. -
, -
. -
.
-
[1]. -
,
() [2, 3]. ,
(, ).
. -
.
.
1960- [4, 5, 6].
, :
.
Ft
(Fg ) Fc (. 1).
. , ,
, -
.
, Tethered Satellite System (TSS-1 08.1992, TSS-
1R 02.1996) [2] ( 500 .)
.
( , ). -
TSS-1R 19,7 .
Small Expendable Deployer System (SEDS-1 03.1993 SEDS-2
03.1994) [7] 20 ,
1
Fc
m2
Ft
Fg
Fc
m1 Ft
Fg
. 1
- Delta-II SEDS ( 26 ),
.
.
SEDS , -
TiPS (05.1996,
10 ) YES-2 (09.2007, 30 ) [2].
.
-
, . ~v
, . . -
,
. T-REX
(09.2010) [8], -
, -
. ,
(. 2). -
132,6 .
. 2
ATeX (01.1999) [9]. ,
,
( -
, ).
. -
, ,
.
, -
2
,
.
. -
, , -
[6],
() .
ATeX [9] :
22,5 ,
. [10] ,
, ,
. , -
, . ,
, -
, ,
10 , 1 .
.
, (. 3),
[4, 11]
~
~ 1 = m1 R1 + F~t ,
m1 R
R13
(1)
~
~ 2 = m2 R2 F~t ,
m2 R
R23
~ i (i = 1,2) - , Ri = |R
R ~ i |; mi (i = 1,2) ; F~t
; .
, (1) -
~
~ = R ,
R (2)
R3
.
(2) (1),
!
~1
R R~ F~t
~r1 = + , (3)
R13 R3 m1
~ 1 R.
~r1 = R ~
ri /R. -
ri 103 R 106 , (ri /R)2
, (3)
F~t
~r1 = 3 (~r1 3~eR (~eR , ~r1 )) + , (4)
R m1
3
m2
F~t
~2
R
~
R F~t
m1
~1
R
. 3
~
~eR = R/R.
,
O. OZ -
~ OX , OY
R,
.
, (4),
~r1 = ~r100 + 2~
~r10 +
~ 0 ~r1 +
~
~ ~r1 , (5)
~ .
(5) (4) ,
,
F~t
~r1 + 2~
~r1 +
~ ~r1 + , ~r1 ) ~r1 2 = 3 (~r1 3~eR (~eR , ~r1 )) +
~ (~ . (6)
R m1
, (6), -
~ 0, (6)
. : 2 = /R3 ,
F~t
~r1 + 2~
~r1 + , ~r1 ) 3 2~eR (~eR , ~r1 ) =
~ (~ . (7)
m1
(1), -
, -
F~t
~r1 + 2~
~r1 + , ~r1 ) 3 2~eR (~eR , ~r1 ) =
~ (~ ,
m1
(8)
F~t
~r2 + 2~
~r2 + , ~r2 ) 3 2~eR (~eR , ~r2 ) =
~ (~ .
m2
~ rd
Ft = kc + kd (~r, ~er ) ~er , (9)
d
kc ; kd ; ~r = ~r2 ~r1 ,
r = |~r|, ~er = ~r/r.
() = 1, -
()
(
0, r < d,
= (10)
1, r > d.
(8) ,
r = f, (11)
r, f
r1 fg,1 + Ft /m1
r= , f= , (12)
r2 fg,2 Ft /m2
,
xi 2 zi
ri = yi , fg,i = 2 yi , i = 1, 2 (13)
zi 2
2 xi + 3 zi
T
!
(l1 d) l l1 l1
Ft = kc + kd 1 , (14)
d l1 l1
x2 x1
dl1 1/2
l1 = (x2 x1 )2 + (y2 y1 )2 + (z2 z1 )2
l1 = y2 y1 , l1 = , . (15)
dt
z2 z1
xi
vi = yi , (16)
zi
5
(11)
r = v,
(17)
v = f,
.
d
d = d0 + ut, (18)
d0 ; u = f (t) -
, .
, (17), (18),
,
, .
, , , N -
, (. 4). -
, [11], -
, ,
.
(., , [12]) , -
(9). N
.
mN
mN 1
mi+1
~ri+1 mi
~ri
O m2
X
Z
m1
. 4
(17) ,
T
!
Ft,i (li d) l li li
ft,i = , Ft,i = kc + kd i . (21)
mi d li li
6
m1 mN , mi = m
(i = 2, . . . ,N 1) .
-
(15)
xi+1 xi
dli 1/2
, li = (xi+1 xi )2 + (yi+1 yi )2 + (zi+1 zi )2
li = yi+1 yi , li = .
dt
zi+1 zi
(22)
d m
d = L/ (N 1) , m = M/ (N 2) , (23)
L , a M .
