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The possibility of using electrodynamic forces to control pendular oscillations during the retrieval of a subsatellite is investigated. The use of the tether for transferring payloads between orbits is studied.
A stability analysis and trend study for a balloon tethered in a steady wind are presented. The linearized, stability-derivative type analysis includes balloon aerodynamics, buoyancy, mass (including apparent mass), and static forces resulting from the tether cable. The analysis has been applied to a balloon 7.64 m in length, and the results are compared with those from tow tests of this balloon. This comparison shows that the analysis gives reasonable predictions for the damping, frequencies, modes of motion, and stability boundaries exhibited by the balloon. A trend study for the 7.64-m balloon was made to illustrate how the stability boundaries are affected by changes in individual stability parameters. The trends indicated in this study may also be applicable to many other tethered-balloon systems.
ProSEDS is a secondary (i.e. piggyback) payload on a Delta-11 GPS 8 mission scheduled for launch in August 2000. It will test the feasibility of generating generate electrodynamic thrust without propellant using a 5 kilometer conducting wire (tether). The ProSEDS obtains thrust as the tether cuts across the magnetic field, a voltage is induced across the wire. Electrons are attracted to the positively based far end of the wire. Electrons flow downward through the conductive tether. Earth's magnetic field exerts a drag force on the current in the tether segments, that is mechanically transferred via the wire to the stage. The primary objective for the ProSEDs mission is to demonstrate that a significant, measurable electrodynamic thrust through a tether in space. The primary mission will last one day, as the primary battery assures at least three orbits of data will be collected, the remaining power will be provided by the secondary battery, which uses tether generated power to recharge. The extended mission begins using the power provided through the tether, and wil terminate when a system ceases to function; (i.e., either degradation of the tether,through Atomic Oxygen contact, a micrometeoroid or other debris impact, or another malfunction.) The technology has many potential applications. Amongst the applications, which are reviewed in detail, are: (1) satellite deorbit, (2) reboost of the International Space Station, (3) propellantless reusable Orbit Transfer Vehicles, (4) Propulsion and power generation for future Jovian missions.
The dynamics of the motion of the Small Expendable Deployer System (SEDS) is studied by using a simplified model in which no external forces (except the gravity gradient field) are applied on the tethered body and the tether is assumed massless. The dynamics of SEDS operation is modeled as a sequence of two phases: the deployment phase and the swing phase. For the first one the velocity dependent forces are found to force the tether forward from the local vertical. When the deployment ends, Coriolis effects vanish and the swing phase begins, which is characterized by a wide free libration. The time duration as well as velocity, acceleration and tension of the tethered body are estimated for both deployment and swing phases.
The operation of an electrodynamic tether at Jupiter is investigated. The pertinent Jupiter environments are investigated, and analytic expressions are derived for the induced electric field and the voltage, current, and force for an electrodynamic tether as a function of the radial distance from Jupiter. The formulas are combined with environmental models to arrive at quantitative values for the above parameters. The results are used to investigate propulsion applications.
We consider the use of magnetic forces in a bumper system, to soften docking procedures. We investigate a system which exhibits no magnetic field except during the docking process, which, if desired, can automatically tether two craft together, and which provides lateral stability during docking. A system composed of zero field cooled Y(1.7)Ba2Cu3O(7-delta) (Y123) tiles and electromagnets is proposed. The Y123 high temperature superconductor (HTS) is mounted on one craft, and the electromagnet on the other. Results of small prototype laboratory experiments are reported. The electromagnet has, for convenience, been replaced by a permanent SmCo ferromagnet in these measurements. When the two craft approach, a mirror image of the ferromagnet is induced in the Y123, and a repulsive bumper force, F(sub B), results. F(sub B) is velocity dependent, and increases with v. For presently available HTS materials, bumper pressure of approx. 3.7 N/cm(exp 2) is achieved using SmCo. This extrapolates to approx. 18 N/cm(exp 2) for an electromagnet, or a force of up to 20 tons for a 1 m(exp 2) system. After reaching a minimum distance of approach, the two colliding craft begin to separate. However, the consequent change of SmCo magnetic field at the Y123 results in a reversal of current in the Y123 so that the Y123 is attractive to the SmCo. The attractive (tether) force, F(sub T), is a function of R = B(sub Fe)/B(sub t, max), where B(sub Fe) is the field at the surface of the ferromagnet, and B(sub t, max) is the maximum trapped field of the Y123, i.e., the trapped field in the so-called critical state. For R greater than or equal to 2, F(sub T) saturates at a value comparable to F(sub B). For a range of initial approach velocities the two craft are tethered following the bumper sequence. Most of the kinetic energy of the collision is first converted to magnetic field energy in the Y123, and then into heat via the creep mechanism. About 15% of the work done against magnetic forces during collision remains stored as magnetic energy after 1 hour. Experiments have also been conducted on the spatial range of the bumper force for arrays of HTS tiles. For a single HTS tile approx. 2 cm in diameter, the range of F(sub B) is approx. l cm. For a l m(exp 2) array the range of F(sub B) will be circa 50 cm.
