CN107161360A - Replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks - Google Patents
Replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks Download PDFInfo
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- CN107161360A CN107161360A CN201710422297.4A CN201710422297A CN107161360A CN 107161360 A CN107161360 A CN 107161360A CN 201710422297 A CN201710422297 A CN 201710422297A CN 107161360 A CN107161360 A CN 107161360A
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Abstract
Replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks proposed by the present invention, including free pedestal, co-ordinate-type mechanical arm, suspension gravity compensation system and coordination communication control system, different task demand, different orbital characteristics, the reasonability of space tasks embodiment of different operating mode and the ground test of feasibility and checking can be applied to；The spacecraft orbit motion simulation of execution task can be realized by free pedestal, the gravity compensation of spacecraft is realized by suspension, the actions such as pose adjustment, in-orbit service by spacecraft during co-ordinate-type mechanical arm simulation tasks carrying, so as to complete to perform track and parallel across the yardstick checking of posture of the spacecraft of space tasks, the deficiency in domestic and international present Research is made up.
Description
Art
The invention belongs to spacecraft Navigation, Guidance and Control system ground verification technique field, and in particular to space tasks
Replaceable across the yardstick checking device of free pedestal motion reappearance.
Background technology
Space tasks are before actually performing, it is necessary in advance after the comprehensive comprehensive verification of ground progress, Fang Kejin
Row experiment, the ground validation stage, as space tasks Key of Implementation part, is able to verify that the reasonability and technology of space tasks scheme
Feasibility, scientific basis is provided for the validating in orbit that space tasks carry into execution a plan.And the space tasks ground validation stage success with
It is no to depend greatly on whether the process feature that its checking means used completes to task truly reflects.Briefly
Say, these features include：The implementation procedure of space tasks is completed during track is run, the execution of space tasks
Journey is completed in microgravity environment, and space tasks implementation procedure is process of a multiple subsystem coordination optimization and control etc.
Deng.The experimental system on land of existing clarifying space task has (1) time restriction, it is difficult to obtains the prolonged weightlessness that continues and imitates
Really；(2) space is limited, and ignores absolute orbit motion, is only capable of carrying out the verification experimental verification of part subtask or subsystem, is caused space
The bulk testing checking of task is extremely difficult；(3) waterproof, gas-tight performance of the existing gravitational compensation method in part to electromechanical equipment
It is required that it is high, and due to the influence of fluid viscosity and resistance, it is also difficult to complex task manoeuvring test requirement etc. is met, thus it is anxious
A kind of reliability height, strong adaptability need to be developed, be easily achieved and safeguard and the checking of time and space unrestricted space tasks is flat
Platform, to complete space tasks ground test and the checking work of high-fidelity.
For the space tasks embodiment ground validation stage, carry out have developed based on each of different checking means both at home and abroad
Quasi-instrument system, its research contents is concentrated mainly on mathematical simulation, on three directions of semi-physical simulation and physical simulation, but not
Whole features of Spatial Cooperation task process can be reflected, it is specific as follows：
1) mathematical simulation means can not really describe cooperation task process.
2) semi-physical simulation means do not account for microgravity environment, at the same just for a certain subsystem in cooperation task or
Person's specific function is verified, and each subsystem controls performance satisfaction is not meant to that the overall performance of comprehensive integration is also met
It is required that.
3) physical simulation means are by gravity compensation stimulated microgravity, but the simulation of existing compensation technique is micro- heavy
Actual trajcctorics motion can not be reproduced under force environment, relative track movement can only be realized, and just for a certain in cooperation task
Subsystem or specific function are verified.Part in kind, which is avoided, based on physical simulation means is difficult to the tired of accurate mathematical modeling
Difficulty, the problem of can in advance finding and solve to there may be in real space motion, can be more intuitively empty in ground validation
Between tasks carrying process.Current China is used for the ground large testing equipment of all kinds of execution space tasks aircraft checking seldom,
All be oriented mission design, it may be verified that task species it is single, lack versatility；And can not truly verify Spatial Cooperation task
Overall process, lack fidelity.
The content of the invention
Replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks proposed by the present invention, can be execution
The spacecraft of task provides microgravity movement environment, and energy ground reproduces the motion of its actual trajcctorics, so that clarifying space task
Complete procedure, the above-mentioned key issue of solution makes up the deficiency in domestic and international present Research.
Technical scheme：
Replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks includes free pedestal, co-ordinate-type machinery
Arm, suspension gravity compensation system realize the spacecraft orbit to performing task with coordinating communication control system by free pedestal
Motion simulation, the gravity compensation of spacecraft is realized by suspension, passes through space flight during co-ordinate-type mechanical arm simulation tasks carrying
Pose adjustment, in-orbit service of device etc. act so that complete perform space tasks the track of spacecraft and the parallel of posture across
Yardstick is verified.
