CN101482455B - Following type zero-gravity simulation test method - Google Patents
Following type zero-gravity simulation test method Download PDFInfo
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- CN101482455B CN101482455B CN 200910078263 CN200910078263A CN101482455B CN 101482455 B CN101482455 B CN 101482455B CN 200910078263 CN200910078263 CN 200910078263 CN 200910078263 A CN200910078263 A CN 200910078263A CN 101482455 B CN101482455 B CN 101482455B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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Abstract
The invention relates to a following type zero gravity simulation test method, which comprises: mounting a spatial deployable mechanical device on the active following type zero gravity simulating apparatus; when the spatial expandable mechanical device is released and expanded, it drives the suspension cable of the active following type zero gravity simulating apparatus to slide on the guide rail; a control computer calculates out the half cone angle theta between the suspension cable and the reference plumb line according to the data measured by the following apparatus, and contrasts with the preset half cone angle theta' in the control computer, and when theta is no less than the theta', the control computer controls the driving device to drive the suspension cable to move for a corresponding vector in the opposite direction according to the offset vector of the suspension cable to cause the suspension cable to vertical to the ground, and ensures the composite force of the spatial expandable mechanical device in the expanding process is zero. By adopting active driving device, the invention solves the problem of large resistance, can simulate zero gravity state better; is not only suitable for the spatial expandable mechanical device with large size and weight such as solar panel, but also suitable for the light weight spatial expandable mechanical device such as light extending rod.
Description
Technical field
The present invention relates to a kind of following type zero-gravity simulation test method, particularly a kind of active following type zero-gravity test method.
Background technology
Zero-g is meant that by suffered the making a concerted effort of test equipment be zero state, i.e. F
Close=0.
Follow and be meant the deployable mechanical hook-up in space in expansion process, the hoist cable of the deployable mechanical hook-up in suspention space is followed the tracks of the track of the deployable mechanical hook-up in space all the time.
The following type zero-gravity test method is meant that the deployable mechanical hook-up in space is in expansion process, when the hoist cable of suspention space deployable mechanical hook-up is followed the tracks of the track of the deployable mechanical hook-up in space all the time, keep the deployable mechanical hook-up in space to be made a concerted effort being the test method of zero state as far as possible.
The ground zero-g test method of using at present mainly contains: (1) two dimension is hung the zero-g method;
(2) air floating platform method; (3) balloon suspention method; (4) suspension process in the water.These 4 kinds of methods all are test method passive, that do not have the active drive unit.
It is present the most frequently used method that two dimension is hung the zero-g method, the method does not have initiatively drive unit, on binary guide rail, connect hoist cable, hoist cable is connected with the deployable mechanical hook-up in space, the deployable mechanical hook-up of static time space is suffered, and to make a concerted effort be zero, the deployable mechanical hook-up in space drags hoist cable when launching and moves along binary guide rail, owing to have frictional resistance between hoist cable and the binary guide rail, the deployable mechanical hook-up of this time space can't keep zero state with joint efforts.Even require the frictional resistance between hoist cable and the binary guide rail low as far as possible, but resistance is to eliminate fully, state that can not the real simulated zero-g.
Though the system of air-flotation type zero-g platform has solved the problem of resistance, but air floating platform only can produce unidirectional power at present, for heights of C.G. such as the sun wings much larger than its size that contacts with air floating platform, on air floating platform, can regard unsettled indifferent equilibrium as when static, when the deployable mechanical hook-up in space begins to launch, as be subjected to external interference power, the zero-g environment just is easy to destroyed and can't returns to disturb preceding zero-g state, and the system complex of air-flotation type zero-g platform also can't be applied in the vacuum environment.
The principle of the method for balloon suspention be utilize balloon to produce a buoyancy with the suffered gravity opposite sign but equal magnitude of the deployable mechanical hook-up in space to make the deployable mechanical hook-up in space suffered making a concerted effort be zero.When the deployable mechanical hook-up in space launches, but because the balloon volume causes the resistance of the air that the balloon motion is subjected in the limited amount of point of suspension and the expansion process bigger greatly, the state of analogue zero gravity has bigger distortion.