The present conference discusses topics in orbit determination, tethered satellite systems, celestial mechanics, guidance optimization, flexible body dynamics and control, attitude dynamics and control, Mars mission analyses, earth-orbiting mission analysis/debris, space probe mission analyses, and orbital computation numerical analyses. Attention is given to electrodynamic forces for control of tethered satellite systems, orbiting debris threats to asteroid flyby missions, launch velocity requirements for interceptors of short range ballistic missiles, transfers between libration-point orbits in the elliptic restricted problem, minimum fuel spacecraft reorientation, orbital guidance for hitting a fixed point at maximum speed, efficient computation of satellite visibility periods, orbit decay and reentry prediction for space debris, and the determination of satellite close approaches.
An Electric Sail (E-Sail) propulsion system consists of long, thin tethers - positively-charged wires extending radially and symmetrically outward from a spacecraft. Tethers must be biased using a high-voltage power supply to ensure that the solar wind produces thrust. While the E-Sail concept shows great promise for flying heliopause missions with higher characteristic acceleration than solar sails, there are significant technical challenges related to deploying and controlling multiple tethers. A typical full-scale design involves a hub and spoke arrangement of 10 to 100 tethers, each 20 km long. In the last 20 years, there have been multiple space mission failures due to tether deployment and control issues, and most configurations involved a single tether. This paper describes an effort to develop and test a simple yet robust single-tether deployment system for a two-6U CubeSat configuration. The project included the following: a) Tether dynamic modeling/simulation b) E-Sail single-tether prototype development and testing c) Space environmental effects testing to identify best materials for further development. These three areas of investigation were needed to provide technical rationale for an E-Sail flight demonstration mission that is expected to be proposed for the 2022 time frame. The project team used an “agile” engineering approach in which E-Sail single-tether prototype designs were iteratively developed and tested to solve problems and identify design improvements. The agile approach was ideal for this low Technology Readiness Level (TRL) project because tether deployer development involved many unknowns in prototype development that could only be discovered through iterative cycles of construction and testing. Extensive modeling and simulation were accomplished for three types of tether deployment: a) Stage 1: propulsive separation with one 6U fixed b) Stage 2: propulsive spin-up with one 6U fixed c) Stage 3: propulsive spin-up with both 6Us free Simulation results were valuable for understanding the propulsive and braking forces needed for controlled tether deployment. This paper describes the evolution, insights, and test/ performance data related to the resultant single-tether two-6U E-Sail test article which has been demonstrated in a test laboratory. The development effort suggests near-term work needed to achieve a useful flight demonstration, and provides ideas for how multiple-tether deployment systems might evolve going forward. A planned next-generation E-Sail prototype will include autonomous propulsive tether deployment while monitoring tether tension, location on the floor, distance between tether ends, acceleration, velocity, and propellant used.
Kane's (1984) Crawler System for satellite retrieval is enhanced by incorporating out-of-plane as well as in-plane motion. It is shown that a fixed length deployed tether applies stabilizing restoring forces to the payload during retrieval phase, and in effect, significantly reduces both the in-plane equilibrium hangoff angles and the build-up of in-plane and out-of-plane swinging. These Crawler System characteristics suggest that a simpler control system can be utilized and that significantly faster deployment and retrieval scenarios are possible without compromising safety.
Equations of motion characterizing the three dimensional motion of a tethered satellite during the retrieval phase are studied. The mathematical model involves an arbitrary number of point masses connected by weightless cords. Motion occurs in a gravity gradient field. The formulation presented accounts for general functions describing support point motion, rate of tether retrieval, and arbitrary forces applied to the point masses. The matrix oriented program language MATLAB is used to produce an efficient vectorized formulation for computing natural frequencies and mode shapes for small oscillations about the static equilibrium configuration; and for integrating the nonlinear differential equations governing large amplitude motions. An example of time response pertaining to the skip rope effect is investigated.
