CN102520719A - Microgravity air floatation target satellite simulator system with five degrees of freedom - Google Patents
Microgravity air floatation target satellite simulator system with five degrees of freedom Download PDFInfo
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- CN102520719A CN102520719A CN2011104015498A CN201110401549A CN102520719A CN 102520719 A CN102520719 A CN 102520719A CN 2011104015498 A CN2011104015498 A CN 2011104015498A CN 201110401549 A CN201110401549 A CN 201110401549A CN 102520719 A CN102520719 A CN 102520719A
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Abstract
The invention relates to the research field of a microgravity simulating platform of a space robot, in particular to a microgravity air floatation target satellite simulator system with five degrees of freedom. The system consists of three parts, namely a movement simulator, a satellite simulator and a ground control panel. The movement simulator simulates the states of zero gravity, low friction and micro interference of a base satellite; the satellite simulator has a basic single-shaft attitude adjustment and track control function under a condition that a satellite provided by the movement simulator is in a track movement simulating environment, comprises a sensor, a controller and an actuating mechanism (a counteractive flywheel and a cold gas injecting system), and is provided with auxiliary systems such as a power system, a wireless communication assembly, a structural component and the like; and the ground control panel provides a basic function of the wireless data communication between a target satellite and the ground, and realizes the control on the target satellite and the receiving, storage and display of the data.
Description
Technical field
The present invention relates to microgravity air floating platform research field.
Background technology
Along with the continuous development of Space Cause, the spatial operation task more and more heavier complicacy that becomes, as carry out the structure, service and repair work at satellite in orbit or large space station etc.It is far from being enough that these tasks only depend on the cosmonaut to accomplish; And extravehicular activity of astronaut not only expends very big; And owing to the space environment that receives space intense radiation, high temperature difference and ultravacuum influences greatly danger of existence, so utilize space manipulator replacement or assistance cosmonaut to accomplish very necessity of these work.The space mechanism arm system is participated in space operation, can on the basis that guarantees cosmonaut's life security, improve operating efficiency, and save the job space expense.Therefore, the space mechanism arm system will be played the part of more and more important role in the space operation in future.
The robot for space technology must be tested fully on ground before being applied to space environment and verified and assess empty its path planning algorithm and control algolithm.Robot for space ground microgravity experiment platform is a kind of synthesis that collects mechanical, electric, automatic control, computer vision and artificial intelligence; It can simulate the microgravity environment in the space through the special technique means under ground environment; And the adapted space robot accomplishes the ground demonstration confirmatory experiment of spatial operation function; For the practical application of robot for space provides Technical Reference, thereby reduce robot for space product development cost, improve space product development efficient.China's present space exploration research deepens continuously, to the requirement of the demand of space environment simulation platform and microgravity simulation performance also in continuous increase.
Summary of the invention
The present invention provides a kind of microgravity air supporting target satellite simulation system that can have five degree of freedom in order to address the above problem, and it comprises:
A kind of microgravity air supporting target satellite simulation system with five degree of freedom, it comprises: motion simulator, satellite simulator and ground control cabinet.Motion simulator: the state of simulation pedestal satellite zero-g, low friction, little interference; Satellite simulator: at satellite that motion simulator provides under rail motion simulation environment; Possess basic adjustment of single shaft attitude and track control function; Comprise sensor, controller and topworks (counteraction flyback and cold gas ejecting system), and possess backup systems such as power-supply system, wireless communication assembly and construction package; Ground control cabinet: basic target star and terrestrial wireless data communication facility is provided, realizes to the control of target star and reception, storage and the Presentation Function of data.
In motion simulator, the gas-static thrust bearing floats on the smooth work top target satellite simulation system through the ejection gases at high pressure, the state of weightlessness in the simulation space.
In satellite simulator, capture frame through aerostatic slide be connected rotating shaft and be connected with marble guide rail in the target satellite simulator, use the gravity of the method for hang spring counterweight simultaneously through hanger pulley balance capture frame.Aerostatic slide can make capture frame along the free translation of the low friction of Z axle through the ejection gases at high pressure; Capture frame can realize rotating around self through connecting rotating shaft.The gases at high pressure of gas-static thrust bearing and aerostatic slide provide through gas tank.
