CN106379564A - Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles - Google Patents
Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles Download PDFInfo
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- CN106379564A CN106379564A CN201610884415.9A CN201610884415A CN106379564A CN 106379564 A CN106379564 A CN 106379564A CN 201610884415 A CN201610884415 A CN 201610884415A CN 106379564 A CN106379564 A CN 106379564A
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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
The invention discloses a tri-axis micro-interference torque motion simulating device for the ground simulation of space vehicles. The device comprises a base, an outer ring, an outer ring bearing pair, a middle ring, a middle ring bearing pair, an inner bearing pair and an instrument platform. Compared with the prior art that an air flotation ball bearing is adopted, the device has the advantages that air flotation bearings are adopted in the outer ring bearing pair, the middle ring bearing pair and the inner bearing pair, so that the development difficulty of the motion simulating device can be effectively reduced; a motor can be utilized for driving and controlling, conventional angular measurement devices including an optical grating, an induction synchronizer and the like can be used for measuring operation angle information of the space vehicles, so that the simulation result has good accuracy and veracity, and the operation is convenient; and a tri-axis micro-interference torque is simulated by virtue of the outer ring, the outer ring bearing pair, the middle ring, the middle ring bearing pair and the inner bearing pair, so that the revolution range of the motion simulating device can be expanded, and the analogue simulation of the large-scale tri-axis micro-interference torque can be realized.
Description
Technical field
The present invention relates to spacecraft ground simulation technical field, the more particularly, to spacecraft ground emulation micro- perturbed force of three axles
Square motion simulator.
Background technology
Hereinafter the background of related of the present invention is illustrated, but these explanations might not constitute the existing of the present invention
Technology.
Three-axis air-bearing table is the key device of spacecraft attitude control system full physical simulation, for real in full physical simulation
Test the performance of middle inspection satellite control system, be the important means in spacecraft development process and method.Usual three axle gas
Floating platform is based on ball bearing and builds, and ball bearing relies on compressed air formation high pressure air film to float simulating stage body, outside analog satellite too
The running environment of micro- disturbance torque in the air.
The shortcoming of this structure is：Can not carry out the measurement of angle using common metering system, such as inductosyn,
Photoelectric code disk, grating etc., therefore measure and always perplex it and carry high-precision bottleneck；The revolution range of two degree of freedom of ball bearing
Very little；Its operating can not be driven using common motor, the mode such as jet, flywheel can only be used.
Content of the invention
It is an object of the invention to proposing a kind of spacecraft ground emulation three axles micro- disturbance torque motion simulator, energy
Enough realizations are turned round on a large scale, are easy to measure spacecraft operation angle information, and can carry out running control, emulation using motor
Result accuracy and accuracy are good, are easy to operate.
According to the spacecraft ground of present invention emulation three axles micro- disturbance torque motion simulator, including：Pedestal, outer shroud
With outer shroud bearing pair, medium ring and medium ring bearing pair, internal ring bearing pair and platform；Wherein, outer shroud bearing pair, medium ring bearing pair
It is air-bearing with internal ring bearing pair；Outer shroud is rotatably arranged on pedestal by outer shroud bearing pair, the rotary shaft of outer shroud and base
The upper side of seat is vertical；Medium ring is rotatably arranged on outer shroud by medium ring bearing pair, the rotary shaft of medium ring and the upper table of pedestal
Face is parallel；
One end of internal ring bearing pair is arranged on medium ring, the other end is connected with platform, the rotary shaft of internal ring bearing pair
Vertical with the rotary shaft of medium ring；Platform can be around the rotary shaft of internal ring bearing pair under the driving effect of internal ring bearing pair
Rotate.
Preferably, internal ring bearing pair includes internal ring bearing and inner axle；The outer ring of internal ring bearing is fixedly provided in medium ring
On, the axial direction of internal ring bearing is vertical with the rotary shaft of medium ring；Inner axle is fixed on the inner ring of internal ring bearing, one end of inner axle with
Internal ring bearing connects, and the other end is connected with platform.
