CN103676956B - A kind of space-based pointing demonstrator - Google Patents
A kind of space-based pointing demonstrator Download PDFInfo
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- CN103676956B CN103676956B CN201410001175.4A CN201410001175A CN103676956B CN 103676956 B CN103676956 B CN 103676956B CN 201410001175 A CN201410001175 A CN 201410001175A CN 103676956 B CN103676956 B CN 103676956B
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Abstract
The present invention provide a kind of liquid float housing replace three axle air-float turntables low cost, be easy to promote space-based pointing demonstrator.It includes the water tank of upper bottom surface opening, and swims in the spherical shell in water tank.Spherical shell is internally installed three momenttum wheels, three direct current generators, wireless camera head module, bluetooth communication, motor drive module, one-chip computer modules.Three momenttum wheels are connected with three direct current generators respectively.Described bluetooth communication, motor drive module are all connected with one-chip computer module.Three described direct current generators are all connected with motor drive module.This demonstrator is used not only for the theoretical research of Satellite Attitude Control System, and also is able to provide good hardware supported into everyday practice teaching.
Description
Technical field
The present invention relates to a kind of space-based pointing demonstrator, especially by momenttum wheel carry out the space-based of gesture stability with
Take aim at demonstrator.
Background technology
The satellite gravity anomaly of three-axis stabilization generally has jet and two kinds of forms of momentum exchange device.For the long-life
High-precision three-axis attitude stabilization satellite, when the most normally working, commonly used angular momentum exchange device (bag
Include hard-wired momenttum wheel, control-moment gyro and framework momenttum wheel) as the execution machine of attitude control system
Structure.The angular momentum exchange device installed on celestial body, when its numerical value changes according to certain rules with direction, produces and makees
The moment of reaction required on satellite, thus realize the continuous control to the attitude of satellite, momentum train
Angular momentum can be synthesized by the angular momentum of multiple momenttum wheels.From the end of the sixties in last century, abroad begin to
Study multiple momenttum wheel mounting means control effect to the attitude of satellite.Three-axis attitude stabilization satellite is used now
The conventional mounting means of multiple momenttum wheels of angular momentum exchange device be generally the three orthogonal installations of axle.
Exploitation to satellite attitude control system, in addition to theoretical research, is also performed to hardware experiments, simultaneously with
The theory of upper satellite gravity anomaly all can be described in the relevant speciality course of university, in order to student knows above-mentioned
What knowledge can have is better understood from, in addition to the knowledge-transference carrying out preaching formula and theoretical research, it is also desirable to carry out hard
Part is tested, and in order to simulate satellite weightlessness on space orbit and low friction moment state, generally requires three axles
Air-float turntable.Being limited by three axle air-float turntable weight, volume and cost, this experimental facilities cannot be easily
Multiple stage set is promoted, thus also effective twelve Earthly Branches cannot be provided to hold for practical teaching and satellite gravity anomaly, and three axles
There is the problem that center of gravity is difficult to regulation in air-float turntable.
Summary of the invention
For problem above, it is an object of the invention to provide a kind of liquid and float housing and replace the low of three axle air-float turntables
Cost, be easy to promote space-based pointing demonstrator, it is possible to show the momenttum wheel moment of reaction intuitively to satellite
The accurate control of attitude, and plus image processing program, thus realize the tracking to specific objective and aiming.Should
Demonstrator is used not only for the theoretical research of Satellite Attitude Control System, and also is able to provide into everyday practice teaching
Good hardware supported.
The technical solution adopted in the present invention is: a kind of space-based pointing demonstrator, it is characterized in that: include out
The fluid box of mouth, and swim in the spherical shell in fluid box, utilize the liquid buoyancy in fluid box to balance institute
The spherical shell self gravitation stated, and information acquisition unit, arithmetic element, signal transmission unit, control single
Unit；
Described information acquisition unit includes the wireless camera head module being arranged within described spherical shell, institute
The wireless camera head module stated is made up of with image pick-up card the radio receiving transmitting module of chip photographic head, 1.2GHZ,
It is responsible for obtaining in real time the light stream picture about external object position, and by the light flow graph about this external object position
As passing to arithmetic element；
Described arithmetic element is computer, be responsible for information acquisition unit is gathered about this external object position
The light stream picture put processes, and utilizes image algorithm to obtain error angle, and obtains command force by control algolithm
Square；And described instruction moment is passed to control with the form of DC MOTOR CONTROL signal by signal transmission unit
Unit；
Described signal transmission unit includes bluetooth communication, for receiving the direct current generator that computer terminal sends
Control signal, and this DC MOTOR CONTROL signal is sent to control unit；
Described control unit produces corresponding moment according to the DC MOTOR CONTROL signal received, including installing
At the one-chip computer module within described spherical shell, motor drive module and execution module, described single-chip microcomputer
Module is responsible for receiving the DC MOTOR CONTROL signal from signal transmission unit, and by this DC MOTOR CONTROL signal
After processing, rotating signal is exported to motor drive module with PWM waveform；Described execution module bag
The second momenttum wheel include the first momenttum wheel being connected with the first direct current generator, being connected with the second direct current generator and
The 3rd momenttum wheel that three direct current generators are connected, described the first direct current generator, the second direct current generator, the 3rd direct current
Motor is connected with motor drive module respectively, and controls the rotary state of momenttum wheel according to motor drive module, from
And produce corresponding moment, it is achieved the control to spherical shell attitude.
