assurance At the set target position, the two universal rotary joints of the second vector adjustment mechanical arm 2 reach the set target position according to the position assurance requirements, and meet the requirements of the adjustable thrust vector.

Step S2: Obtain the start-up time of the electric thruster 6 by analyzing the speed increment required for maintaining the satellite orbit and the specific impulse of the electric thruster; when the satellite is running in the geostationary orbit, obtain the satellite according to the target position maintained by the satellite body 1 The speed increment required to maintain the east-west position and north-south position of star 1. When the electric thruster 6 is working, the plume opening angle reaches 90°. As shown in FIG. 3 , the plume of the electric thruster 6 at each set working position meets the requirements.

Step S3: Turn on the electric thruster 6, so that the satellite star 1 is kept at the set position in real time for ground detection. First, the electric thruster 6 needs to be preheated so that the electric thruster 6 can reach the nominal thrust. Both the first vector adjustment robot arm 1 and the second vector adjustment robot arm 2 can reach the target position of the thrust vector through the rotating joint 7 according to the position of the center of mass of the satellite star 1, so as to realize the function of adjustable thrust vector.

Based on the consideration of the reliability of the whole satellite and the mission requirements, the satellite body 1 can be equipped with chemical thrusters on the first satellite side plate 4 and the second satellite side plate 5 to ensure that the satellite can continue to operate when the vector control mechanical arm or the electric thruster fails. keep working.

In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying the indicated device. Or elements must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essential content of the present invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily, provided that there is no conflict.

Claims (10)

1. A thruster system suitable for adjustable thrust vector, characterized in that it comprises: a first vector adjustment robotic arm (1), a second vector adjustment robotic arm (2), a satellite star (3), an electric thruster (6) and the rotary joint (7); The first vector adjustment robotic arm (1) and the second vector adjustment robotic arm (2) are respectively arranged on the satellite star (3); The electric thruster (6) is arranged on the first vector adjustment mechanical arm (1) and the second vector adjustment mechanical arm (2); The first vector adjusting mechanical arm (1) and the second vector adjusting mechanical arm (2) reach the target position of the thrust vector through the rotating joint (7). 2. The thruster system that is applicable to the adjustable thrust vector according to claim 1 is characterized in that, the electric thruster is obtained by analyzing the required speed increment of satellite orbit to maintain and the specific impulse of the electric thruster (6). (6) boot time. 3. The thruster system suitable for adjustable thrust vector according to claim 1, characterized in that, the satellite star (3) is set as a hexahedron. 4. The thruster system suitable for adjustable thrust vector according to claim 1, characterized in that, the nominal thrust of the electric thruster (6) is 80 mN, and the specific impulse is 1600s. 5 . The thruster system suitable for adjustable thrust vector according to claim 1 , wherein the rotary joint ( 7 ) adopts a universal rotary joint. 6 . 6. The thruster system suitable for adjustable thrust vector according to claim 1, characterized in that, further comprising a first satellite side plate (4) and a second satellite side plate (5), the first satellite side plate (5) The plate (4) is provided with a second vector adjustment mechanical arm (2), and the second satellite side plate (5) is provided with a first vector adjustment mechanical arm (1). 7. A working method applicable to the adjustable thruster system of the thrust vector is characterized in that, adopting any one of claims 1 to 6 to be applicable to the adjustable thruster system of the thrust vector to work, comprising the steps: Step S1: according to the size of the satellite star (1) and the position of the center of mass, the first vector adjustment robot arm (1) and the second vector adjustment robot arm (2) are used to reach the target position of the thrust vector through the rotary joint (7); Step S2: the start-up time of the electric thruster (6) is obtained by analyzing the speed increment required for maintaining the satellite orbit and the specific impulse of the electric thruster; Step S3: Turn on the electric thruster (6), so that the satellite body (1) is kept at the set position in real time for earth detection. 8 . The working method for a thruster system with adjustable thrust vector according to claim 7 , wherein the step S1 comprises adjusting the target position with the first vector according to the target position maintained by the satellite star ( 1 ). 9 . The rotating joint (7) connected with the mechanical arm (1) and the second vector adjusting mechanical arm (2) satisfies the requirement that the thrust vector can be adjusted according to the set target position. 9. The working method that is applicable to a thruster system with adjustable thrust vector according to claim 7, wherein in the step S2, when the satellite runs in the geostationary orbit, the target position maintained by the satellite star (1) , to obtain the east-west position of the satellite (1) and the required velocity increment to maintain the north-south position. 10. The working method suitable for a thruster system with adjustable thrust vector according to claim 7, characterized in that, in the step S3, the electric thruster (6) is preheated, so that the electric thrust The device (6) reaches the nominal thrust.

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