The first full scale test of a large tethered satellite system is planned. The Orbiter will be linked to a 500 kg payload by a 20 km tether, an action with a profound effect on the trajectory of the Orbiter. For the first time in the history of the Shuttle program, the vehicle will conduct prolonged operations with the center of mass of the orbiting system a significant distance from the center of mass of the Space Shuttle Orbiter, a violation of the fundamental assumption made in both the Orbiter ground-based and onboard navigation software. Inertial navigation of tethered operations with the Shuttle is further complicated by the presence of non-conservative forces in the system: Reaction Control System (RCS) translational effects, atmospheric drag, and electro-magnetic dynamics. These can couple with the conservative tether dynamics effects, and degrade the navigation software performance. The primary effects are examined on the Orbiter's trajectory, coupling by conservative forces during tethered operations, and the impact of both on the ability to meet inertial navigation constraints. The impact of electrodynamics, different RCS control modes, commanded attitudes, and attitude deadbands are presented. Operational guidelines which optimize successful mission navigation, and necessary navigation constraints are discussed.
Electrodynamic tether (EDT) thrusters work by virtue of the force a magnetic field exerts on a wire carrying an electrical current. The force, which acts on any charged particle moving through a magnetic field (including the electrons moving in a current-carrying wire), were concisely expressed by Lorentz in 1895 in an equation that now bears his name. The force acts in a direction perpendicular to both the direction of current flow and the magnetic field vector. Electric motors make use of this force: a wire loop in a magnetic field is made to rotate by the torque the Lorentz Force exerts on it due to an alternating current in the loop times so as to keep the torque acting in the same sense. The motion of the loop is transmitted to a shaft, thus providing work. Although the working principle of EDT thrusters is not new, its application to space transportation may be significant. In essence, an EDT thruster is just a clever way of getting an electrical current to flow in a long orbiting wire (the tether) so that the Earth s magnetic field will accelerate the wire and, consequently the payload attached to the wire. The direction of current flow in the tether, either toward or away from the Earth along the local vertical, determines whether the magnetic force will raise or lower the orbit. The bias voltage of a vertically deployed metal tether, which results just from its orbital motion (assumed eastward) through Earth s magnetic field, is positive with respect to the ambient plasma at the top and negative at the bottom. This polarization is due to the action of the Lorentz force on the electrons in the tether. Thus, the natural current flow is the result of negative electrons being attracted to the upper end and then returned to the plasma at the lower end. The magnetic force in this case has a component opposite to the direction of motion, and thus leads to a lowering of the orbit and eventually to re-entry. In this generator mode of operation the Lorentz Force serves both to drive the current and then to act on the current to decelerate the system. One of the most important features of tether thrusters is that they use renewable energy sources to drive the electrical current flow in either the orbit-raising or orbit-lowering modes. Sources inherent to Earth orbit are used. To raise the orbit, sunlight can be converted to the electrical energy required to drive the tether current. To lower the orbit, the orbital energy itself (supplied by the Earth-to-orbit launcher when it raises the system into orbit) is the energy source of the tether current via the action of the Lorentz Force. Electrodynamic tethers can be directly applied to a wide spectrum of uses in space. As a propulsion system, they include satellite de-orbit, transfer of a satellite from one orbit to another, altitude maintenance for large spacecraft such as the International Space Station, and since it works wherever there is a magnetic field and an ionosphere planetary exploration missions. An electrodynamic tether upper stage could be used as an Orbit Transfer Vehicle (OTV) to move payloads within low earth orbit. The OTV would rendezvous with the payload and launch vehicle, grapple the payload and maneuver it to a new orbital altitude or inclination without the use of boost propellant. The tug could then lower its orbit to rendezvous with the next payload and repeat the process. Conceivably, such a system could perform several orbital maneuvering assignments without resupply, making it relatively inexpensive to operate.
Computer programs for calculating the stability characteristics of a balloon tethered in a steady wind are presented. Equilibrium conditions, characteristic roots, and modal ratios are calculated for a range of discrete values of velocity for a fixed tether-line length. Separate programs are used: (1) to calculate longitudinal stability characteristics, (2) to calculate lateral stability characteristics, (3) to plot the characteristic roots versus velocity, (4) to plot the characteristic roots in root-locus form, (5) to plot the longitudinal modes of motion, and (6) to plot the lateral modes for motion. The basic equations, program listings, and the input and output data for sample cases are presented, with a brief discussion of the overall operation and limitations. The programs are based on a linearized, stability-derivative type of analysis, including balloon aerodynamics, apparent mass, buoyancy effects, and static forces which result from the tether line.