Preferably, internal ring bearing pair further includes：It is arranged on the lengthening inner axle between inner axle and platform；Plus
One end of long inner axle is connected with the other end of inner axle, and the other end lengthening inner axle is connected with platform.
Preferably, internal ring bearing pair includes：Internal ring bearing and inner axle；Wherein, the outer ring of internal ring bearing is fixedly disposed
On medium ring, the axial direction of internal ring bearing is vertical with the rotary shaft of medium ring；Inner axle is arranged on the inner ring of internal ring bearing, inner axle
Two ends are connected with medium ring by an internal ring bearing respectively；Platform is removably disposed on inner axle.
Preferably, platform has beginning cavity directed downwardly, and outer shroud, medium ring are embedding to be contained in cavity.
Preferably, platform is provided with fenestral fabric, for installed load.
Preferably, motion simulator further includes：It is arranged on the internal ring between internal ring bearing pair and platform；Interior
The side of ring is fixedly connected with the other end of described internal ring bearing pair, and platform is fixedly provided in the opposite side of internal ring.
Preferably, outer shroud is opening up camber or ∪ type framework, or outer shroud is opening up curved face type structure.
Preferably, the opening inner side of outer shroud is provided with two medium ring bearing pairs, two medium ring bearing pair turning with regard to outer shroud
Moving axis is symmetrical, and the axial direction of medium ring bearing pair is parallel with the upper surface of pedestal；Medium ring is arranged in the opening of outer shroud, the two ends of medium ring
It is connected with outer shroud by a medium ring bearing pair respectively.
Preferably, the edge of outer shroud is provided with two medium ring bearing pairs, and two medium ring bearing pairs are with regard to the rotary shaft of outer shroud
Symmetrically, the axial direction of medium ring bearing pair and the upper surface of pedestal are parallel；Medium ring is camber framework or the ∪ type being set in outside medium ring
Framework or curved face type structure, the two ends inside medium ring are connected with outer shroud by a medium ring bearing pair respectively.
Included with three axles micro- disturbance torque motion simulator according to the spacecraft ground emulation of the present invention：Pedestal, outer shroud
With outer shroud bearing pair, medium ring and medium ring bearing pair, internal ring bearing pair and platform.With adopt air-floating ball bearing in prior art
Compare, the outer shroud bearing pair of the present invention, medium ring bearing pair and internal ring bearing pair, all using air-bearing, can effectively reduce motion
The development difficulty of analog, and can be driven controlling, conventional grating and inductosyn can be used using motor
Measure the operation angle information of spacecraft Deng conventional angle measurement unit, simulation result accuracy and accuracy are good, be easy to grasp
Make；The micro- disturbance torque of three axles is simulated by outer shroud and outer shroud bearing pair, medium ring and medium ring bearing pair and internal ring bearing pair, can
Improve the revolution range of motion simulator, realize the analogue simulation of the micro- disturbance torque of three axles on a large scale.
Brief description
By the specific embodiment part providing referring to the drawings, the features and advantages of the present invention will become more
Easy to understand, in the accompanying drawings：
Fig. 1 is the spacecraft ground emulation three axles micro- disturbance torque motion simulator schematic diagram according to the present invention；
The structural representation of air-bearing in preferred embodiment of the present invention during Fig. 2.
Specific embodiment
With reference to the accompanying drawings the illustrative embodiments of the present invention are described in detail.Illustrative embodiments are retouched
State merely for the sake of demonstration purpose, and be definitely not the restriction to the present invention and its application or usage.
In order to solve problems of the prior art, the present invention adopts air-bearing to substitute in existing three-axis air-bearing table
Air-floating ball bearing, and it is micro- to simulate three axles by outer shroud and outer shroud bearing pair, medium ring and medium ring bearing pair and internal ring bearing pair
Disturbance torque.The spacecraft ground emulation of 1 couple of present invention is entered with three axles micro- disturbance torque motion simulator with reference to the accompanying drawings
Row describes in detail.