The cold gas ejecting system of 8 nozzles is installed in the target satellite simulator, lays back-to-back, can produce translation power and rotating torque and make the target satellite simulator realize the translation of X, Y direction and around the rotation of Z axle in four sides of target satellite simulator.
Counteraction flyback produces the moment of reaction through acceleration and deceleration, makes the target satellite simulator have the attitude adjustment capability, thereby guarantees that capture frame is in correct pose.
Ground control cabinet has vision and responsive attitude sensor cooperates, and the control system that counteraction flyback and cold gas ejecting system cooperate realizes position control, attitude control and the track control of target satellite simulator.
In described target satellite simulator, balance slide block is arranged, eccentric in order to the gravity of balanced system.
Microgravity air supporting target satellite simulation system with five degree of freedom provided by the invention has following advantage:
1, capture frame is through connecting common five degree of freedom, the compact conformation of forming of rotating shaft and upright guide rail and body.
2, adopt the gravity of gas-static thrust bearing balance total system, use the gravity of the mode balance capture frame of hang spring counterweight, simple in structure, adaptability is high, and control ability is strong.
3, adopt cold jet and control mode that counteraction flyback combines, the perturbed force of bucking-out system and disturbance torque achieve position control, and attitude control is controlled with track.This control method is reliable and stable, and simulate effect is good.
Description of drawings
Fig. 1 is the microgravity air supporting target satellite simulation system cross-sectional view with five degree of freedom provided by the invention.
Fig. 2 is the cross-sectional view of hanger pulley mechanism.
Fig. 3 is the cross-sectional view that connects rotating shaft mechanism.
Fig. 4 is the cross-sectional view of capture frame mechanism.
Fig. 5 is the cross-sectional view of fly wheel system.
Fig. 6 is a target satellite simulator control system overview flow chart.
Label among the figure: 1: aluminium section bar framework, 2: balance slide block, 3: upper backup pad, 4: hanger pulley mechanism, 41: hanger, 42: pulley spindle; 43: non-standard component bearing pulley, 44: pad, 5: marble guide rail, 6: aerostatic slide, 7: connect rotating shaft mechanism; 71: coupling shaft, 72: coupling sleeve, 73: deep groove ball bearing 60000 types 25,74: deep groove ball bearing 60000 types 17,75: joint flange; 8: capture frame mechanism, 81: grip block, 82: back up pad, 83: end cap, 9: base plate; 10: high pressure gas holder, 11: gas-static thrust bearing, 12: fly wheel system, 121: pivot flange, 122: angular contact ball bearing 7003C/AC; 123: axle sleeve, 124:45LYX packing motor stator, 125:45LYX packing rotor, 126: upper flange, 127: angular contact ball bearing 7001C/AC; 128: flywheel shaft, 129: flywheel hub, 1210: flywheel rim, 1211: shell upper, 1212: outer casing underpart; 1213: fixed support, 1214: scrambler, 13: balancing weight, 14: nozzle installing plate, 15: nozzle.
Embodiment
As shown in Figure 1, a kind of microgravity air supporting target satellite simulation system with five degree of freedom, it comprises: motion simulator, satellite simulator and ground control cabinet.The target satellite simulator floats on the smooth marble worktable through 3 gas-static thrust bearings, the 11 ejection gases at high pressure that are installed on base plate 9 lower surfaces through a cover aluminium section bar 1 frame supported; 3 balance slide block 2 are installed on upper backup pad 3 upper surfaces, in order to the centre-of gravity shift of balance total system; 2 cover hanger pulley mechanisms 4 are installed on the lower surface of upper backup pad 3, in order to the gravity of trim capture frame; Marble guide rail 5 vertically is installed on the center of upper backup pad 3 and base plate 9, and the gases at high pressure that spray through aerostatic slide 6 can make connection rotating shaft 7 and capture frame 8 be similar to the friction free upper and lower translation at vertical direction; High pressure gas holder 10 is installed on base plate 9 upper surfaces, and air-float guide rail 6 is provided, the gases at high pressure that gas-static thrust bearing 11 and nozzle 15 need; Fly wheel system 12 is installed on base plate 9 upper surfaces, provides different moment to come the disturbance torque of balanced system through acceleration and deceleration.8 nozzles 15 are installed on the nozzle installing plate 14 that is positioned at upper backup pad 3 upper surfaces, through the power of system's walking and heteropleural nozzle ejection gases at high pressure are provided with side nozzle ejection gases at high pressure system's rotating moment are provided.
