Presentation for 4th European Workshop on Active Debris Removal (Paris. CNES HQ. June 6-8, 2016)

1. Autonomous Module docking with
noncooperative spent orbital stage
using probe-cone mechanism
Valery Trushlyakov | Omsk State Technical University, Omsk, Russia
Vadim Yudintsev | Samara State National University, Samara, Russia

2. Outline
■ Active debris removal missions using Autonomous
Docking Module
■ Stages of Active Debris Removal using ADM
■ Probe-Cone Docking with target: Mathematical model
& Method
■ Conclusion and TO-DO
4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 2/24

3. Autonomous Docking Module
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4. Target
■ Target is an upper stage of a
rocket (e.g. Cosmos 3M)
■ Hosted payload mission
Subsystem and equipment for the
proposed ADR mission is not part
of the primary mission1
1Bernie, Anita, and Tyler Murphy. "The Technology Demonstration Objectives of the
Orbital Test Bed Mission: Using the Hosted Payload Concept to Advance Small Satellite
Technologies and Scientific Capabilities." (2014).
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5. Space Tug & ADM
■ Space Tug carrying an
Autonomous Docking Module
(ADM)
■ Autonomous Docking Module is
equipped with a Probe-cone
docking mechanism
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6. Space Tug & ADM
Autonomous Docking Module
solves ADR specific tasks:
■ observing
■ planning
■ close range rendezvous
■ docking
4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 6/24

7. Tether
■ ADM attached by a tether to
the Tug for safe docking of the
ADM-Target system with the Tug
■ The tether prevents
uncontrolled separation of the
tug and target with ADM, thus
increasing the probability of the
docking
■ Lower fuel consumption for
docking
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8. Stages of ADR
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9. Observing and Planning*
*A. Flores-Abad, O. Ma, K. Pham, and S. Ulrich, “A review of space robotics
technologies for on-orbit servicing,” Prog. Aerosp. Sci., vol. 68, pp. 1–26, 2014.
■ Analyzing attitude motion of
the Target
■ Adjusting its orbital and attitude
motion for optimal approach
conditions with the Target
■ Predicting the time for the
separation of the ADM from the
Tug
Far
rendezvous
Observing
and planning
Final
approach
Docking
Docking with
the Tug
9/24

10. Final Approach
■ Separation of the ADM from the
Tug
■ Controlling the attitude and
relative motion of the ADM for
optimal docking conditions
■ The target should be properly
oriented with respect to the ADM
Far
rendezvous
Observing
and planning
Final
approach
Docking
Docking with
the Tug
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11. Docking Conditions
■ ADM estimates the attitude
motion of the Target corrects its
relative motion, waiting for the
appropriate time for docking
when as a result of rotation of the
Target, the nozzle passes near the
probe
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12. Docking
■ Docking with the Target using a
probe-cone mechanism
■ The nozzle of the Target is used
as a “cone” part
■ Detumbling the Target
Far
rendezvous
Observing
and planning
Final
approach
Docking
Docking with
the Tug
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13. Docking with the Tug
■ Pulls the tether
■ Docking with the Tug
■ Perform reorientation
maneuvers
■ Deorbit
Far
rendezvous
Observing
and planning
Final
approach
Docking
Docking with
the Tug
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14. Features
Properties of the Target:
■ Target is a non-cooperative part of the docking process
■ Target can rotate with high angular velocity
Mission specific properties:
■ High relative velocity between the Target and the Tug
■ “Time pressure” due to high relative velocity
IN COMPARISON WITH TRADITIONAL DOCKING
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15. Mathematical Model
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16. Mathematical Model
■ In-plane motion is considered
■ ADM, probe and Target are rigid
bodies
■ The probe is attached to the
ADM by 2-DOF joint
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17. Success Docking criterion
■ The tip of the Probe with
latches transits the nozzle-throat
plane of the Target (orbital stage)
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18. Simulation Example
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19. Initial conditions
■ Relative velocity between the
Target and the ADM
■ Attitude motion of the Target
■ These parameters depends on
control system accuracy of the
Tug and the ADM
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20. Relative Velocity
TUG’s
pericenter
altitude ℎ 𝑝
TARGET
ALTITUDE
(circ. orbit)
ΔV (m/s) as a function of ℎ 𝑝, ℎ 𝑎 and
inclination error Δ𝑖 (rad)
𝚫𝑖 = 0 𝚫𝑖 = 0,001 𝚫𝑖 = 0,005 𝚫𝑖 = 0,01
500 800 80 80 88 109
550 800 66 67 76 100
600 800 53 53 65 91
650 800 40 40 54 84
700 800 26 27 46 79
750 800 13 15 40 76
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21. Method
■ Monte-Carlo method is used
■ Subset of system parameters
are considered as random values:
relative velocity of the Target
angular velocity of the Target
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22. Conclusion
■ The differences of the ADM-DEBRIS docking is investigated in
comparison with traditional docking process using probe-cone
mechanism
■ Mathematical model of the ADM-DEBRIS docking process using
probe-cone mechanism is developed
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23. TO-DO
■ Perform simulation using Monte-Carlo method to analyze
dynamics of the docking process and obtain successful docking
domain in the ranges of the initial conditions
■ Specify suitable rendezvous scenarios
■ Develop testbed hosted payload mission
using proposed Space Tug – ADM concept1
1Patent RU 2462399 C2 METHOD OF SPACE REUSE WITHDRAWAL FROM PAYLOAD ORBIT EXPLOITING CARRIER ROCKET SEPARATED PART AND
ACCELERATING UNIT, AND DEVICE TO THIS
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24. Welcome for cooperation
■ Developing ADM
■ Developing reusable Docking
device for Space Tug and ADM
■ Developing capture docking
and tractor devices for the ADM
using:
Manipulators,
Net, Harpoon, Ion-beam,
laser, …
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