Referring to Fig. 1, included with three axles micro- disturbance torque motion simulator according to the spacecraft ground emulation of the present invention：Base
Seat 10, outer shroud 30 and outer shroud bearing pair 20, medium ring 50 and medium ring bearing pair 40, internal ring bearing pair 60 and platform 80.Outer shroud
30 are rotatably arranged on pedestal 10 by outer shroud bearing pair 20, and the rotary shaft of outer shroud 30 is vertical with the upper side of pedestal 10.In
Ring 50 is rotatably arranged on outer shroud 30 by medium ring bearing pair 40, and the rotary shaft of medium ring 50 is parallel with the upper surface of pedestal 10.
One end of internal ring bearing pair 60 is arranged on medium ring 50, the other end is connected with platform 80, the rotary shaft of internal ring bearing pair 60
Vertical with the rotary shaft of medium ring 50.Platform 80 can be around internal ring bearing pair 60 under the driving effect of internal ring bearing pair 60
Rotary shaft rotate.
Outer shroud 30 and outer shroud bearing pair 20, medium ring 50 and medium ring bearing pair 40 and internal ring bearing pair 60 simulation can be distinguished
Micro- disturbance torque of three axial directions of simulation, slewing area is big, compared with the little revolution range of two degree of freedom of air-floating ball bearing, this
Invention can significantly improve the revolution range of motion simulator, realizes the analogue simulation of the micro- disturbance torque of three axles on a large scale.
Angularly measurement apparatus need to install on the rotating shaft for conventional grating and inductosyn, otherwise cannot be carried out surveying
Amount, and air-floating ball bearing is to drive rotation using modes such as jet, flywheels, does not have rotary shaft, therefore cannot be using routine
Angle measurement unit measures the operation angle information of spacecraft.The outer shroud bearing pair 20 of the present invention, medium ring bearing pair 40 and internal ring
Bearing pair 60 improves the standard of measurement result all using air-bearing such that it is able to avoid the defect brought using air-floating ball bearing
Really property and accuracy, and easy and simple to handle.
In some currently preferred embodiments of the present invention, air-bearing carry taper air cavity, on the upside of taper air cavity be air inlet,
Downside is gas outlet, and the radius of upper side-inlet is less than the radius of downside gas outlet.Compared with the bearing of ring restrictor, with cone
The air-bearing of shape air cavity can keep higher pressure under the conditions of higher supply gas pressure and larger air-film thickness, improves
The stability of strutting system of air-bearing.As shown in Figure 2.In the air film of air-bearing, air velocity can meet following relation：
In formula, r0For the radius of air vent, unit is mm；r1For the radius of gas outlet on the downside of taper air cavity, unit is mm；
r2For the radius of air-bearing, unit is mm；H is air-film thickness, and unit is mm；h0For the thickness of taper air cavity, unit is mm；p
For gas film pressure, unit is Pa；μ is the dynamic viscosity of gas, and unit is Pa s；β is correction factor.Determine gas according to formula 1
Air velocity in the air film that floating axle holds, can make the air-flow in air film uniform, improve the stability of strutting system of air-bearing.Preferably
Ground, when β=0.3～0.7, the air-flow in air film is more preferable to the stability of strutting system of air-bearing.
During due to being intended to simulate the impact to spacecraft operation angle information for micro- disturbance torque, therefore angle is run to spacecraft
The measurement of degree information accurately otherwise cannot must accurately carry out analogue simulation.The structure of air-floating ball bearing makes its attitude survey
The difficulty of amount is larger, and in order to obtain higher gesture stability effect, the R＆D costs of air-floating ball bearing itself are also higher.The present invention
Air-floating ball bearing is substituted using air-bearing, the emulation cost of R＆D costs and motion simulator can be significantly reduced.
