CN105966644A - Simulation service star used for on-orbit service technical identification - Google Patents
Simulation service star used for on-orbit service technical identification Download PDFInfo
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- CN105966644A CN105966644A CN201610396813.6A CN201610396813A CN105966644A CN 105966644 A CN105966644 A CN 105966644A CN 201610396813 A CN201610396813 A CN 201610396813A CN 105966644 A CN105966644 A CN 105966644A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
A simulation service star used for on-orbit service technical identification comprises a communication subsystem, an attitude and orbit control subsystem, an operation mechanism subsystem, a pushing subsystem and a power source subsystem. The communication subsystem achieves communication between the attitude and orbit control subsystem and a ground control station through a wireless communication module by means of a wireless router and is used for simulating an on-orbit universe wireless communication link. The operation mechanism subsystem is used for completing on-orbit operation mission simulation under the control of a central processing unit. The pushing subsystem is used for controlling horizontal movement and rotation movement of the simulation service star under the control of the central processing unit, so that the simulation service star is in butt joint with a targeted aircraft according to expected motion. The power source subsystem provides a working power source for electric equipment of the simulation service star. The attitude and orbit control subsystem comprises a relative attitude and orbit measurement unit and the central processing unit. By the adoption of the simulation service star, the dynamic characteristics of a service aircraft are simulated more veritably in the on-orbit environment.
Description
Technical field
The present invention relates to robot for space field, in particular relate to a kind of mould for the checking of service technology in-orbit
Intend service star.
Background technology
On-orbit servicing technology is the study hotspot of current space technology in the world, is also " 13 " state
One of strategic hundred large construction projects of family, but directly carry out experiment in-orbit and need to expend a large amount of manpower and materials, and
And there is high risk, it is therefore desirable to fully carry out On-orbit servicing ground simulating.Analog service star
Design is the important step realizing the ground simulation of service technology in-orbit.
It is currently used for service technology ground simulation in-orbit can be divided into based on certainly according to microgravity analog form difference
By the microgravity analog systems of falling, microgravity analog systems based on parabolic flight, the floating experiment of water
System, hang spring counterweight experimental system and plane air-flotation type experimental system are several.The experiment of its midplane air-flotation type is
The experimental period of system is unrestricted, and reliability and robustness are high, and limit the structure of experimental piece the most too much
System, is currently used widest spatial operation ground simulation mode.
The analog service star that the plane air-flotation type analog service star of the openest report has does not has integrated mechanical arm,
Can not the operation in-orbit of virtual space mechanical arm；Have only carries out gravity elimination to mechanical arm, and satellite body is still
The most fixing, it is impossible to the coupled motions between analog satellite and mechanical arm；Some analog service stars are integrated with machinery
Arm however it is necessary that external service cable, and this understands the motion of severe jamming analog service star and affects experiment effect.
Summary of the invention
For the deficiencies in the prior art, the present invention proposes a kind of simulation suit for the checking of service technology in-orbit
Business star.
The technical scheme is that
A kind of analog service star for the checking of service technology in-orbit, including communication subsystem, rail control system system
System, operating mechanism subsystem, propelling subsystem and power subsystem.
Described communication subsystem utilize wireless communication module by wireless router realize rail control subsystem and
Communication between ground control station, is used for simulating world wireless communication link in-orbit.
Described operating mechanism subsystem has been used for simulating operation in-orbit under the control of the central processing unit and has appointed
Business.
Described propelling subsystem realizes controlling the horizontal movement of analog service star under the control of the central processing unit
And rotary motion, make analog service star complete and passive space vehicle spacecrafts rendezvous by desired motion.
Each electrical equipment that described power subsystem is analog service star provides working power.
Described rail control subsystem includes relative pose measuring unit and CPU, in analog service
During star approaches passive space vehicle, the target of passive space vehicle is detected by relative pose measuring unit,
The image that detection obtains is defeated by CPU, and the image that then detection is obtained by CPU is carried out
Processing, and resolving obtains relative pose, CPU generates the control advancing subsystem by control algolithm
System instruction, controls analog service star and completes and passive space vehicle spacecrafts rendezvous by desired motion；Analog service star
After completing spacecrafts rendezvous with passive space vehicle, central processing unit controls operating mechanism subsystem is to target space flight
Device is independently simulated and is operated in-orbit；In spacecrafts rendezvous and operating process, the status information of analog service star is passed through
Wireless communication module is delivered to ground control station and is shown；Ground control station can send control instruction in real time,
The motion controlling analog service star and the motion controlling operating mechanism subsystem complete to simulate operation in-orbit and appoint
Business.Wherein the status information of analog service star includes that analog service star is relative to the position of target satellite, speed, appearance
State, angular velocity, and the joint angle of mechanical arm etc..