The free pedestal includes pedestal car body, base motion control unit and pedestal sensing positioning unit, base motion
Control unit is made up of pedestal servomotor, base driver and base motion control card, and pedestal senses positioning unit by pedestal
Camera, pedestal photoelectric encoder, pedestal data collecting card and pedestal wireless communication card composition；Base motion control card is according to examination
The desired locations and speed tested needed for object track motion, and pedestal sensing positioning unit fusion measure obtained free pedestal
Motion state feedback information, controls pedestal servomotor to operate by base driver, makes free pedestal tracking desired trajectory.
The co-ordinate-type mechanical arm includes index module, rotary module and mechanical arm drive control unit, mechanical arm driving
Control unit is made up of mechanical arm servomotor, mechanical arm driver, mechanical arm control card, and index module is by horizontally and vertically transporting
Dynamic three groups of linear modules are constituted, under the control of mechanical arm driver element can motoring ring test simulating its space fortune
Dynamic, rotary module is by constituting pitching, the mechanism of three rotational freedoms of driftage and rolling is constituted, in the control of mechanical arm driver element
System it is lower can motoring ring test simulating its space Attitude control.
The suspension gravity compensation system includes support frame, without constraint suspension mechanism, buffering measuring unit, horizontal follower
Structure, vertical Active Compensation mechanism and suspension drive control unit, no constraint suspension mechanism is by deep groove ball bearing and its fixed framework
Into the approximate unconfined Attitude control of, it is ensured that subjects, buffering measuring unit by buffer gear, tension sensor,
Obliquity sensor and universal joint are constituted, and vertical Active Compensation mechanism is driven by rack and pinion engagement, buffer measuring unit
It is connected by universal joint with the rack of vertical Active Compensation mechanism, suspension drive control unit is driven by suspension servomotor, suspension
Dynamic device is constituted with suspension control card, when subjects horizontal movement, and no constraint suspension mechanism drives buffer structure relatively vertical
Active Compensation mechanism is swung, and obliquity sensor measures buffer gear and the inter-agency swing angle of vertical Active Compensation in real time, is passed
Suspension control card is passed, suspension control card is by hanging the corresponding suspension horizontal follower of servomotor driving of driver control
Motion, eliminates pivot angle, it is ensured that buffer structure is on same straight line all the time with vertical Active Compensation mechanism, when subjects are vertical
During motion, the numerical value of tension sensor, which changes, passes to suspension control card, and suspension controller is by controlling suspension driver
The corresponding suspension servomotor of driving drives Active Compensation mechanism kinematic, it is ensured that subjects are in microgravity state or space is appointed
The gravity state that business is required.
It is described replaceable without constraint suspension mechanism, no constraint suspension mechanism one is given in the present invention and without constraint suspension machine
Structure two, to adapt to the subjects of different profiles while additional mass is reduced as far as possible.
The coordination communication control system include coordinating control module, data communication module, monitoring running state module and
Real-time display module, realizes that free pedestal, three system multi objective controls of co-ordinate-type mechanical arm and suspension gravity compensation system are appointed
Coordination optimization between information transmission, status monitoring and the system of business.
According to above-mentioned mechanical construction and control system, the replaceable free base motion of space tasks proposed by the present invention
Reproduce the operation principle of across yardstick checking device be fixed on for subjects hang gravity compensation system without constraint suspension mechanism
On, the obliquity sensor and tension sensor that hang gravity compensation system measure the movable information of hitch point, suspension control in real time
Block and hitch point is realized according to the servomotor on the suspension servomotor on the movable information controlled level direction and vertical direction
Three dimensions follow motion there is provided subjects perform space tasks be residing gravity environment, realize space gravity move
The reproduction of environment.Co-ordinate-type mechanical arm can drive the rotation of subjects Three Degree Of Freedom and the Three Degree Of Freedom of relative free-radical seat to put down
It is dynamic, so as to realize the pose motion reappearance of experimental subjects.Pedestal senses positioning unit and gathered by filtering fusion pedestal camera
Image information and pedestal photoelectric encoder provide real-time position information for free pedestal, base motion control unit by based on
The space orbit kinetics equation of subjects calculates desired orbital position in real time, utilizes across the yardstick principle of equal effects and similar reason
By the desired locations for calculating ground free radicals seat, the actual position information meter obtained by the desired locations information and measurement processing
Calculate and expect input, drive free pedestal to realize desired similar movement, so as to realize that the track motion of spacecraft reproduces.Coordinate control
Communication system processed controls free pedestal, co-ordinate-type mechanical arm and suspension gravity to mend by the information reconciliation of integral data communication module
The work of system is repaid, so as to reproduce the whole process that spacecraft performs space tasks comprehensively.
