CN106742089A - Three-axis air-bearing table variable bit rate Satellite General orbital simulation device and method - Google Patents
Three-axis air-bearing table variable bit rate Satellite General orbital simulation device and method Download PDFInfo
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- CN106742089A CN106742089A CN201611030980.5A CN201611030980A CN106742089A CN 106742089 A CN106742089 A CN 106742089A CN 201611030980 A CN201611030980 A CN 201611030980A CN 106742089 A CN106742089 A CN 106742089A
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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Abstract
The invention discloses a kind of three-axis air-bearing table variable bit rate Satellite General orbital simulation device and method, the device includes rotary working platform, equipment base etc.；Wherein, the equipment base is used to support whole analog satellite track motion analogue means, bears system pressure and torque tension, and its underpart is docked and fixed with vibrating isolation foundation, and upper Middle face docks fixation with attitude motion simulation platform structure.Compact conformation of the present invention, large carrying capacity, stability is high, it is possible to achieve 360 degree of Star Simulators rotate simulation；Orbital simulation device meets extremely low fast high-precision orbital speed governing rotation demand；Orbital simulation apparatus and method fully take into account the arrangement states of each attitude sensor of satellite and use；Simulation precision is high, and experiment application is convenient；Can simulate it is low, in, highly elliptic orbit and geostationary orbit satellite Orbit revolutionary, carry out rail control performance simulation experiment.
Description
Technical field
The present invention relates to a kind of full physical test device and method of remote sensing of the earth satellite, more particularly to a kind of three axles air supporting
Platform variable bit rate Satellite General orbital simulation device and method.
Background technology
Three-axis air-bearing table zero-gravity simulation, friction free space environment, are freely rotated using three axles and are widely used in spacecraft
The experiment of ground full physical simulation.General three-axis air-bearing table is only capable of the attitudes vibration under analog orbit coordinate system, in order to ensure ground
Validity or the task extension of face l-G simulation test need, and variable bit rate Satellite General orbital simulation device and method has very much must
Will.
At present introduced on three-axis air-bearing table orbital simulation device it is less, by literature search, Chinese invention patent number
201520154332.5, patent name is " a kind of arc guide rail structure of emulation platform ", gives a kind of semicircle arc guide rail knot
The various motion states that structure is embodied as large-scale experiment part provide movement environment simulation, shape that the invention is given and physical dimension compared with
Greatly, its sliding block is fixed, and large-scale, heavily loaded loading scheme is solved by multi-track, it is impossible to for the satellite orbit mould of three-axis air-bearing table
Intend.
The content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of three-axis air-bearing table variable bit rate Satellite General
Orbital simulation device and method, it can carry out low orbit, middle orbit, highly elliptic orbit and geostationary orbit satellite track and become
The simulation of change carries out rail control performance simulation experiment.
