Successfully reported this slideshow.
We use your LinkedIn profile and activity data to personalize ads and to show you more relevant ads. You can change your ad preferences anytime.

Docking with noncooperative spent orbital stage using probe-cone mechanism

199 views

Published on

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

Published in: Engineering
  • Be the first to comment

  • Be the first to like this

Docking with noncooperative spent orbital stage using probe-cone mechanism

  1. 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. 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. 3. Autonomous Docking Module 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 3/24
  4. 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). 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 4/24
  5. 5. Space Tug & ADM ■ Space Tug carrying an Autonomous Docking Module (ADM) ■ Autonomous Docking Module is equipped with a Probe-cone docking mechanism 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 5/24
  6. 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. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 7/24
  8. 8. Stages of ADR 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 8/24
  9. 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. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 10/24
  11. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 11/24
  12. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 12/24
  13. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 13/24
  14. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 14/24
  15. 15. Mathematical Model 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 15/24
  16. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 16/24
  17. 17. Success Docking criterion ■ The tip of the Probe with latches transits the nozzle-throat plane of the Target (orbital stage) 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 17/24
  18. 18. Simulation Example 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 18/24
  19. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 19/24
  20. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 20/24
  21. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 21/24
  22. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 22/24
  23. 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 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 23/24
  24. 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, … 4 th European Workshop on Active Debris Removal. Paris. CNES HQ. June 6-8, 2016 24/24

×