Vladimir S. Syromiatnikov Spacecraft Docing Devices deom SSI

Cover	1
SSI Soviet Program Papers	3
Table of Contents	9
Foreword	11
Introduction	12
Chapter 1. Docking Equipment of Spacecraft	17
1.1 Basic Terminology	17
1.2. Requirements, Functions, and Operations Structure of the Docking Device	18
1.3. Docking System	20
1.4. Initial Docking Conditions	23
1.5. Docking Devices and their Features	29
1.5.1. Docking Device of the Soyuz Spacecraft	29
1.5.2 Docking Device of the Soyuz-Salyut Space Complex	35
1.5.3. Docking Device for the Gemini Program	44
1.5.4. Docking Device for the Apollo Lunar Program	48
1.5.5. APDA's for the Apollo-Soyuz Project	57
Chapter 2. Principal Construction Schemes for Docking Devices	71
2.1. Classification of Docking Devices	71
2.2. General Issues	72
2.3. Issues Regarding the Reliability of Docking Devices	75
2.4. Provision of Compatibility and Androgyny	83
2.5. Basic Groups of Mechanisms and Elements of the Docking Device	86
2.5.1. Mechanisms of the Docking Frame	86
2.5.2. Docking Mechanisms	87
2.5.3. Joint Connectors and Other Additional Flements	89
2.5.4. Base Dimensions of the Docking Device	90
2.5.5. FJements of Control and Signaling	91
2.6. “Rod and Cone” Type Docking Devices	92
2.6.1. Docking Mechanisms	92
2.6.2. Some Geometric Correlations	94
2.6.3. Signaling Characteristics	95
2.7. Peripheral Docking Devices	96
2.7.1. General Issues of Peripheral Docking Devices	96
2.7.2. Features of the Docking Mechanisms	98
2.7.3. Characteristics of Signaling and Control	101
2.8. Comparative Analysis of the Principle Schemes of Docking Mechanisms	102
2.9. Redundancy in the Principal Schemes	105
Chapter 3. Issues Concerning the Construction of Docking Devices	109
3.1. Requirements of the Construction of Docking Devices. General Design Considerations	109
3.2. General Configuration. Hulls of the Docking Assemblies	113
3.3. The Locks of Docking Frames	114
3.3.1. The Selection of Basic Parameters	114
3.3.2. Construction of the Lock System	117
3.3.3. Issues Regarding the Provision of Reliability and Safety	123
3.4. Construction of the Docking Mechanisms	124
3.4.1. “Rod and Cone” Type Docking Mechanisms	124
3.4.2. Peripheral Type Docking Mechanisms	130
3.5. Basic Elements of the Docking Device	137
3.5.1. Drives	137
3.5.2. Electrical Engines of the Drives and Their Control	140
3.5.3. Ball-Screw Converters	147
3.5.4. Connecting Elements on the Docking Frame	151
3.6. Seals of Hermetic Constructions	155
3.7. Lubricant Materials in Docking Devices	159
3.8. Provision of the Temperature Conditions of Docking Assemblies	160
Chapter 4. Dynamics of Docking Mathematical Models	163
4.1. The Tasks and Varieties of Mathematical Models	163
4.2. Structures of Models, Assumptions, Systems of Coordinates	165
4.3. Models for the “Rod and Cone” Docking Device	167
4.3.1. Modeling with Impact Interaction	167
4.3.2. A Model which Considers Deformation of the Shock Absorbers	171
4.3.3. Choice of Initial Conditions for Modeling	174
4.3.4. Modeling the Process After Linkage	175
4.4. Mathematical Models Tor Peripheral Devices	176
4.5. Model Considering the Inertia of the Shock Absorbers	187
Chapter 5. Simplified Mathematical Models of Docking Dynamics Calculation of Shock Absorption Systems	191
5.1. Problems Solved Using Simplified Models	191
5.2. Equivalent Mathematical Models of Shock Absorption Before Linkage	192
5.2.1. Three-Dimensional Model	192
5.2.2. Two-Dimensional Case	196
5.2.3. Other Special Cases	198
5.2.4 Models Which Consider the Interia of the Shock Absorbers	199
5.3. Equivalent Mathematical Models of Shock Absorption After Linkage	202
5.3.1. Three-Dimensional Model	202
5.3.2. Two-Dimensional Case	206
5.3.3. Shock Absorption in Coaxial Linkage	207
5.3.4. Initial Conditions During Linkage	210
5.4. Requirements on the Shock Absorption Systems	212
5.5. Shock Absorption Systems of “Rod and Cone'' Docking Devices	214
5.5.1. Basic Concepts	215
5.5.2. Shock Absorption In Impacts With the Cone	217
5.5.3. Work of the Shock Absorbers After Linkage	222
5.5.4. Shock Absorption of Angular Rotations	224
5.5.5. Features of the Operation of Lateral Shock Absorbers	226
5.6. Shock Absorption Systems of Peripheral Docking Devices	226
5.6.1. General Concepts	227
5.6.2. The Statics and Dynamics of the Ring with Guides	228
5.6.3. Shock Absorption in the Interaction of Rings	231
5.6.4. Other Forms of Interaction Before Linkage	235
5.6.5. Shock Absorption After Linkage	238
5.6.6. Shock Absorption in Rotations of the Spacecraft After Linkage	239
5.6.7. System with Independent Shock Absorbers	241
Chapter 6. Elements of Shock AbsorbersElectromechanical Damping	243
6.1. Energy Absorbing Elements	243
6.2. Spring Mechanisms	248
6.3. Friction Self-Adjusting Brake	252
6.4. Electromechanical Damping	253
6.4.1. Damping by Brakes with Permanent Magnets	253
6.4.2. Parameters of the Dampers with the Electromagnetic Brake	256
6.4.3. Heating of the Brake Rotor	259
6.4.4. Issues Regarding the Construction of Electromagnetic Brakesand Other Types of Brakes	260
6.5. Hydraulic and Pneumatic Shock Absorbers	262
Chapter 7. Testing of Docking Devices Test Units for Earth Testing	265
7.1. Problems, Types of Testing	265
7.2. Stages of Creation and Testing	266
7.3. Testing and Reliability	268
7.4. Content and Volume of Testing	270
7.4.1. Acceptance and Control Testing	270
7.4.2. Debugging	272
7.4.3. Qualification Testing	272
7.4.4. Testing After Assembly of the Spacecraft	273
7.4.5. Flight Testing	273
7.5. Types of Test Equipment	280
7.6. Goals of Dynamic Testing. Types of Test Units	280
7.7. Complex Dynamic Test UnitsThe	283
7.7.1. Complex Mechanical Test Units	284
7.7.2. Simplified Complex Test Units	287
7.7.3. Hybrid Complex Dynamic Test Unit	289
7.7.4. Mathematical Model of the Hybrid Test Unit	295
7.8. Dynamic Test Units to Test Shock Absorbers	298
7.8.1. Horizontal Test Unit	299
7.8.2. Horizontal Test Unit for the APDA	302
Bibliography	306

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