Suspension process in the water, suspention balloon or counterweight etc. on the deployable mechanical hook-up in space makes testing equipment integral body suffered buoyancy in water equate with gravity, reaches when static that to make a concerted effort be zero.Carry out in water owing to launch action, water resistance is much larger than air, thereby makes mounted resistance very big, and the state of simulation vacuum zero-g has bigger distortion, and water may produce testing equipment and pollute the less employing of the method simultaneously.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of can real simulation zero-g, can be applicable to the active following type zero-gravity simulation test method of vacuum environment.
Technical solution of the present invention is: following type zero-gravity simulation test method, realize by following steps:
The first step is made initiatively following type zero-gravity analogue means,
Initiatively the following type zero-gravity analogue means comprises: guide rail, hoist cable, rail brackets, hunting gear, drive unit and control computer, guide rail is fixed on the rail brackets, guide rail is connected by metal ring with hoist cable, hoist cable is connected by metal ring with the deployable mechanical hook-up in space, hunting gear is connected with the control computer data line, drive unit is connected with hoist cable, drive unit is connected with the control computer data line, and hunting gear and drive unit are installed in the tie point of hoist cable and guide rail and promptly go up on the point;
In second step, the deployable mechanical hook-up release in space launches, and drives hoist cable and slides on guide rail, puts the tie point that begins to follow the deployable mechanical hook-up of hoist cable and space on this moment and promptly descends point, makes hoist cable initiatively follow the tracks of the deployable mechanical hook-up in space;
In the 3rd step, the data computation that control computer measures according to hunting gear goes out the semi-cone angle θ of hoist cable and benchmark pedal line;
The 4th step, control computer is with semi-cone angle θ ' contrast default in the semi-cone angle θ that calculates and the control computer, when θ 〉=θ ', control computer is according to the offset vector of hoist cable, the drive unit that control is installed in a little drives the mobile corresponding vector of hoist cable in the other direction, make hoist cable and ground vertical again, wherein offset vector is that the position when static moves to the distance and the direction of current location to hoist cable from active following type zero-gravity analogue means;
The 5th step constantly repeated for the 3rd step and the 4th step, and hoist cable is remained and the ground vertical, guaranteed that suffered the making a concerted effort in expansion process of the deployable mechanical hook-up in space is zero.
The hunting gear of the described first step comprises laser pickoff code-disc and the make progress laser tube of emission of lasering beam of vertical all the time, and the laser pickoff code-disc is installed in some place, and laser tube is installed in down a little and locates.
The hunting gear of the described first step comprises universal joint and gyro, and universal joint is installed in point by coupling bolt, and gyro is connected by coupling bolt with universal joint, and gyro is connected by cable with control computer.
The semi-cone angle in described the 3rd step
Distance between wherein l hoist cable when initiatively the following type zero-gravity analogue means is static is put up and down, the distance of the s laser position that the laser pickoff code-disc receives when initiatively the following type zero-gravity analogue means is static that is the laser position that receives of current laser pickoff code-disc.
The semi-cone angle in described the 3rd step
Wherein α, β are the universal joint of the gyro to measure angles around X, Y-axis rotation under Z axle Cartesian coordinates over the ground.
Semi-cone angle θ ' default in described the 4th step control computer is by the length of hoist cable, the mechanism form and the trystate decision of the deployable mechanical hook-up in space.
Described guide rail is the two degrees of freedom guide rail.
The present invention compared with prior art beneficial effect is:
(1) the present invention adopts the active drive device, makes a little and initiatively follows down point, makes hoist cable initiatively follow the tracks of the extensible mechanical hook-up in space, has solved the big shortcoming of resistance, better the analogue zero gravity state.
(2) the present invention can be applied to the expansion test in the vacuum environment.
(3) the present invention has been owing to overcome resistance and external interference power, can not only be applicable to sun wing equidimension more greatly, the heavier extensible mechanical hook-up in space, and applicable to the expansion of the extensible mechanical hook-ups in space such as lightweight boom.