As shown in Figure 2, the hanger pulley mechanism is installed on the lower surface of upper backup pad 3, and hanger 41 is connected through bolt and supports on 3.Two pulley spindles 42 are installed on the hanger 41, and the centre of each pulley spindle 42 is equipped with a non-standard component bearing pulley 43.Pad 44 is installed on the both sides of nonstandard bearing pulley 43 on the pulley spindle 42, prevents the axial float of bearing pulley 43.The groove that flexible steel cable passes bearing pulley 43 tops connects balancing weight 13 and aerostatic slide 6, and this moment, bearing pulley 43 played the effect of fixed pulley.
As shown in Figure 3; Connect rotating shaft mechanism 7 through the side of coupling shaft 71 connections with aerostatic slide; Coupling sleeve 72 is engaged on the coupling shaft 71 through deep groove ball bearing 73 and 74; Realized freely rotating of self thus, joint flange 75 is fixed on the afterbody of coupling sleeve 72, in order to connect capture frame mechanism 8.The front portion of coupling shaft 71 and coupling sleeve 72 is processed with pilot hole, can under the situation that need not connect rotating shaft 7 rotations, play positioning action.
As shown in Figure 4, capture frame mechanism 8 is connected on the joint flange 75 through back up pad 82, and realization and coupling sleeve 72 rotate synchronously.Back up pad 82 art ends are equipped with grip block 81, and grip block 81 outsides are arc transition, make things convenient for the extracting of space manipulator.Grip block 81 is hollow, and purpose is weight reduction, and two sections are equipped with end cap 83, prevent the entering of impurity such as dust.
As shown in Figure 5, fly wheel system 12 is installed on the upper surface of base plate 9, and pivot flange 121 is installed on the center of outer casing underpart 1212, and angular contact ball bearing 122 is installed on the bottom of pivot flange 121 central recess.Axle sleeve 123 is installed in the upper surface of angular contact ball bearing 122, and its top is fluted to be cooperated with flywheel shaft 128.Fly-wheel motor stator 124 is installed on the top of pivot flange 121, and fly-wheel motor rotor 125 is positioned at the center of motor stator 124 through flywheel shaft 128.Upper flange 126 center established angle contact ball bearings 127 are fixed on the top of flywheel shaft 128, and pass through fixed support 1213 with pivot flange 121 connections, guarantee flywheel shaft 128, the right alignment of rotor 125 and electronics stator 124.Flywheel rim 1210 is fixing through bolt and flywheel hub 129 circumferentially, and both are fixed on the middle part of flywheel shaft 128 simultaneously, rotate together with rotor 125, produce the moment of reaction.Scrambler 1214 is installed in the upper extremity of flywheel shaft 128, in order to the feedback speed signal.Total system all is placed in the housing of shell upper 1211 and outer casing underpart 1212 compositions.
Be illustrated in figure 6 as the overall control flow of microgravity air supporting target satellite simulation system with five degree of freedom.Control center's machine obtains signal through vision and responsive attitude sensor, and the topworks that cooperates through counteraction flyback and cold gas ejecting system carries out control action, realizes position control, attitude control and the track control of target star through control algolithm.
Claims (7)
1. microgravity air supporting target satellite simulation system with five degree of freedom, it comprises:
Motion simulator, satellite simulator and ground control cabinet.