Described liquid is water.
Described spherical shell is the closing spherical shell that two hemisphere being made up of transparent material are spliced.
Described the first momenttum wheel, the second momenttum wheel and the 3rd momenttum wheel uses the mounting means that three axles are orthogonal；Root
According to the moment of reaction produced by the momenttum wheel of the three orthogonal installations of axle, attitude is adjusted.
Described motor drive module is the L298N that can control two-way direct current motor.
Described bluetooth communication is HC-06 bluetooth transparent transmission module.
The invention has the beneficial effects as follows, float housing with liquid and replace three axle air-float turntables, take between Cost And Performance
Must balance, simple in construction, it is simple to multiple stage set is promoted, solve three axle air-float turntable centers of gravity simultaneously and be difficult to regulation
Problem, can be not only used for theoretical research, such as verify the gesture stability algorithm of some satellites, Target Recognition Algorithms and
Track algorithm, can be again that practical teaching improves hardware supported, to student to recognize intuitively.
Accompanying drawing explanation
Fig. 1 is the overall structure figure of the present invention.
Fig. 2 is the structural representation in spherical shell of the present invention.
Fig. 3 is the signal transmission schematic diagram of the present invention.
1. water tank in figure, 2. spherical shell, 3. momenttum wheel, 4. wireless camera, 5. external object.
Detailed description of the invention
The present invention is further described below in conjunction with the accompanying drawings.
Shown in the structure of the present invention sees figures.1.and.2: the space-based pointing demonstrator of the present invention includes upper opening of
Water tank 1, and swim in the spherical shell 2 in water tank.Spherical shell 2 is internally installed momentum wheels 3, and this moves
Amount wheels include the first momenttum wheel, the second momenttum wheel, the 3rd momenttum wheel, control the direct current generator of momentum wheels,
Wireless camera 4, bluetooth communication, motor drive module, one-chip computer module.Momenttum wheel is all with single
Direct current generator is connected, and direct current generator is all connected with motor drive module.Bluetooth communication, motor drive module
All it is connected with one-chip computer module.Spherical shell 2 is the closing that two hemisphere being made up of transparent material is spliced
Spherical shell.Three momenttum wheels use the mounting means that three axles are orthogonal.Wireless camera is by chip photographic head, 1.2GHZ
Radio receiving transmitting module and image pick-up card form, it is simple to the picture of computer terminal real-time reception chip camera collection
Face.Bluetooth communication is HC-06 bluetooth transparent transmission module, for receiving the direct current generator control that computer terminal sends
Signal processed.One-chip computer module receives the signal that bluetooth communication spreads out of, after processing, by rotating signal
Export to motor drive module with PWM waveform, thus control the rotary state of momentum wheels.Motor drive module
For L298N, two-way direct current motor can be controlled.
The signal transduction process of the present invention is with reference to shown in Fig. 3: the picture of chip camera collection external object 5, and
Real-time Transmission is kept with image pick-up card and computer terminal by the radio receiving transmitting module of 1.2GHZ.Computer terminates
After receiving picture, obtain the relative deviation of current goal point and picture center through image processing program, and by poor
Get the relative velocity that impact point is current.By the comprehensive analysis of logarithm value, DC MOTOR CONTROL signal is led to
Cross bluetooth that computer terminal bluetooth host is sent to be connected with one-chip computer module from machine.Single-chip microcomputer receives signal
And after analyzing and processing, export correct rotating signal with PWM waveform to motor drive module, thus control dynamic
The rotary state of amount wheels.Momentum wheels realize the control to spherical shell attitude by the moment of reaction, and carry
The dynamic wireless camera being connected with spherical shell rotates, thus realizes the tracking to fixing target and aiming.