Further, present invention additionally comprises analog service star nacelle, analog service star nacelle is used for installing and holding
Carry each component devices of analog service star.Analog service star nacelle is internal uses two story frame structures, Ke Yichong
Divide and utilize inner space.It is provided with caisson in analog service star nacelle.In the present invention, caisson is many
The individual air accumulator for stored air being connected.Caisson connects has two with air relief valve and stop valve
Pipeline, wherein the compressed air in caisson is sprayed and then by simulation suit by pipeline by gas foot 34
Business star is suspended on air floating platform, stimulated microgravity.Be provided with in analog service star nacelle extension bar and
During electromagnetic unit, analog service star and passive space vehicle spacecrafts rendezvous, extension bar is inserted passive space vehicle
Docking cone in, then electromagnetic unit produces the attracting device locking of suction and passive space vehicle, it is ensured that service
Spacecraft and passive space vehicle effectively connect.
Further, propelling subsystem of the present invention includes flywheel, electromagnetic valve, solenoid valve controller, storage
Device of air and jet pipe, described flywheel can provide moment, for controlling the rotary motion of analog service star；Institute
State and connect on another pipeline connecting spray nozzle, and the pipeline between caisson and jet pipe connected on caisson
Being connected to electromagnetic valve, the gas in caisson from jet pipe ejection generation thrust thus controls simulation by electromagnetic valve
The horizontal movement of service star, described solenoid valve controller for controlling the opening and closing of electromagnetic valve, jet pipe and
Flywheel has cooperated the motor control of analog service star.
Defining a body coordinate system being connected on analog service star, wherein +X direction points to analog service star
Direction of advance, straight up, +Y direction meets right-hand rule to +Z direction.Further, gas storage of the present invention
On device, the pipeline for connecting spray nozzle is divided into 6 branch roads, and 6 branch roads are respectively connected with electromagnetic valve and jet pipe group
Close, i.e. the present invention is disposed with 6 electromagnetic valves and jet pipe combination altogether.Two electromagnetism are respectively distributed in +/-X-direction
Valve and jet pipe combination, combine at each electromagnetic valve of +/-Y-direction and jet pipe, and this layout can be with minimum electricity
Magnet valve and jet pipe combination provide thrust and moment.
Further, the operating mechanism subsystem of the present invention includes mechanical arm controller, mechanical arm, mechanical hand
Controller and mechanical hand, mechanical arm controller control mechanical arm action, mechanical arm controller by network interface with
It is mutual that CPU carries out information；Manipulator Controller controls the action of mechanical hand, Manipulator Controller
Information is carried out mutual by RS232 and CPU.
Further, the mechanical arm controller of the present invention uses 220V Alternating Current Power Supply, controller internal motion control
Fabrication uses DMC2143 multiaxis independent control, it is possible to support 8 AC servo motors simultaneously；Mechanical arm has
Having four joints, each joint has independent absolute encoder measure current location and have hardware and software two
Plant limit function and guarantee safety；Manipulator Controller uses 12V direct current supply；Mechanical hand is single-degree-of-freedom hands
Pawl, by the opening and closing campaign of servos control paw, has been used for simulating operation task in-orbit.
Further, the power subsystem of the present invention includes multifunction structure battery, supply convertor and inversion
Device, multifunction structure battery provides 28V power supply, the 28V electricity that multifunction structure battery is provided by supply convertor
Source is transformed to the voltage of 24V, 12V and 5V, provides power supply to each electrical equipment of analog service star；Inverter
It is that the 28V Power convert provided by multifunction structure battery supplies electricity to mechanical arm offer power supply for 220V exchange.Its
In: multifunction structure battery is to be a deck board being embedded with lithium battery of analog service star nacelle.