Internal ring bearing pair 60 can be arranged on medium ring 50, and in the preferred embodiment shown in Fig. 1, internal ring bearing pair 60 wraps
Include：Internal ring bearing (not shown) and inner axle (not shown).The outer ring of internal ring bearing is fixedly provided in medium ring 50
On, the axial direction of internal ring bearing is vertical with the rotary shaft of medium ring 50；Inner axle is fixed on the inner ring of internal ring bearing, one end of inner axle
It is connected with internal ring bearing, the other end is connected with platform 80.In inner axle rotation process, can drive platform 80 around
The rotary shaft of internal ring bearing pair 60 rotates, and this structure can realize the rotation in the range of 360 ° in theory.Preferably, inner axle
Hold secondary 60 may further include：Lengthen inner axle 70.Lengthen inner axle 70 to be arranged between inner axle and platform 80, its
One end is connected with the other end of inner axle, and the other end is connected with platform 80.Arrange between inner axle and platform 80
Lengthen inner axle 70, by increasing capacitance it is possible to increase the gap between medium ring 50 and platform 80, consequently facilitating installed load.Additionally, increasing
Gap between medium ring 50 and platform 80 is also prevented from touching with outer shroud 30 or medium ring 50 in platform 80 rotation process
Hit, reduce device damage, and improve the simulation accuracy of motion simulator.
Certainly, internal ring bearing pair 60 can also be set in the outside of medium ring 50.Such as, internal ring bearing pair 60 includes：Internal ring
Bearing (not shown) and inner axle (not shown).The outer ring of internal ring bearing is fixedly provided on medium ring 50, internal ring
The axial direction of bearing is vertical with the rotary shaft of medium ring 50.Inner axle is arranged on the inner ring of internal ring bearing, and the two ends of inner axle lead to respectively
Cross an internal ring bearing to be connected with medium ring 50.Platform 80 is removably disposed on inner axle.Those skilled in the art
Other modes can be selected with medium ring 50 to be connected internal ring bearing pair 60 according to practical situation, the present invention does not do concrete limit to this
Fixed, if internal ring bearing pair 60 can be connected with medium ring 50 and the rotary shaft of internal ring bearing pair 60 and medium ring 50 rotary shaft
Vertical.
In some embodiments of the invention, platform 80 has a beginning cavity directed downwardly, and outer shroud 30, medium ring 50 is embedding contains
In this cavity, so that the motion simulator more compact structure of the present invention.It is also provided with grid on platform 80
Shape structure (not shown), for installed load.
In the embodiment show in figure 1, platform 80 is directly connected with internal ring bearing pair 60 by lengthening inner axle 70.
It is also possible to arrange internal ring (not shown) between internal ring bearing pair 60 and platform 80 in actual application.Internal ring
Side be fixedly connected with the other end of internal ring bearing pair 60, platform 80 is fixedly provided in the opposite side of internal ring.With Fig. 1
In embodiment as a example, can setting is circular or square plate is as internal ring lengthening between inner axle 70 and platform 80,
Interior plane of a loop is vertical with lengthening inner axle 70.Setting internal ring can increase the connection between internal ring bearing pair 60 and platform 80
Strength and stability, improves the precision of internal ring bearing pair 60 gesture stability.
Medium ring 50 can be arranged on the inside of outer shroud 30 by those skilled in the art.In order to increase the rotation of medium ring 50 as far as possible
Outer shroud 30 can be set to opening up camber or ∪ type framework, or outer shroud 30 is set to opening up by scope
Curved face type structure.In the embodiment show in figure 1, medium ring 50 can be arranged on the inside of outer shroud 30, and outer shroud 30 is set to opening
∪ type framework upward.It is further preferred that the opening inner side of outer shroud 30 is provided with two medium ring bearing pairs 40, two middle annulate shafts
Hold the secondary rotation axial symmetry with regard to outer shroud 30, the axial direction of medium ring bearing pair 40 is parallel with the upper surface of pedestal 10；Medium ring 50 is arranged
In the opening of outer shroud 30, the two ends of medium ring 50 are connected with outer shroud 30 by a medium ring bearing pair 40 respectively.