According to an aspect of the present invention, there is provided a kind of three-axis air-bearing table variable bit rate Satellite General orbital simulation device,
Characterized in that, the three-axis air-bearing table variable bit rate Satellite General orbital simulation device includes rotary working platform, equipment base
Seat, annular rolling guide, pulley mechanism, gear reduction mechanism, attitude motion emulation platform, vibrating isolation foundation, earth simulator for earth, too
Positive simulator, driving control system；
Wherein, the equipment base be used for support whole analog satellite track motion analogue means, bear system pressure and
Torque tension, its underpart is docked and is fixed with vibrating isolation foundation, and upper Middle face docks fixation with attitude motion simulation platform structure；
The annular rolling guide is used to realize 360 degree of trackwork platform and 0.00417 °/s~0.07 °/s variable angles
Speed rotatory power, has six groups of pulley mechanisms to be evenly arranged by equiangularly spaced on annular rolling guide；
The pulley mechanism is used to be rotated together with rotary working platform；With rotary working platform lower end above pulley mechanism
Annulus is connected, and makees rolling movement by ball or roller with annular rolling guide below；
The rotary working platform installs earth simulator for earth, the change of analog satellite orbit angular velocity；Under rotary working platform
End annulus is equipped with bull gear, and bull gear is meshed with little gear, and little gear is driven by motor by gear reduction mechanism, band
Dynamic rotary working platform rotation；
The gear reduction mechanism has big retarding than function, meets extremely low fast high-precision orbital speed governing rotation demand；
The attitude motion emulation platform is used for analog satellite attitudes vibration, installs satellite earth sensor, the sun sensitive
Device carries out the rail control performance verification under the conditions of Orbit revolutionary；
The earth simulator for earth is arranged on rotary table, and rotary simulation satellite revolves around the earth together with rotary table
Transformationization；
The solar simulator is arranged on vibrating isolation foundation, is not rotated together with rotary table, and simulation inertial space is too
Sunlight is incident；
The vibrating isolation foundation is used to isolate extraneous vibration, there is vibration isolation ditch between factory building periphery, and vibrating isolation foundation middle part is designed with
Foundation ditch, whole variable bit rate Satellite General orbital simulation device is seated in foundation ditch；
The driving control system is arranged in gear reduction mechanism, for gathering motor working condition and host computer
Instruction, provides rotary working platform motion control instruction accordingly, and the failure to being likely to occur is processed, and system real-time detection is worked as
The communication state of preceding speed, current location, spacing information, motor operating state, power supply status and host computer.
Preferably, the big retarding is used to gather motor working condition and host computer instruction than function, is given accordingly
Rotary working platform motion control instruction, the failure to being likely to occur is processed, system real-time detection present speed, present bit
Put, the communication state of spacing information, motor operating state, power supply status, host computer.
Preferably, the equipment base uses cast steel reinforced structure form, has two enclose the land bolt holes and vibrating isolation foundations to consolidate
Fixed connection；Planar design has a positioning boss for fixed pose movement simulation platform structure and fixed circle to lead on equipment base
The positioning boss of rail.
Preferably, using three main beam structure supports, each girder supporting construction bottom extends the rotary working platform
Go out two auxiliary support beam structures to be fixedly connected with adjacent main back end, three girders support corresponding platform laminate to carry out structure to add
Strong design, for fixing earth simulator for earth, while three girder supporting construction bottoms are that equiangularly spaced rolling positioned at annular is led
On three pulley mechanisms of rail, the change of rotary working platform analog satellite orbit angular velocity.
Preferably, six groups of pulley mechanisms carry rotary working platform and move together, using helical gear and worm and gear
With reference to big retarding compare integrated transmission；The driving control system peace is furnished with brake sticking brake, once run into spacing needs tightly
During jerk car, the driving control system is braked by electric automatic band-type brake under a motor, once stalling, its output end turns motor
Speed is relatively low, close to halted state.
Preferably, the vibrating isolation foundation is by the sandstone damping bed course group under integrated poured reinforced concrete plinth and pedestal
Into, in order to improve the bearing capacity of foundation ditch, differential settlement is prevented, big square pile and pile tube are squeezed into vibrating isolation foundation bottom,
Surrounding has vibration isolation ditch.
Preferably, the attitude motion emulation platform be used for analog satellite attitudes vibration, and fixed satellite earth sensor,
Sun sensor carries out the rail control performance verification under the conditions of Orbit revolutionary；Solar simulator simulation inertial space sunshine enters
Penetrate.
The present invention also provides a kind of three-axis air-bearing table variable bit rate Satellite General orbital simulation method, it is characterised in that bag
Include following steps：
Step one：According to the tested in-orbit orbit angular velocity change curve of satellite, establishment motor motion control refers to
Order is stored on host computer；
Step 2：Earth simulator for earth, the solar simulator on vibrating isolation foundation on rational deployment adjustment rotary working platform,
And the sensing of the earth sensor and sun sensor on attitude motion emulation platform, experiment original state is set, if necessary
Control rotary working platform rotates an angle；
Step 3：Start solar simulator air cooling system, open the sun optical mode that solar simulator provides uniform stabilization
Intend；Open earth simulator for earth and uniform, stabilization earth heat radiation simulation is provided；
Step 4：Set according to operating condition of test, program control rotary working platform is pressed in orbit angular velocity change control instruction fortune
OK, then tested and data collection and analysis.