Compared with the prior art, the invention has the advantages that：
(1) gravity of hang complementation test object is passed through, it is possible to decrease there is provided high accuracy is micro- heavy for the interference of external environment
Force environment；
(2) it is combined by free base systems and gravity compensation system and realizes that experiment spacecraft is synchronous with microgravity environment
The mode of motion is there is provided experiment spacecraft not by time and the microgravity environment of space constraint；
(3) reproduction space task process that can be complete, it may be verified that the implementation status of each link of scheme, largely
Improve the confidence level that space tasks ground reproduces.
(4) present invention can be verified for the different schemes of same task, can also be verified for different task, no
Single goal is only applicable to, the checking of multiple target task also is adapted for, with very strong versatility
Brief description of the drawings
Fig. 1 is the overall diagram of apparatus of the present invention.
Fig. 2 is the front view of apparatus of the present invention.
Label in figure：
1：Free pedestal；2：Test spacecraft；3：Co-ordinate-type mechanical arm；4：Hang gravity compensation system.
Fig. 3 is free pedestal.
Label in figure：
11：Pedestal car body；12：Pedestal camera.
Fig. 4 is co-ordinate-type mechanical arm.
Label in figure：
31：Index module；32：Rotary module.
Fig. 5 hangs gravity compensation system.
Label in figure：41：Support frame；42：Without constraint suspension mechanism one；43：Buffer measuring unit；44：Horizontal follower
Structure；45：Vertical Active Compensation mechanism.
Fig. 6 is without constraint suspension mechanism.
Label in figure：
5：Test satellite；46：Without constraint suspension mechanism two
Embodiment
With reference to Fig. 1 and Fig. 2, device proposed by the present invention includes free pedestal 1, co-ordinate-type mechanical arm 3, suspension gravity compensation
System 4 is constituted with coordinating communication control system, and experiment spacecraft 2 is the object that the present apparatus is verified.Test spacecraft 2 and suspension weight
Force compensating system 4 and co-ordinate-type mechanical arm 3 are connected, and co-ordinate-type mechanical arm 3 is arranged on free pedestal with suspension gravity compensation system 4
On 1, and it can move therewith.
With reference to Fig. 3, pedestal camera 12 is arranged on the pedestal car body 11 of free pedestal 1, the base motion of free pedestal 1
Control unit, pedestal senses pedestal photoelectric encoder, pedestal data collecting card and the pedestal wireless communication card of positioning unit, coordinate
The mechanical arm driver of 3 mechanical arm drive control units of formula mechanical arm, mechanical arm control card, suspension gravity compensation system 4
Drive control unit suspension driver, suspension control card are hung, and coordinates the tune control module of communication control system, data communication
Module, monitoring running state module are installed on the inside of pedestal car body 11.
With reference to Fig. 4, co-ordinate-type mechanical arm 3 is made up of index module 31 and rotary module 32, and rotary module 32, which is arranged on, to be sat
In parameter module 31, the end of rotary module 32 performs flange and is connected with experiment spacecraft 2.
With reference to Fig. 5 and Fig. 6, suspension gravity compensation system 4 is outstanding by support frame 41, without constraint suspension mechanism 1 or without constraint
Suspension mechanism 2 46, buffering measuring unit 43, horizontal follower 44, vertical Active Compensation mechanism 45 and suspension drive control unit
Constitute, experiment spacecraft 2 is suspended in no constraint suspension mechanism 1, no constraint suspension mechanism 1 and buffering measuring unit 43
One end is connected, and the buffering other end of measuring unit 43 is connected to the vertical Active Compensation mechanism 45 on horizontal follower 44
On, horizontal follower 44 is connected with support frame 41.Can be selected according to the characteristics of subjects without constraint suspension structure 1 or
Without constraint suspension structure 2 46.
Illustrate the test and validation step of the present apparatus exemplified by testing spacecraft 2：
(1) experiment spacecraft 2 is installed in suspension gravity compensation system 4, a, the position of Adjustment Tests spacecraft 2 ensure
Equivalent hitch point is overlapped with testing the barycenter of spacecraft 2；B, the position of the vertical Active Compensation mechanism 45 of adjustment reach test space
Optimum position (being determined according to the space tasks that need to verify)；
(2) co-ordinate-type mechanical arm 3 is connected with experiment spacecraft 2；
(3) systematic parameter of validation task object is determined：A, the track profile kinetics equation of spacecraft and task are initial
State, gravity numerical value suffered by b, experiment spacecraft 2, c, the task sequence for testing spacecraft 2；
(4) test and validation work is carried out：All systems of a, electrifying startup, b, free pedestal 1 control single in base motion
Member senses the nominal trajectory of the lower tracking test spacecraft 2 of positioning unit effect with pedestal, and c, experiment spacecraft 2 are real by task sequence
Track and attitude maneuver are applied, when d, the motoring ring test spacecraft 2 of co-ordinate-type mechanical arm 3 motion simulated test spacecraft 2 perform task
Position and Attitude control, e, the three dimensions fortune of the hitch point tracking test spacecraft 2 of suspension gravity compensation system 4
Dynamic, f, the running state data for recording all subsystems provide data for test analysis and supported；
(5) experiment, finishing analysis result of the test are terminated：A, shutoff device power supply, unload experiment spacecraft 2, and b, basis are appointed
The information of record, the feasibility of analysis task scheme are measured during business.