Medium ring 50 can also be set in the outside of outer shroud 30 by those skilled in the art.For example, the edge setting of outer shroud 30
There are two medium ring bearing pairs, this two medium ring bearing pairs are with regard to the rotation axial symmetry of outer shroud 30, and this two medium ring bearing pairs
Axial direction parallel with the upper surface of pedestal 10.In order to increase the slewing area of medium ring 50 as far as possible, medium ring 50 can be set to cover
It is located at camber framework or ∪ type framework or the curved face type structure in outer shroud 30 outside, during the two ends of medium ring 50 inner side pass through one respectively
Collar bearing pair is connected with outer shroud 30.
Compared with prior art, the present invention can effectively reduce the development difficulty of motion simulator；Motor can be used
It is driven controlling, using conventional grating and inductosyn, angularly measurement apparatus measure the operation angle information of spacecraft,
Simulation result accuracy and accuracy are good, are easy to operate；Can improve the revolution range of motion simulator, realize on a large scale three
The analogue simulation of the micro- disturbance torque of axle.
Although with reference to illustrative embodiments, invention has been described but it is to be understood that the present invention does not limit to
The specific embodiment that Yu Wenzhong describes in detail and illustrates, in the case of without departing from claims limited range, this
Skilled person can make various changes to described illustrative embodiments.
Claims (10)
1. spacecraft ground emulates with three axles micro- disturbance torque motion simulator it is characterised in that including：Pedestal, outer shroud and outer
Collar bearing pair, medium ring and medium ring bearing pair, internal ring bearing pair and platform；Wherein, outer shroud bearing pair, medium ring bearing pair and interior
Collar bearing is secondary to be air-bearing；
Described outer shroud is rotatably arranged on described pedestal by described outer shroud bearing pair, the rotary shaft of described outer shroud and described base
The upper side of seat is vertical；
Described medium ring is rotatably arranged on described outer shroud by described medium ring bearing pair, the rotary shaft of described medium ring and described base
The upper surface of seat is parallel；
One end of described internal ring bearing pair is arranged on described medium ring, the other end is connected with described platform, described inner axle
The rotary shaft holding pair is vertical with the rotary shaft of described medium ring；
Described platform can turn around the rotary shaft of described internal ring bearing pair under the driving effect of described internal ring bearing pair
Dynamic.
2. motion simulator as claimed in claim 1, wherein, described internal ring bearing pair includes：Internal ring bearing and inner axle；
Wherein,
The outer ring of described internal ring bearing is fixedly provided on described medium ring, and the axial direction of described internal ring bearing is turned with described medium ring
Moving axis is vertical；
Inner axle is fixed on the inner ring of described internal ring bearing, and one end of described inner axle is connected with described internal ring bearing, the other end
It is connected with described platform.
3. motion simulator as claimed in claim 2, wherein, described internal ring bearing pair further includes：It is arranged on described
Lengthening inner axle between inner axle and described platform；Described one end lengthening inner axle and the other end of described inner axle
Connect, the described other end lengthening inner axle is connected with described platform.
4. motion simulator as claimed in claim 1, wherein, described internal ring bearing pair includes：Internal ring bearing and inner axle；
Wherein,
The outer ring of described internal ring bearing is fixedly provided on described medium ring, and the axial direction of described internal ring bearing is turned with described medium ring
Moving axis is vertical；Described inner axle is arranged on the inner ring of described internal ring bearing, and the two ends of described inner axle are respectively by described in one
Internal ring bearing is connected with described medium ring；
Described platform is removably disposed on described inner axle.
5. described motion simulator as arbitrary in claim 2-4, wherein, it is directed downwardly recessed that described platform has beginning
Chamber, described outer shroud, described medium ring are embedding to be contained in described cavity.