Compared with prior art, the present invention has following beneficial effect：Compact conformation of the present invention, large carrying capacity, surely
Qualitative height, it is possible to achieve 360 degree of Star Simulators rotate simulation；Orbital simulation device meets extremely low fast high-precision orbital speed governing rotation need
Ask；Orbital simulation apparatus and method fully take into account the arrangement states of each attitude sensor of satellite and use；Simulation precision is high, and
Experiment application is convenient.
Brief description of the drawings
Fig. 1 is apparatus structure schematic diagram of the invention.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in figure 1, in the present embodiment, a kind of three-axis air-bearing table variable bit rate Satellite General track that the present invention is provided
Analogue means includes rotary working platform 1, equipment base 2, annular rolling guide 3, pulley mechanism 4, gear reduction mechanism 5, appearance
State movement simulation platform 9, vibrating isolation foundation 6, earth simulator for earth 7, solar simulator 8, driving control system 11, equipment base 2 are adopted
With cast steel reinforced structure form, the bolt holes of enclosing the land of positioning boss, i.e., two ensure its rigidity and intensity, meet bearing capacity, adjust
The requirement of flat and stability.
Equipment base 2 needs level-off in assembling.Planar design has a convex for vertical columns on equipment base 2
The positioning boss of platform and fixed circular guideway, to ensure the air-bearing vertical centre and rotary working platform 1 of three-axis air-bearing table
Pivot there is enough concentricitys.The equipment base is used to support whole three-axis air-bearing table variable bit rate Satellite General
Orbital simulation device, both bears system pressure, is also subjected to torque tension, and its underpart is docked and fixed with vibrating isolation foundation, above in
Fixation is docked with attitude motion simulation platform structure in portion.
Rotary working platform 1 is made up of pulley mechanism 4, gear reduction mechanism 5, annular rolling guide 3, gear reduction mechanism
5 are fixed on equipment base 2, and rotary working platform 1 is fixed on guide rail by the pulley mechanism 4 that some sliding blocks are constituted.It is described
Rotary working platform using the support of three main beam structures, each girder supporting construction bottom extend two auxiliary support beam structures with
Adjacent main back end is connected.Three girders support the corresponding platform laminate to carry out structural strengthening design, for installing earth simulation
Device etc., at the same three girder supporting construction bottoms be it is equiangularly spaced be seated on three pulley mechanisms of annular rolling guide,
Rotary working platform analog satellite orbit angular velocity changes.
The annular rolling guide is used to realize 360 degree of trackwork platform and 0.00417 °/s~0.07 °/s variable angles
Speed rotatory power, has six groups of pulley mechanisms to be evenly arranged by equiangularly spaced on annular rolling guide, six groups of pulley mechanisms hold
Carry rotary working platform to move together, the big retarding combined with worm and gear using helical gear compares integrated transmission.Specifically, ring
Six groups of pulley mechanisms 4 are fixed with shape rolling guide 3, six groups of pulley mechanisms 4 are connected with the lower end annulus of rotary working platform 1
Connect, bull gear is fixed on the lower end annulus of rotary working platform 1, bull gear is engaged with little gear, little gear is passed through by motor
Reductor driving is crossed, workbench 1 is rotated and is rotated.To ensure the concentricity of bull gear and circular guideway, in rotary work
Bull gear and the stationary positioned boss of pulley mechanism 4 are respectively designed with the lower end annulus of platform 1.Annular rolling guide 3 and coaster
Rolling movement is done by rolling elements such as ball or rollers between mechanism 4, kinetic friction force is substantially reduced.
The pulley mechanism 4 is used to be rotated together with rotary working platform.Above pulley mechanism with rotary working platform under
End annulus is connected, and makees rolling movement by rolling elements such as balls or roller with annular rolling guide below.