Description of drawings
Fig. 1 is the apparatus structure synoptic diagram of the embodiment of the invention 1;
Fig. 2 is Figure 1A part partial enlarged drawing;
Fig. 3 is the apparatus structure synoptic diagram of the embodiment of the invention 2;
Fig. 4 is Fig. 2 B part partial enlarged drawing;
Fig. 5 is a process flow diagram of the present invention.
Embodiment
Embodiment is an example with four hoist cables, and independently drive unit and hunting gear all are installed on every hoist cable, and every hoist cable is worked alone, and hoist cable quantity can be determined according to the size and the weight of the deployable mechanical hook-up in space.The used drive unit of the present invention is the device that can realize that hoist cable moves, as motor.
As Fig. 1, shown in 2, active following type zero-gravity analogue means of the present invention comprises two degrees of freedom guide rail 1, hoist cable 2, rail brackets 3, laser pickoff code-disc 5, laser tube 6, drive unit 7 and control computer, two degrees of freedom guide rail 1 is fixed on the rail brackets 3 by coupling bolt, two degrees of freedom guide rail 1 and hoist cable 2 are connected by metal ring, the deployable mechanical hook-up in hoist cable 2 and space 4 is connected by metal ring, laser pickoff code-disc 5 is connected with the control computer data line, drive unit 7 is connected with hoist cable 2 by coupling bolt, drive unit 7 is connected with the control computer data line, and laser pickoff code-disc 5 and drive unit 7 are installed in hoist cable 2 and promptly go up on the point with the tie point of two degrees of freedom guide rail 1; Laser tube 6 is the vertical emission of lasering beam that makes progress all the time, is installed in promptly following some place of tie point of hoist cable 2 and the deployable mechanical hook-up 4 in space.It is zero point that the signal location that laser pickoff code-disc 5 receives when not working is set.
The course of work, as shown in Figure 5:
1) mechanism form and the trystate according to the deployable mechanical hook-up 4 in length, space of hoist cable 2 determined default semi-cone angle θ ' size in control computer, and semi-cone angle is the angle that hoist cable 2 is become with the benchmark pedal line.Because angle is big more, the friction force that is subjected in the deployable mechanical hook-up motion process in space is just big more, and the zero-g state will be destroyed, general default semi-cone angle θ '≤0.5 °.
2) launched by deployable mechanical hook-up 4 releases in the space of being followed, upward begin to follow down point, make hoist cable 2 initiatively follow the tracks of the extensible mechanical hook-up 4 in space.
3) laser pickoff code-disc 5 is delivered to control computer with the laser position that the laser tube 6 that receives sends by data line, and control computer is according to formula
Calculate the semi-cone angle θ of hoist cable 2 and benchmark pedal line, wherein l is the distance of hoist cable 2 between up and down when initiatively the following type zero-gravity analogue means is static, and s is the distance of the laser position that receives of current laser pickoff code-disc 5 laser position that laser pickoff code-disc 5 receives when static with active following type zero-gravity analogue means.
4) control computer is with the semi-cone angle θ and default semi-cone angle θ ' contrast that calculate, when θ 〉=θ ', the offset vector of the hoist cable 2 that control computer records according to laser pickoff code-disc 5, the drive unit 7 that control is installed in a little drives hoist cable 2 mobile corresponding vector in the other direction, make hoist cable 2 and ground vertical again, wherein offset vector is that the position when static moves to the distance and the direction of current location to hoist cable 2 from active following type zero-gravity analogue means.
5) control computer is constantly calculated semi-cone angle θ according to laser pickoff code-disc 5 with the laser position that receives, with default semi-cone angle θ ' contrast, when θ＜θ ', control computer is calculated the semi-cone angle θ of current time again, with default semi-cone angle θ ' contrast, when θ 〉=θ ', the drive unit 7 that control computer control is installed in a little drives hoist cable 2 mobile corresponding vector in the other direction, hoist cable 2 is remained and the ground vertical, guarantee that suffered the making a concerted effort in expansion process of the deployable mechanical hook-up 4 in space is zero.