Five reports address different aspects of development of tethers to be deployed from spacecraft in orbit around the Earth. The first report discusses proposed optoelectronic tracking of retroreflective objects located at intervals or of retroreflective coats along the entire length of a tether to measure lateral motions. The second report describes digitally controlled spooling machinery that retracts or extends a tape tether at controlled speed and tension in the spool isolated from uncontrolled tension on the outside. The third report discusses part of this machinery that pivots to accommodate misalignments between the deployed and spooled portions of the tether and contains rollers used to exert tension and speed control. The fourth report discusses aspects of designs of proposed electrodynamic tethers, which would be electrically conductive and would interact with the magnetic field of the Earth to exert forces to modify orbits of deploying spacecraft. The fifth report discusses electrical aspects of designs of electrodynamic tape tethers, including the use of solar cells or motional electromagnetic force to generate currents in tethers and the use of electron emitters and electron and ion collectors at opposite ends of tethers to make electrical contact with the thin plasma in surrounding space.
A report discusses a proposal to use large, lightweight solar sails embedded with electrodynamic tethers (essentially, networks of wires) to (1) propel robotic spacecraft to distant planets, then (2) exploit the planetary magnetic fields to capture the spacecraft into orbits around the planets. The purpose of the proposal is, of course, to make it possible to undertake long interplanetary missions without incurring the large cost and weight penalties of conventional rocket-type propulsion systems. Through transfer of momentum from reflected solar photons, a sail would generate thrust outward from the Sun. Upon arrival in the vicinity of a planet, the electrodynamic tethers would be put to use: Motion of the spacecraft across the planetary magnetic field would induce electric currents in the tether wires, giving rise to an electromagnetic drag force that would be exploited to brake the spacecraft for capture into orbit. The sail with embedded tethers would be made to spin to provide stability during capture. Depending upon the requirements of a particular application, it could be necessary to extend the tether to a diameter greater than that of the sail.
The effect of longitudinal impulses on a satellite when a continuum tether from the Shuttle or Space Station is included is investigated. It is demonstrated that, taking the continuum nature of the tether into account, the sharp onset of a forcing impulse at the Shuttle end is perceived on board the satellite. The magnitude of the satellite response is diminished from that of the forcing impulse, and the response exhibits a broadened exponential tailoff. These are due primarily to the coupling between the tether and the satellite and its influence on an impinging impulsive wave, and not on the whole system as in the spring-mass model. The full impulse response function can be quite complex, showing repeated impulses as the tether wave bounces back and forth between the satellite and Shuttle, and having a different shape at each impingement on the satellite.
Body suits harnessed to systems of elastic tethers have been proposed as means of approximating the effects of normal Earth gravitation on crewmembers of spacecraft in flight to help preserve the crewmembers physical fitness. The suits could also be used on Earth to increase effective gravitational loads for purposes of athletic training. The suit according to the proposal would include numerous small tether-attachment fixtures distributed over its outer surface so as to distribute the artificial gravitational force as nearly evenly as possible over the wearer s body. Elastic tethers would be connected between these fixtures and a single attachment fixture on a main elastic tether that would be anchored to a fixture on or under a floor. This fixture might include multiple pulleys to make the effective length of the main tether great enough that normal motions of the wearer cause no more than acceptably small variations in the total artificial gravitational force. Among the problems in designing the suit would be equalizing the load in the shoulder area and keeping tethers out of the way below the knees to prevent tripping. The solution would likely include running tethers through rings on the sides. Body suits with a weight or water ballast system are also proposed for very slight spinning space-station scenarios, in which cases the proposed body suits will easily be able to provide the equivalency of a 1-G or even greater load.
A tethered satellite flight program to test theoretical studies of tether concepts is proposed. The program consists of multiple flights of an ELV such as the Delta II, using the Small Expendable Deployment System (SEDS) to deploy two instrumented satellite payloads, the Tethered Dynamics Explorer (TDE) and the Tethered Atmospheric Probe (TAP). The applications and characteristics of the TDE and the TAP are described, including verification of the SEDS, the validation of the dynamics and control model for low-tension deployment and the force and moment instrumentation, the demonstration of tether initiated reentry, the collection of in-situ atmospheric and aerothermodynamic data, and the study of long-term tether exposure.