6. motion simulator as claimed in claim 5, wherein, described platform is provided with fenestral fabric, is used for
Installed load.
7. motion simulator as claimed in claim 5, further includes：It is arranged on described internal ring bearing pair and described instrument
Internal ring between platform；The side of described internal ring is fixedly connected with the other end of described internal ring bearing pair, and described platform is solid
Surely it is arranged on the opposite side of described internal ring.
8. motion simulator as claimed in claim 5, wherein, described outer shroud is opening up camber or ∪ type framework,
Or described outer shroud is opening up curved face type structure.
9. motion simulator as claimed in claim 8, wherein, the opening inner side of described outer shroud is provided with two middle collar bearings
Pair, described two medium ring bearing pairs are with regard to the rotation axial symmetry of described outer shroud, the axial direction of described medium ring bearing pair and described pedestal
Upper surface parallel；
Described medium ring is arranged in the opening of described outer shroud, the two ends of described medium ring pass through respectively a medium ring bearing pair with described
Outer shroud connects.
10. motion simulator as claimed in claim 5, wherein, the edge of described outer shroud is provided with two medium ring bearing pairs,
, with regard to the rotation axial symmetry of described outer shroud, the axial direction of described medium ring bearing pair is upper with described pedestal for described two medium ring bearing pairs
Surface is parallel；
Described medium ring is camber framework or ∪ type framework or the curved face type structure being set in outside described medium ring, inside described medium ring
Two ends be connected with described outer shroud by a medium ring bearing pair respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610884415.9A CN106379564B (en) | 2016-10-10 | 2016-10-10 | Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles |
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| CN201610884415.9A CN106379564B (en) | 2016-10-10 | 2016-10-10 | Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles |
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| CN106379564B CN106379564B (en) | 2017-05-17 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639393A (en) * | 2018-05-09 | 2018-10-12 | 上海航天控制技术研究所 | A kind of novel allosteric type controller and method |
| CN111458171A (en) * | 2020-04-28 | 2020-07-28 | 北京卫星环境工程研究所 | Spacecraft ground separation experimental device with disturbing force applying function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080010017A1 (en) * | 2005-02-21 | 2008-01-10 | Belenkiy Vladimir A | Method For Elaborating Navigation Parameters And Vertical Of A Place |
| CN104386267A (en) * | 2014-11-03 | 2015-03-04 | 哈尔滨工业大学 | Testing device and method applicable for spacecraft high-stability pointing control |
| CN204831330U (en) * | 2015-08-13 | 2015-12-02 | 常熟理工学院 | Three -axle table's attitude sensor test system |
| CN205262489U (en) * | 2015-12-17 | 2016-05-25 | 九江精密测试技术研究所 | Triaxial stabilized platform based on electronic jar is realized |
-
2016
- 2016-10-10 CN CN201610884415.9A patent/CN106379564B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080010017A1 (en) * | 2005-02-21 | 2008-01-10 | Belenkiy Vladimir A | Method For Elaborating Navigation Parameters And Vertical Of A Place |
| CN104386267A (en) * | 2014-11-03 | 2015-03-04 | 哈尔滨工业大学 | Testing device and method applicable for spacecraft high-stability pointing control |
| CN204831330U (en) * | 2015-08-13 | 2015-12-02 | 常熟理工学院 | Three -axle table's attitude sensor test system |
| CN205262489U (en) * | 2015-12-17 | 2016-05-25 | 九江精密测试技术研究所 | Triaxial stabilized platform based on electronic jar is realized |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639393A (en) * | 2018-05-09 | 2018-10-12 | 上海航天控制技术研究所 | A kind of novel allosteric type controller and method |
| CN111458171A (en) * | 2020-04-28 | 2020-07-28 | 北京卫星环境工程研究所 | Spacecraft ground separation experimental device with disturbing force applying function |
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|---|---|
| CN106379564B (en) | 2017-05-17 |
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