As Fig. 3, shown in 4, active following type zero-gravity analogue means of the present invention comprises two degrees of freedom guide rail 1, hoist cable 2, rail brackets 3, drive unit 7, universal joint 8, gyro 9 and control computer, two degrees of freedom guide rail 1 is fixed on the rail brackets 3 by coupling bolt, two degrees of freedom guide rail 1 and hoist cable 2 are connected by metal ring, the deployable mechanical hook-up in hoist cable 2 and space 4 is connected by metal ring, gyro 9 is connected with the control computer data line, universal joint 8 is installed in point by coupling bolt, gyro 9 is connected with universal joint 8 by coupling bolt, drive unit 7 is connected with hoist cable 2 by coupling bolt, drive unit 7 is connected with the control computer data line, and drive unit 7 is installed in hoist cable 2 and promptly goes up on the point with the tie point of two degrees of freedom guide rail 1; The signal location that gyro 9 receives when not working is zero point.
The course of work, as shown in Figure 5:
1) mechanism form and the trystate according to the deployable mechanical hook-up 4 in length, space of hoist cable 2 determined default semi-cone angle θ ' size in control computer, and semi-cone angle is the angle that hoist cable 2 is become with the benchmark pedal line.Because angle is big more, the friction force that is subjected in the deployable mechanical hook-up motion process in space is just big more, and the zero-g state is just destroyed, general default semi-cone angle θ '≤0.5 °.
2) launched by deployable mechanical hook-up 4 releases in the space of being followed, upward begin to follow down point, make hoist cable 2 initiatively follow the tracks of the extensible mechanical hook-up 4 in space.
3) 9 pairs of universal joints 8 of gyro are measured around angle [alpha], the β of X, Y-axis rotation under Z axle Cartesian coordinates over the ground, and α, β that control computer is measured according to gyro 9 are according to formula
Calculate semi-cone angle;
4) control computer is with the semi-cone angle θ and default semi-cone angle θ ' contrast that calculate, when θ 〉=θ ', control computer is according to angle [alpha], the β of the rotation of gyro 9 measurements, and the drive unit 7 that control is installed in a little drives hoist cables 2 opposite spins, makes hoist cable 2 and ground vertical again.
5) control computer is constantly calculated semi-cone angle θ, with default semi-cone angle θ ' contrast, when θ＜θ ', control computer is calculated the semi-cone angle θ of current time again, with default semi-cone angle θ ' contrast, when θ 〉=θ ', the drive unit 7 that control computer control is installed in a little drives the corresponding angle of hoist cable 2 opposite spins, hoist cable 2 is remained and the ground vertical, guarantee that suffered the making a concerted effort in expansion process of the deployable mechanical hook-up 4 in space is zero.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (8)
1. following type zero-gravity simulation test method is characterized in that realizing by following steps:
The first step is made initiatively following type zero-gravity analogue means,
Initiatively the following type zero-gravity analogue means comprises: guide rail (1), hoist cable (2), rail brackets (3), hunting gear, drive unit (7) and control computer, guide rail (1) is fixed on the rail brackets (3), guide rail (1) is connected by metal ring with hoist cable (2), hoist cable (2) is connected by metal ring with the deployable mechanical hook-up in space (4), hunting gear is connected with the control computer data line, drive unit (7) is connected with hoist cable (2), drive unit (7) is connected with the control computer data line, and hunting gear and drive unit (7) are installed in hoist cable (2) and promptly go up on the point with the tie point of guide rail (1);
Second step, the deployable mechanical hook-up in space (4) release launches, drive hoist cable (2) and go up at guide rail (1) and slide, the tie point that begins to follow hoist cable (2) and the deployable mechanical hook-up in space (4) this moment on promptly descends point, makes hoist cable (2) initiatively follow the tracks of the deployable mechanical hook-up in space (4);
In the 3rd step, the data computation that control computer measures according to hunting gear goes out the semi-cone angle θ of hoist cable (2) and benchmark pedal line;
The 4th step, control computer is with semi-cone angle θ ' contrast default in the semi-cone angle θ that calculates and the control computer, when θ 〉=θ ', control computer is according to the offset vector of hoist cable (2), the drive unit (7) that control is installed in a little drives hoist cable (2) mobile corresponding vector in the other direction, make hoist cable (2) and ground vertical again, wherein offset vector is that the position when static moves to the distance and the direction of current location to hoist cable (2) from active following type zero-gravity analogue means;
The 5th step constantly repeated for the 3rd step and the 4th step, and hoist cable (2) is remained and the ground vertical, guaranteed that the deployable mechanical hook-up in space (4) suffered making a concerted effort in expansion process is zero.