Motion simulator: the state of simulation pedestal satellite zero-g, low friction, little interference; Satellite simulator: at satellite that motion simulator provides under rail motion simulation environment; Possess basic adjustment of single shaft attitude and track control function; Comprise sensor, controller and topworks (counteraction flyback and cold gas ejecting system), and possess backup systems such as power-supply system, wireless communication assembly and construction package; Ground control cabinet: basic target star and terrestrial wireless data communication facility is provided, realizes to the control of target star and reception, storage and the Presentation Function of data.
2. the motion simulator in the microgravity air supporting target satellite simulation system with five degree of freedom according to claim 1; It is characterized in that: use at least three gas-static thrust bearing ejection gases at high pressure that the target satellite simulation system is floated on the smooth work top, the state of weightlessness in the simulation space.
3. the satellite simulator in the microgravity air supporting target satellite simulation system with five degree of freedom according to claim 1; It is characterized in that: capture frame through aerostatic slide be connected rotating shaft and be connected with marble guide rail in the target satellite simulator, use the gravity of the method balance capture frame of hang spring counterweight simultaneously.Aerostatic slide can make capture frame along the free translation of the low friction of Z axle through the ejection gases at high pressure; Capture frame can realize rotating around self through connecting rotating shaft, realizes the attitude of satellite simulation of five degree of freedom.The gases at high pressure of gas-static thrust bearing and aerostatic slide provide through high pressure gas holder.
4. according to claim 1 or 3 described satellite simulators with microgravity air supporting target satellite simulation system of five degree of freedom; It is characterized in that: the cold gas ejecting system that 8 nozzles are installed in the target satellite simulator; Lay back-to-back four sides at the target satellite simulator, can produce translation power and rotating torque and make the target satellite simulator realize the translation of X, Y direction and around the rotation of Z axle.
5. according to the described satellite simulator of claim 1 or 3 with microgravity air supporting target satellite simulation system of five degree of freedom; It is characterized in that: counteraction flyback produces the moment of reaction through acceleration and deceleration; Make the target satellite simulator have the attitude adjustment capability, thereby guarantee that capture frame is in correct pose.
6. the ground control cabinet in the microgravity air supporting target satellite simulation system with five degree of freedom according to claim 1; It is characterized in that: have vision and responsive attitude sensor and cooperate; The control system that counteraction flyback and cold gas ejecting system cooperate; Realize the position control of target satellite simulator, attitude control and track control.
7. the microgravity air supporting target satellite simulation system with five degree of freedom according to claim 1 is characterized in that: in described target satellite simulator, balance slide block is arranged, and eccentric in order to the gravity of balanced system.
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| CN102963544A (en) * | 2012-10-23 | 2013-03-13 | 哈尔滨工业大学 | Gravity direction mass characteristic simulation device of aircraft ground-simulation system |
| CN103072702A (en) * | 2013-01-30 | 2013-05-01 | 北京控制工程研究所 | Control method for orbit and attitude of satellite |
| CN103253385A (en) * | 2013-05-29 | 2013-08-21 | 哈尔滨工业大学 | Space six-degree-of-freedom controlled and weightless simulation device |
| CN103995476A (en) * | 2014-05-22 | 2014-08-20 | 清华大学深圳研究生院 | Method for simulating movement of space target through industrial robot |
| CN104670524A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Friction-free air floating space weightless rotation simulation device |
| CN104859866A (en) * | 2014-09-23 | 2015-08-26 | 航天东方红卫星有限公司 | Integrated mounting bracket for star sensors |
| CN104898686A (en) * | 2015-06-02 | 2015-09-09 | 北京航空航天大学 | Anti-interference attitude control method based on the friction characteristics of a reaction wheel |
| CN105242573A (en) * | 2015-10-26 | 2016-01-13 | 哈尔滨工业大学 | Satellite attitude controlled ground full-physical simulation intelligent control system |
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| CN105700355A (en) * | 2016-02-02 | 2016-06-22 | 浙江大学 | Impact-proof buffer release control method and experiment apparatus for space tether system combination body |
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| CN109120330A (en) * | 2018-08-07 | 2019-01-01 | 北京空间技术研制试验中心 | Long-range joint-trial method between the system of the spacecraft of strange land distribution |
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Application publication date: 20120627 |