Speed reducing ratio and driving torque requirement according to system, the driving moment requirement of motor is smaller, but needs to have
Larger rotation speed change demand.Design of Speed Reducer of the invention considers gearratio and return difference, using worm type of reduction gearing, will be oblique
Gear integrally combines with worm and gear, high transmission accuracy, small volume, and speed reducing ratio is big, and structure is compacter, save space.
The rotary working platform installs earth simulator for earth etc., the change of analog satellite orbit angular velocity.Rotary working platform
Lower end annulus is equipped with bull gear, and bull gear is meshed with little gear, and little gear is driven by motor by gear reduction mechanism,
Workbench rotation is rotated.
The gear reduction mechanism has big retarding than function, meets extremely low fast high-precision orbital speed governing rotation demand, uses
In collection motor working condition and host computer instruction, rotary working platform motion control instruction is provided accordingly, to that may go out
Existing failure is processed, system real-time detection present speed, current location, spacing information, motor operating state, power supply shape
The communication state of state, host computer.
Earth simulator for earth 7 is fixed on rotary working platform 1, and rotary simulation satellite is around ground together with rotary working platform 1
Ball rotation changes, for earth sensor provides heat radiation input signal；Earth simulator for earth 7 it is main by emulation terrestrial radiation plate and
Temperature control equipment is constituted, and the function of emulating terrestrial radiation plate is to simulate the heat radiation of the earth, the main work(of temperature control equipment
Can realize that the real-time surface temperature of terrestrial radiation plate is accurately determined and controlled.
Solar simulator 8 is fixed on vibrating isolation foundation 6, is not rotated together with rotary working platform 1, and simulation inertial space is too
Sunlight is incident.The output beam angle of collimation of solar simulator 8 is consistent with sunshine, its output spectrum 0.35 μm of visible ray~
It is sufficiently close to solar spectrum in 0.75 μ m, there is irradiation uniformity and stabilization higher in specified effective irradiation face
Property.In addition, solar simulator 8 can adjust azimuth and the angle of pitch of output collimated light beam, can also be manual in a small range
The position of vertical direction is adjusted, in order to the output beam of solar simulator 8 and the alignment of sun sensor.
The vibrating isolation foundation is used to isolate extraneous vibration, there is vibration isolation ditch between factory building periphery, and vibrating isolation foundation middle part is designed with
Foundation ditch, whole variable bit rate Satellite General orbital simulation device is seated in foundation ditch.Vibrating isolation foundation 6 is mixed by integrated poured reinforcing bar
Sandstone damping bed course composition under solidifying soil matrix seat and pedestal, in order to improve the bearing capacity of foundation ditch, prevents differential settlement,
Big square pile and pile tube are squeezed into bottom of foundation ditch, there is vibration isolation ditch between surrounding and foundation ditch.
The attitude motion emulation platform is used for analog satellite attitudes vibration, installs satellite earth sensor, the sun sensitive
Device etc. carries out the rail control performance verification under the conditions of Orbit revolutionary.
The driving control system is arranged in gear reduction mechanism, for gathering motor working condition and host computer
Instruction, provides rotary working platform motion control instruction accordingly, and the failure to being likely to occur is processed, and system real-time detection is worked as
Communication state of preceding speed, current location, spacing information, motor operating state, power supply status and host computer etc..
Driving control system peace is furnished with brake sticking brake, once run into it is spacing etc. need to stop in emergency when, it is described
Driving control system is braked by electric automatic band-type brake under a motor, and motor is once stall, and its output end rotating speed is relatively low, close to
Halted state.Additionally, the speed reducing ratio of decelerator that motor output end connects is very big, motor is once stall, the rotating speed of its output end
To be very low, close to halted state, depending merely on friction can be enough to rapid parking.