2. following type zero-gravity simulation test method according to claim 1, it is characterized in that: the hunting gear of the described first step comprises laser pickoff code-disc (5) and the make progress laser tube (6) of emission of lasering beam of vertical all the time, laser pickoff code-disc (5) is installed in some place, and laser tube (6) is installed in down some place.
3. following type zero-gravity simulation test method according to claim 1, it is characterized in that: the hunting gear of the described first step comprises universal joint (8) and gyro (9), universal joint (8) is installed in point by coupling bolt, gyro (9) is connected by coupling bolt with universal joint (8), and gyro (9) is connected by cable with control computer.
4. following type zero-gravity simulation test method according to claim 2 is characterized in that: the semi-cone angle in described the 3rd step
Wherein l is the distance of hoist cable (2) between up and down when initiatively the following type zero-gravity analogue means is static, and s is the distance of the laser position that receives of current laser pickoff code-disc (5) laser position that laser pickoff code-disc (5) receives when static with active following type zero-gravity analogue means.
5. following type zero-gravity simulation test method according to claim 3 is characterized in that: the semi-cone angle in described the 3rd step
Wherein α, β are the universal joint (8) measured of gyro (9) angles around X, Y-axis rotation under Z axle Cartesian coordinates over the ground.
6. following type zero-gravity simulation test method according to claim 1 is characterized in that: the semi-cone angle θ ' that presets in described the 4th step control computer is by the mechanism form and the trystate decision of the deployable mechanical hook-up in length, space (4) of hoist cable (2).
7. following type zero-gravity simulation test method according to claim 1 is characterized in that: described guide rail (1) is the two degrees of freedom guide rail.
8. following type zero-gravity simulation test method according to claim 1 is characterized in that: described drive unit (7) is a motor.
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050230B (en) * | 2010-11-10 | 2013-06-19 | 湖北航天技术研究院总体设计所 | Stage separation test device and method for balancing gravity |
| CN102539185B (en) * | 2011-12-27 | 2014-07-16 | 北京卫星环境工程研究所 | Selenographic gravity simulation system for ground traveling tests of exploration rover |
| US9194977B1 (en) * | 2013-07-26 | 2015-11-24 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Active response gravity offload and method |
| CN103587732B (en) * | 2013-11-12 | 2015-11-11 | 哈尔滨工程大学 | A kind of unscreened three axles directly turn platform |
| CN103600856A (en) * | 2013-11-26 | 2014-02-26 | 北京卫星环境工程研究所 | Spacecraft vertical passive separation test equipment |
| CN104318828B (en) * | 2014-10-10 | 2016-08-24 | 北京卫星制造厂 | A kind of zero gravity experimental system for Spatial Multi-Dimensional development mechanism |
| CN105947237B (en) * | 2016-06-13 | 2017-11-10 | 北京航空航天大学 | A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change |
| CN110271692B (en) * | 2019-05-29 | 2023-07-07 | 上海航天设备制造总厂有限公司 | Space stretching mechanism supports expansion device |
| CN115636115B (en) * | 2022-10-28 | 2024-04-16 | 哈尔滨工业大学 | Solar wing secondary unfolding gravity unloading test device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2789132Y (en) * | 2004-08-17 | 2006-06-21 | 上海卫星工程研究所 | Platform for satellite ground extension experiment |
| CN100361869C (en) * | 2004-09-01 | 2008-01-16 | 中国科学院沈阳自动化研究所 | Six-freedom-degree gravity balance mechanism |
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2009
- 2009-02-24 CN CN 200910078263 patent/CN101482455B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2789132Y (en) * | 2004-08-17 | 2006-06-21 | 上海卫星工程研究所 | Platform for satellite ground extension experiment |
| CN100361869C (en) * | 2004-09-01 | 2008-01-16 | 中国科学院沈阳自动化研究所 | Six-freedom-degree gravity balance mechanism |
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