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() [2, 3]. ,
(, ).
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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) ,

r = [r1 , . . . , rN ]T , f = [f1 , . . . , fN ]T . (19)


fi
fi = fg,i + ft,i ft,i1 , (20)

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), -
. ,
,

(m1 m2 )~r1 m1~r2


~r10 = ,
(m1 m)
(25)
2~r1 + 1~r2
~r20 = ,

,
0
~r1 ~r1 = m1
. (26)
m1 m
2 -
d. 1 m , (26).
m01 , m02 .

m1~v1 = (m1 m) ~v10 + m~v20 (27)

, 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

(m1 m) u1 + mu2 = 0. (30)

(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) ,

~ ~e = ~v2 ~v1 u~e .


(35)
|~r2 ~r1 |

(25), (34) (35) (29),


m01 , m02
m1 ~ m
~v10 = ~v1 ~e u~e,
m1 m m1
(36)
~ ~e + m1 m u~e.
~v20 = ~v1 + 1
m1
, -
.
. -
[13, 14], -
, . , ,

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], .
.
: () (-
).
-. -
, -
. ,

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) )

. 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/
ODMediaBriefing28Apr09-1.pdf
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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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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

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