The invention has the beneficial effects as follows:
One is to be integrated with operating mechanism subsystem, in one plane on microgravity analog satellite platform base
Simulate the coupled motions between satellite in orbit body and mechanical arm, can be used for verifying under microgravity environment in-orbit
Service technology；
Two is to design and employ multifunction structure technology on microgravity analog satellite platform first, and employing is many
Functional structure battery is independently-powered, overcomes the interference that traditional external service cable is dynamic to analog service luck,
Simulate the dynamics of Servicing spacecraft under environment in-orbit more really.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
In Fig. 1: 11, analog service star nacelle；12, air floating platform；13, electromagnetic unit；14, docking
Bar；15, mechanical arm；16, mechanical hand；17, relative pose measuring unit；18, wireless communication module；
19, multifunction structure battery；
Fig. 2 is nacelle internal structure schematic diagram.
In Fig. 2: 21, CPU；22, supply convertor；23, inverter；
Fig. 3 is air-floating apparatus structural representation.
In Fig. 3: 31, electromagnetic valve；32, jet pipe；33, air accumulator；34, gas foot
Fig. 4 is the workflow schematic diagram of the present invention.
Detailed description of the invention
The present invention is described in detail below in conjunction with the accompanying drawings.
With reference to Fig. 1, for a kind of analog service star for the checking of service technology in-orbit of the present invention, including structure and
Mechanism's subsystem, advance subsystem, rail control subsystem, communication subsystem, operating mechanism subsystem and
Power subsystem；It is used for the ground simulation of service operations correlation technique in-orbit and checking, and it passes through measure analog
Relative pose between passive space vehicle, it is achieved ground simulation independently approaches and spacecrafts rendezvous, it is possible to autonomous
Or remote operating mode controls mechanical arm and completes the service role in-orbit such as trouble shooting and module replacing.
Structure and mechanism's subsystem include analog service star nacelle 11, air floating platform 12, electromagnetic unit 13 and
To extension bar 14.As in figure 2 it is shown, analog service star nacelle 11 is used for installing and carrying each group of analog service star
One-tenth system and equipment, analog service star nacelle is internal uses two story frame structures, can make full use of internal empty
Between.As it is shown on figure 3, there are two air accumulators being interconnected 33 in analog service star nacelle 11, it is used for storing
Air.Two air accumulators 33 connect two pipelines, and wherein a pipeline is by the pressure in two air accumulators 33
Analog service star analog satellite is suspended on air floating platform 12 by contracting air by gas foot 34 jets, simulates micro-
Gravity environment.It is provided with extension bar 14 and electromagnetic unit 13, analog service star in analog service star nacelle 11
During passive space vehicle spacecrafts rendezvous, extension bar 14 is inserted in the docking cone of passive space vehicle, then electricity
Magnetic cell 13 produces the attracting device locking of suction and passive space vehicle, it is ensured that analog service star and simulated target
Effective connection of star.
Subsystem is advanced to include flywheel 25, electromagnetic valve 31, solenoid valve controller 24 and jet pipe 32；Flywheel 25
Moment can be provided, for controlling to service the rotary motion of star.Another pipeline that two air accumulators 33 connect
By the gas in air accumulator 33 by electromagnetic valve 31, can produce thrust from jet pipe 32 ejection, jet pipe 32 is straight
Connecing and be arranged on electromagnetic valve 31, solenoid valve controller 24 can control the opening and closing of electromagnetic valve.Definition
One body coordinate system being connected on analog service star, wherein +X direction points to the advance side of analog service star
To, straight up, +Y direction meets right-hand rule to +Z direction.For connecting spray nozzle 32 on air accumulator 33
Pipeline be divided into 6 branch roads, 6 branch roads are respectively connected with electromagnetic valve and jet pipe combination, i.e. present invention cloth altogether
It is equipped with 6 electromagnetic valves and jet pipe combines, each two in +/-X-direction, each one in +/-Y-direction, this cloth
Office can combine with minimum electromagnetic valve and jet pipe and provide thrust and moment, thus controls the water of analog service star
Flat motion and rotary motion, jet pipe and flywheel have cooperated the motor control of analog service star.
Rail control subsystem includes relative pose measuring unit 17 and CPU 21, and relative pose is surveyed
Amount unit uses monocular industrial camera, detects the target of passive space vehicle, and the image that detection obtains is defeated
To CPU 21, then image is processed by CPU 21, and resolving obtains phase para-position
Appearance.
Communication subsystem utilizes wireless communication module 18 to be communicated with surface-monitoring equipment by wireless router, uses
In simulating world wireless communication link in-orbit.