The present invention also provides a kind of three-axis air-bearing table variable bit rate Satellite General orbital simulation method, comprises the following steps：
Step one：According to the tested in-orbit orbit angular velocity change curve of satellite (low orbit, middle orbit, big ellipse rail
Road and geostationary orbit satellite track etc.), establishment motor motion control instruction is stored on host computer；
Step 2：Earth simulator for earth, the solar simulator on vibrating isolation foundation on rational deployment adjustment rotary working platform,
And the sensing of the earth sensor and sun sensor on attitude motion simulation platform structure, experiment original state is set, must
Will when control rotary working platform rotate an angle；
Step 3：Start solar simulator air cooling system, open the sun optical mode that solar simulator provides uniform stabilization
Intend；Open earth simulator for earth and uniform, stabilization earth heat radiation simulation is provided；
Step 4：Set according to operating condition of test, program control rotary working platform changes control instruction by in-orbit orbit angular velocity
Operation, carries out Test Data Collecting and analysis.
In sum, compact conformation of the present invention, large carrying capacity, stability is high, it is possible to achieve 360 degree of Star Simulators rotate mould
Intend；Orbital simulation device meets extremely low fast high-precision orbital speed governing rotation demand；Orbital simulation apparatus and method fully take into account
The arrangement states of each attitude sensor of satellite and use；Simulation precision is high, and experiment application is convenient.The present invention can carry out low rail
The simulation such as road, middle orbit, highly elliptic orbit and geostationary orbit satellite Orbit revolutionary carries out rail control performance simulation experiment.
Specific embodiment of the invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can within the scope of the claims make various deformations or amendments, this not shadow
Sound substance of the invention.
Claims (8)
1. a kind of three-axis air-bearing table variable bit rate Satellite General orbital simulation device, it is characterised in that the three-axis air-bearing table can
Variable Rate Satellite General orbital simulation device includes rotary working platform, equipment base, annular rolling guide, pulley mechanism, biography
Dynamic reducing gear, attitude motion emulation platform, vibrating isolation foundation, earth simulator for earth, solar simulator, driving control system；
Wherein, the equipment base is used to support whole analog satellite track motion analogue means, bears system pressure and moment of torsion
Pulling force, its underpart is docked and is fixed with vibrating isolation foundation, and upper Middle face docks fixation with attitude motion simulation platform structure；
The annular rolling guide is used to realize 360 degree and 0.00417 °/s~0.07 °/s variable angular speeds of trackwork platform
Rotatory power, has six groups of pulley mechanisms to be evenly arranged by equiangularly spaced on annular rolling guide；
The pulley mechanism is used to be rotated together with rotary working platform；With rotary working platform lower end annulus above pulley mechanism
It is connected, rolling movement is made by ball or roller with annular rolling guide below；
The rotary working platform installs earth simulator for earth, the change of analog satellite orbit angular velocity；Justify rotary working platform lower end
Ring is equipped with bull gear, and bull gear is meshed with little gear, and little gear is driven by motor by gear reduction mechanism, drives rotation
Turn workbench rotation；
The gear reduction mechanism has big retarding than function, meets extremely low fast high-precision orbital speed governing rotation demand；
The attitude motion emulation platform is used for analog satellite attitudes vibration, installs satellite earth sensor, sun sensor and enters
Rail control performance verification under the conditions of row Orbit revolutionary；
The earth simulator for earth is arranged on rotary table, and rotary simulation satellite becomes around earth rotation together with rotary table
Change；
The solar simulator is arranged on vibrating isolation foundation, is not rotated together with rotary table, simulates inertial space sunshine
It is incident；
The vibrating isolation foundation is used to isolate extraneous vibration, there is vibration isolation ditch between factory building periphery, and vibrating isolation foundation middle part is designed with foundation ditch,
Whole variable bit rate Satellite General orbital simulation device is seated in foundation ditch；
The driving control system is arranged in gear reduction mechanism, is referred to for gathering motor working condition and host computer
Order, provides rotary working platform motion control instruction accordingly, and the failure to being likely to occur is processed, and system real-time detection is current
The communication state of speed, current location, spacing information, motor operating state, power supply status and host computer.
