Research On Detumbling And Despinning The Malfunction Spacecraft Based On Electromagnetic Force

As for the on-orbit service of XXXX defunct satellite,the spacecraft was out of work due to running out of fuel,but other parts of the satellite is still in the healthy state.And it present free tumbling movement in space.And it's tumbling in space after losing its attitude control ability.If the service spacecraft come to refuel or to provide alternative fuel power system,the satellite will work again,which can greatly reduce the cost.In this paper,the non-contact electromagnetic despinning and detumbling method is studied.Meanwhile,the electromagnetic device with a simple structure and low energy consumption and an effective strategy are the main body of this paper.Firstly,a strategy based on electromagnetic racemization device is proposed.The tumbling spacecraft,with typical conductor materials,is suitable for the electromagnetic methods which can ensure the safety of the on-orbit service.A double-manipulator space robot is suggested,enfolding the tumbling spacecraft,which can offset the thrust force on the target.In addition,the space robotic arm can adjust the relative position and speed between the electromagnetic device and the tumbling spacecraft,so as to control the size and the form of the torque.Besides,the definition of nutation Angle is analyzed,and the despinnign and detumbling mission is divided into two stages: eliminating the nutation motion and eliminating spinning angular velocity.Then,the electromagnetic device is designed,and an electromagnetic measurement platform is built.Eight permanent magnets of Nd-Fe-B are selected as the main body of the device with strong magnetic field and few energy consumption.And it's suitable for combining with the manipulator.To analyze the characteristics of the device,three key parameters affecting the electromagnetic force are obtained.An electromagnetic force measurement platform is built to explore the math relationship between the electromagnetic force and the three key parameters.Some mathematical methods are used to fit the experimental data,and the simplified electromagnetic force formula with high accuracy is obtained.The formula can replace the analytical formula with high computational complexity.Finally,the detumbling and despinning control,and the simulation verification are completed.Aiming at the control requirements of space manipulator in the mission,the forward and inverse kinematics of the space manipulator with seven degrees of freedom and the cubic polynomial interpolation of joint space are studied.ADAMS and SIMULIK joint simulation control system is built to verify the strategy.The results show that the nutation Angle and spin Angle velocity of the malfunction satellite decrease steadily to be zero respectively.The simulation results are basically consistent with theoretical analysis.The detumbling and despinning strategy based on electromagnetic force is valid and effective.