Operating mechanism subsystem includes mechanical arm controller 27, mechanical arm 15, Manipulator Controller 26 and machine
Tool hands 16；Mechanical arm controller uses 220V Alternating Current Power Supply, and controller internal motion controls card and uses
DMC2143 multiaxis independent control, can support 8 AC servo motors, by network interface and centre simultaneously
It is mutual that reason unit 21 carries out information；Mechanical arm has four joints, and there is independent absolute encoder in each joint
Measure current location, and have two kinds of limit functions of hardware and software to guarantee safety；Manipulator Controller uses
12V direct current supply, carries out information by RS232 and CPU 21 mutual；Mechanical hand is single free
Degree paw, by the opening and closing campaign of servos control paw, has been used for simulating operation task in-orbit.
Power subsystem includes multifunction structure battery 19, supply convertor 22 and inverter 23, many merits
Energy structure battery 19 is the deck board of an embedded lithium battery of analog service star nacelle, and embedded lithium battery can
To provide 28V power supply (changing between 26V to 30V according to electricity difference voltage), supply convertor 22
It is the voltage that lithium battery 28V is transformed to 24V, 12V and 5V, provides power supply to dissimilar equipment, inverse
Becoming device is lithium battery 28V to be converted to 220V provide power supply to mechanical arm, it is to avoid mechanical arm external city electrical cables
And affect experiment effect.
As indicated at 4, the present invention is as follows for the workflow of the analog service star of the checking of service technology in-orbit:
During analog service star approaches operation object i.e. passive space vehicle, measured single by relative pose
Unit 17 obtains the image of target, and then CPU 21 obtains analog service star and operation by resolving
Relative position between object, then CPU 21 is given by control algolithm and is generated flywheel and electromagnetic valve
Control control instruction, control analog service star and complete and passive space vehicle spacecrafts rendezvous by desired motion.
After analog service star and passive space vehicle complete spacecrafts rendezvous, CPU 21 control mechanical arm and
Mechanical hand simulation autonomous to passive space vehicle operates in-orbit.
In spacecrafts rendezvous and operating process, status information can deliver to ground control by wireless communication module
Station shows；Ground control station can also send control instruction in real time, controls the motion of analog service star,
And the motion controlling mechanical arm and mechanical hand completes to simulate operation task in-orbit.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to
Stating embodiment, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.Should refer to
Go out, for those skilled in the art, without departing from the principles of the present invention some
Improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. the analog service star for the checking of service technology in-orbit, it is characterised in that include communication subsystem, rail control subsystem, operating mechanism subsystem, advance subsystem and power subsystem,
Described communication subsystem utilizes wireless communication module to realize the communication between rail control subsystem and ground control station by wireless router, for simulating the world wireless communication link of actual satellite in orbit system；
Described operating mechanism subsystem has been used for simulating operation task in-orbit under the control of the central processing unit；
Described propelling subsystem realizes controlling horizontal movement and the rotary motion of analog service star under the control of the central processing unit, makes analog service star complete and passive space vehicle spacecrafts rendezvous by desired motion；
Each electrical equipment that described power subsystem is analog service star provides working power；
Described rail control subsystem includes relative pose measuring unit and CPU, during analog service star approaches passive space vehicle, the target of passive space vehicle is detected by relative pose measuring unit, the image that detection obtains is defeated by CPU, then the image that detection is obtained by CPU processes, and resolving obtains relative pose, CPU generates the control instruction advancing subsystem by control algolithm, controls analog service star and completes and passive space vehicle spacecrafts rendezvous by desired motion；After analog service star and passive space vehicle complete spacecrafts rendezvous, the simulation autonomous to passive space vehicle of central processing unit controls operating mechanism subsystem operates in-orbit；In spacecrafts rendezvous and operating process, the status information of analog service star is delivered to ground control station by wireless communication module and is shown；Ground control station can send control instruction in real time, and the motion controlling analog service star and the motion controlling operating mechanism subsystem complete to simulate operation task in-orbit.
Analog service star for the checking of service technology in-orbit the most according to claim 1, it is characterized in that, also include analog service star nacelle, analog service star nacelle is for installing and carry each component devices of analog service star, it is provided with caisson in analog service star nacelle, caisson is multiple air accumulators for stored air being connected, caisson connects has two with air relief valve and the pipeline of stop valve, wherein the compressed air in caisson is sprayed by gas foot and then is suspended on air floating platform by analog service star by a pipeline, stimulated microgravity.