Claims (5)
1. a space-based pointing demonstrator, is characterized in that: includes the fluid box of upper shed, and swims in the ball in fluid box
Shape housing, utilizes the spherical shell self gravitation described in liquid buoyancy balance in fluid box, and information acquisition unit, computing
Unit, signal transmission unit, control unit；
Described information acquisition unit includes the wireless camera head module being arranged within described spherical shell, described wireless takes the photograph
As head module is made up of with image pick-up card the radio receiving transmitting module of chip photographic head, 1.2GHZ, it is responsible for obtaining about outside in real time
The light stream picture of target location, and the light stream picture about this external object position is passed to arithmetic element；
Described arithmetic element is computer, is responsible for the light flow graph about this external object position being gathered information acquisition unit
As processing, utilize image algorithm to obtain error angle, and obtain instructing moment by control algolithm；And by described command force
Square passes to control unit with the form of DC MOTOR CONTROL signal by signal transmission unit；
Described signal transmission unit includes bluetooth communication, for receiving the DC MOTOR CONTROL signal that computer terminal sends,
And this DC MOTOR CONTROL signal is sent to control unit；
Described control unit produces corresponding moment according to the DC MOTOR CONTROL signal received, including being arranged on described ball
The one-chip computer module of shape enclosure interior, motor drive module and execution module, described one-chip computer module is responsible for receiving from signal
The DC MOTOR CONTROL signal of transmission unit, and after this DC MOTOR CONTROL signal is processed, by rotating signal and PWM
Waveform exports to motor drive module；Described execution module includes the first momenttum wheel and second being connected with the first direct current generator
The second momenttum wheel that direct current generator is connected, the 3rd momenttum wheel that is connected with the 3rd direct current generator, described the first momenttum wheel, second
Momenttum wheel and the 3rd momenttum wheel use the mounting means that three axles are orthogonal, described the first direct current generator, the second direct current generator, the 3rd
Direct current generator is connected with motor drive module respectively, and is divided by the first direct current generator, the second direct current generator and the 3rd direct current generator
Do not control the first momenttum wheel, the second momenttum wheel and the rotating speed of the 3rd momenttum wheel, thus produce three orthogonal moments of reaction,
The resultant moment of three moments of reaction realizes the control to spherical shell attitude, and drives the wireless camera being connected with spherical shell
Rotate, thus realize the tracking to set objective and aiming.
A kind of space-based pointing demonstrator the most according to claim 1, is characterized in that: described liquid is water.
A kind of space-based pointing demonstrator the most according to claim 1, is characterized in that: described spherical shell be two by transparent
The closing spherical shell that the hemisphere that material is constituted is spliced.
A kind of space-based pointing demonstrator the most according to claim 1, is characterized in that: described motor drive module is for controlling
The L298N of two-way direct current motor.
A kind of space-based pointing demonstrator the most according to claim 1, is characterized in that: described bluetooth communication is HC-06
Bluetooth transparent transmission module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410001175.4A CN103676956B (en) | 2014-01-02 | 2014-01-02 | A kind of space-based pointing demonstrator |
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| CN201410001175.4A CN103676956B (en) | 2014-01-02 | 2014-01-02 | A kind of space-based pointing demonstrator |
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| CN103676956A CN103676956A (en) | 2014-03-26 |
| CN103676956B true CN103676956B (en) | 2016-08-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5963166A (en) * | 1998-07-23 | 1999-10-05 | Space Systems/Loral, Inc. | Precise spacecraft camera image navigation and registration |
| CN101226058B (en) * | 2008-01-31 | 2010-10-06 | 航天东方红卫星有限公司 | Method for implementing satellite side-sway automotive image live transmission |
| CN101493701B (en) * | 2008-12-24 | 2010-08-25 | 南京航空航天大学 | Bias momentum control emulation method based on ground magnetic field |
| CN101633411B (en) * | 2009-08-24 | 2012-05-23 | 哈尔滨工业大学 | Actuating mechanism of spacecraft for integrating heat control and liquid momentum wheel |
| CN102030112A (en) * | 2010-11-19 | 2011-04-27 | 哈尔滨工业大学 | Integrated actuating mechanism for realizing satellite attitude control and electric energy acquisition by combining liquid momentum wheel loop with solar array |
| US8818714B2 (en) * | 2010-12-10 | 2014-08-26 | Sony Corporation | Portable navigation device and method with active elements |
| CN102354123B (en) * | 2011-07-18 | 2013-05-08 | 北京航空航天大学 | Cross-platform extendible satellite dynamic simulation test system |
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Effective date of registration: 20200331 Address after: 100160 413, floor 4, building 1, yard 8, Automobile Museum West Road, Fengtai District, Beijing Patentee after: Beijing micro motion Technology Co., Ltd Address before: 100091 No. 37, Haidian District, Beijing, Xueyuan Road Patentee before: BEIHANG University |
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