2. three-axis air-bearing table variable bit rate Satellite General orbital simulation device according to claim 1, it is characterised in that institute
State big retarding is used to gather motor working condition and host computer instruction than function, and rotary working platform motion control is given accordingly
System instruction, the failure to being likely to occur is processed, system real-time detection present speed, current location, spacing information, motor fortune
Row state, power supply status, the communication state of host computer.
3. three-axis air-bearing table variable bit rate Satellite General orbital simulation device according to claim 1, it is characterised in that institute
Equipment base is stated using cast steel reinforced structure form, there are two bolt holes of enclosing the land to be fixedly connected with vibrating isolation foundation；On equipment base
Planar design has the positioning boss of a positioning boss for fixed pose movement simulation platform structure and fixed circular guideway.
4. three-axis air-bearing table variable bit rate Satellite General orbital simulation device according to claim 1, it is characterised in that institute
Rotary working platform is stated using three main beam structure supports, two auxiliary support beam structures are extended in each girder supporting construction bottom
It is fixedly connected with adjacent main back end, three girders support the corresponding platform laminate to carry out structural strengthening design, for regularly
Ball simulator, while three girder supporting construction bottoms are equiangularly spaced three pulley mechanisms positioned at annular rolling guide
On, the change of rotary working platform analog satellite orbit angular velocity.
5. three-axis air-bearing table variable bit rate Satellite General orbital simulation device according to claim 1, it is characterised in that institute
State six groups of pulley mechanisms carrying rotary working platforms to move together, the big retarding ratio one combined with worm and gear using helical gear
Transmission；Driving control system peace is furnished with brake sticking brake, once run into it is spacing need to stop in emergency when, the driving control
Electric automatic band-type brake brakes under system processed passes through a motor, and motor is once stall, and its output end rotating speed is relatively low, close to stopping shape
State.
6. three-axis air-bearing table variable bit rate Satellite General orbital simulation device according to claim 1, it is characterised in that institute
State vibrating isolation foundation to be made up of the sandstone damping bed course under integrated poured reinforced concrete plinth and pedestal, in order to improve foundation ditch
Bearing capacity, prevents differential settlement, and big square pile and pile tube are squeezed into vibrating isolation foundation bottom, and surrounding has vibration isolation ditch.
7. three-axis air-bearing table variable bit rate Satellite General orbital simulation device according to claim 1, it is characterised in that institute
Attitude motion emulation platform is stated for analog satellite attitudes vibration, and fixed satellite earth sensor, sun sensor carry out rail
Rail control performance verification under road change condition；Solar simulator simulation inertial space sunshine is incident.
8. a kind of three-axis air-bearing table variable bit rate Satellite General orbital simulation method, it is characterised in that comprise the following steps：
Step one：According to the tested in-orbit orbit angular velocity change curve of satellite, establishment motor motion control instruction is protected
Exist on host computer；
Step 2：Earth simulator for earth, the solar simulator on vibrating isolation foundation on rational deployment adjustment rotary working platform, and
The sensing of earth sensor and sun sensor on attitude motion emulation platform, sets experiment original state, controls if necessary
Rotary working platform rotates an angle；
Step 3：Start solar simulator air cooling system, open the sun optical analog that solar simulator provides uniform stabilization；Beat
Open earth simulator for earth and uniform, stabilization earth heat radiation simulation is provided；
Step 4：Set according to operating condition of test, program control rotary working platform is pressed in orbit angular velocity change control instruction operation, so
After tested and data collection and analysis.
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| CN113479355B (en) * | 2021-08-12 | 2022-04-29 | 哈尔滨工业大学 | Ground variable-centroid zero-gravity simulation device and method |
| CN114162354A (en) * | 2021-09-30 | 2022-03-11 | 哈尔滨工业大学 | Actuating device for simulating Mars gravitation |
| CN114162354B (en) * | 2021-09-30 | 2024-03-29 | 哈尔滨工业大学 | Executing device for simulating Mars attraction |
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