Analog service star for the checking of service technology in-orbit the most according to claim 2, it is characterised in that described analog service star nacelle is internal uses two story frame structures.
Analog service star for the checking of service technology in-orbit the most according to claim 2, it is characterized in that, it is provided with extension bar and electromagnetic unit in described analog service star nacelle, during analog service star and passive space vehicle spacecrafts rendezvous, extension bar is inserted in the docking cone of passive space vehicle, then electromagnetic unit produces the attracting device locking of suction and passive space vehicle, it is ensured that Servicing spacecraft and passive space vehicle effectively connect.
Analog service star for the checking of service technology in-orbit the most according to claim 4, it is characterized in that, described propelling subsystem includes that flywheel, electromagnetic valve, solenoid valve controller, caisson and jet pipe, described flywheel can provide moment, for controlling the rotary motion of analog service star；It is connected on another pipeline connecting spray nozzle connected on described caisson and the pipeline between caisson with jet pipe and has electromagnetic valve, gas in caisson from jet pipe ejection generation thrust thus controls the horizontal movement of analog service star by electromagnetic valve, described solenoid valve controller is for controlling the opening and closing of electromagnetic valve, and jet pipe and flywheel have cooperated the motor control of analog service star.
Analog service star for the checking of service technology in-orbit the most according to claim 5, it is characterised in that on caisson, the pipeline for connecting spray nozzle is divided into 6 branch roads, 6 branch roads are respectively connected with electromagnetic valve and jet pipe combination；Defining a body coordinate system being connected on analog service star, wherein +X direction points to the direction of advance of analog service star, and straight up, +Y direction meets right-hand rule to +Z direction；Two electromagnetic valves and jet pipe combination are respectively distributed in +/-X-direction, combine at each electromagnetic valve of +/-Y-direction and jet pipe.
Analog service star for the checking of service technology in-orbit the most according to claim 4, it is characterized in that, operating mechanism subsystem includes mechanical arm controller, mechanical arm, Manipulator Controller and mechanical hand, mechanical arm controller controls the action of mechanical arm, and it is mutual that mechanical arm controller carries out information by network interface and CPU；Manipulator Controller controls the action of mechanical hand, and it is mutual that Manipulator Controller carries out information by RS232 and CPU.
Analog service star for the checking of service technology in-orbit the most according to claim 7, it is characterized in that, mechanical arm controller uses 220V Alternating Current Power Supply, and controller internal motion controls card and uses DMC2143 multiaxis independent control, it is possible to support 8 AC servo motors simultaneously；Mechanical arm has four joints, and each joint has independent absolute encoder measure current location and have two kinds of limit functions of hardware and software to guarantee safety；Manipulator Controller uses 12V direct current supply；Mechanical hand is single-degree-of-freedom paw, by the opening and closing campaign of servos control paw, has been used for simulating operation task in-orbit.
Analog service star for the checking of service technology in-orbit the most according to claim 4, it is characterized in that, power subsystem includes multifunction structure battery, supply convertor and inverter, multifunction structure battery provides 28V power supply, the voltage that 28V power conversion is 24V, 12V and 5V that multifunction structure battery is provided by supply convertor, provides power supply to each electrical equipment of analog service star；Inverter is that the 28V Power convert provided by multifunction structure battery supplies electricity to mechanical arm offer power supply for 220V exchange.
Analog service star for the checking of service technology in-orbit the most according to claim 9, it is characterised in that described multifunction structure battery is to be a deck board being embedded with lithium battery of analog service star nacelle.
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| CN107161360A (en) * | 2017-06-07 | 2017-09-15 | 北京航空航天大学 | Replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks |
| CN107481281A (en) * | 2017-08-23 | 2017-12-15 | 上海微小卫星工程中心 | Relative pose computational methods and device and aerospace craft rendezvous and docking system |
| CN110900621A (en) * | 2019-11-19 | 2020-03-24 | 北京空间技术研制试验中心 | Service method for replacing exposed load of manned spacecraft on orbit based on mechanical arm |
| CN111356641A (en) * | 2017-07-21 | 2020-06-30 | 诺思路·格鲁曼创新***公司 | Spacecraft service device and related components, systems and methods |
| CN112407337A (en) * | 2020-11-23 | 2021-02-26 | 北京微动航科技术有限公司 | Propulsion system of satellite simulator and satellite simulator |
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