(17), (18), (12)
(19) (20), , N -
, . , N = 2,
.
.
, m1 m2 .
(17), (18). -
, , ,
( m1 ), -
: m10 m20 . m10 -
, m20 .
, (, ,
). (17)
(20) N = 3.
() {m20 , m2 } -
{m10 , m20 }.
, m10 m100 m200 -
.
m1 m10 m20 -
(. 5). ,
= 1 + 2 .
m01 = m1 m,
m02 = m, (24)
m03 = m2 ,
m .
m2 , -
(m03 ). m02 m1
m2 2 m2 . m01
{m1 , m2 } m1 , {m01 , m02 }
m1 .
7
m2 m30 m2 ,m30
~r2 , ~r30
m20 m20
1
~r20
m1 m1
~r1
m10 m10
~r10
. 5
m01 m02 -
m1 m2 . ~ri - mi (i = 1, 2)
, ~rj0 m0j (j = 1, 2), -
. ,
,
, m2 m1
~ (~r2 ~r1 ) + u~e,
~v2 = ~v1 + (28)
~vi mi (i = 1, 2)
~
; ~e = (~r2 ~r1 ) / |~r2 ~r1 | m1 m2 ;
.
8
~v10 ~v20 ~v1 , (28)
~v10 = ~v1 +
~ ~r10 ~r1 + u1~e,
(29)
~v 0 = ~v1 +
~ ~r 0 ~r1 + u2~e,
2 2
(29) (27), , u1 u2
(29) ,
~v20 = ~v10 +
~ ~r20 ~r10 + (u2 u1 ) ~e,
(31)
, m1 m01 m02
d |~r20 ~r10 |
= u2 u1 . (32)
dt
u
,
u = u2 u1 . (33)
(30) (33) u1 u2 u
m m1 m
u1 = u, u2 = u. (34)
m1 m1
-
, (25),
~ ~e.
, ~v10 ~v20 ,
(28) ,
9
SEDS-2 [14], , -
. -
,
, : (-
, ) -
. , ,
TSS SEDS (., , [14, 15]), -
.
. -
: h = 700 ,
, m1 = m2 = 20 , L = 1 ,
u = 0,2 /. M = 1 .
[16].
. 6 : z- -, -
l1 , x-
(. 6) l1
(. 6).
) )
. 6
. 7 (. 7)
N = 30 (. 7). , ,
(
), -
. , N = 80, -
.
[11], .
.
: () (-
).
-. -
, -
. ,
10
) )
. 7
( ) , -
.
, -
(
[6]) .
. [11], , -
, ( [11] -
), -
.
,
, , -
. [11],
.
1. The Threat of Orbital Debris and Protecting NASA Space Assets from Satellite Collisions
(2009). [ ] : http://images.spaceref.com/news/2009/
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Progress in Aerospace Sciences. 2008. V. 44, N 1. P. 121.
4. . . / . . , . .
. . : , 1990. 329 .
5. Wen H., Jin D. P., Hu H. Y. Advances in dynamics and control of tethered satellite
systems // Acta Mechanica Sinica (2008) 24:229241
6. . . / .
. , . . // i i i: -i
i 2007. 9/2. . 198204.
7. Carroll J. A. SEDS Deployer Design and Flight Performance / J. A. Carroll // Fourth
11
International Conference on Tether In Space, Washington, 1014 April, 1995. P. 593600.
8. Fujii H. A. et al. Space Demonstration of Bare Electrodynamic Tape-Tether Technology
on the Sounding Rocket S520-25 // AIAA Guidance, Navigation, and Control Conference,
Portland, Oregon,0811 August, 2011, AIAA 2011-6503.
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/ Koss S. M. // 7th European Space Mechanisms and Technology Symposium, Noorwijk, Nether-
lands, October, 1997. Noorwijk, 1997. P. 1118.
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M., Zedd M. F. // The Journal of Spacecraft and Rockets. V. 38. N. 1, 2001. P. 6068.
11. . . / . .
// - . 2006. 58. 36 .
12. . / . ,
. // . 2000. . 64, N 5. . 747 754.
13. Rupp Ch. C. A Tether Tension Control Law for Tethered Subsatellites Deployed along
Local Vertical // NASA Technical Memorandum, NASA-TM-X-64963, November, 1975.
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dings of the AIAA Space Programs and Technology Conference Exhibit, Huntsville, Alabama,
2123 September, 1993, AIAA Paper 934764.
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[ ] : http://ssdl-www.aero.kyushu-u.ac.jp/quest/
papers/97aas_406.pdf
16. : . [-
] : http://dkhramov.dp.ua/uploads/Sci/SPubl/khramov_
tm_2014_code.zip
12