Claims (8)
1. replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks, it is characterized in that：Device includes free radical
Seat, co-ordinate-type mechanical arm, suspension gravity compensation system realize execution task with coordinating communication control system by free pedestal
Spacecraft orbit motion simulation, the gravity compensation of spacecraft is realized by suspension, tasks carrying is simulated by co-ordinate-type mechanical arm
During spacecraft the action such as pose adjustment, in-orbit service, so as to complete to perform the track and appearance of the spacecraft of space tasks
Parallel across the yardstick checking of state；To test the object that spacecraft is verified as the present apparatus, experiment spacecraft and suspension gravity compensation system
System and the connection of co-ordinate-type mechanical arm, co-ordinate-type mechanical arm are arranged on free pedestal with suspension gravity compensation system, and can be therewith
Motion.
2. replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks according to claim 1, it is special
Levying is：The free pedestal includes pedestal car body, base motion control unit and pedestal sensing positioning unit, base motion control
Unit is made up of pedestal servomotor, base driver and base motion control card, and pedestal sensing positioning unit is imaged by pedestal
Head, pedestal photoelectric encoder, pedestal data collecting card and pedestal wireless communication card composition；Base motion control card is according to experiment pair
Desired locations and speed as needed for track motion, and pedestal sensing positioning unit fusion measure obtained free base motion
State feedback information, controls pedestal servomotor to operate by base driver, makes free pedestal tracking desired trajectory；Pedestal is taken the photograph
On the pedestal car body that free pedestal is arranged on as head, the base motion control unit of free pedestal, pedestal sensing positioning unit
Pedestal photoelectric encoder, pedestal data collecting card and pedestal wireless communication card are installed on the inside of pedestal car body.
3. replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks according to claim 1, it is special
Levying is：The co-ordinate-type mechanical arm includes index module, rotary module and mechanical arm drive control unit, mechanical arm drive control
Unit is made up of mechanical arm servomotor, mechanical arm driver, mechanical arm control card, and index module is by horizontally and vertically moving
Three groups of linear modules are constituted, under the control of mechanical arm driver element can motoring ring test simulating its in the motion in space, rotation
Revolving die block is by constituting pitching, the mechanism of three rotational freedoms of driftage and rolling is constituted, under the control of mechanical arm driver element
Can motoring ring test simulating its space Attitude control, rotary module be arranged on coordinate axle module 31 on, rotating mould
The end of block 32 performs flange and is connected with experiment spacecraft.
4. replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks according to claim 1, it is special
Levying is：The suspension gravity compensation system include support frame, without constraint suspension mechanism, buffering measuring unit, horizontal follower,
Vertical Active Compensation mechanism and suspension drive control unit, no constraint suspension mechanism are made up of deep groove ball bearing and its fixed mount,
Can the approximate unconfined Attitude control of guarantee test object, vertical Active Compensation mechanism passed by rack and pinion engagement
Dynamic, buffering measuring unit is made up of buffer gear, tension sensor, obliquity sensor and universal joint, and buffering measuring unit passes through
Universal joint is connected with the rack of vertical Active Compensation mechanism, and suspension drive control unit is by suspension servomotor, suspension driver
Constituted with suspension control card, when subjects horizontal movement, no constraint suspension mechanism drives the relatively vertical active of buffer structure
Compensation mechanism is swung, and obliquity sensor measures buffer gear and the inter-agency swing angle of vertical Active Compensation, passed in real time
Control card is hung, suspension control card is transported by hanging the corresponding horizontal follower of suspension servomotor driving of driver control
It is dynamic, eliminate pivot angle, it is ensured that buffer structure is on same straight line all the time with vertical Active Compensation mechanism, when subjects are vertically transported
When dynamic, the numerical value of tension sensor, which changes, passes to suspension control card, and suspension controller is by controlling suspension driver to drive
Dynamic corresponding suspension servomotor drives Active Compensation mechanism kinematic, it is ensured that subjects are in microgravity state or space tasks
It is required that gravity state；Subjects are suspended in no constraint suspension mechanism, no constraint suspension mechanism and buffering measuring unit one
End connection, the buffering measuring unit other end is connected in the vertical Active Compensation mechanism on horizontal follower, level
Follower is connected with support frame.
5. replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks according to claim 1 or 4, its
It is characterized in：It is described replaceable without constraint suspension mechanism, no constraint suspension mechanism one is given in the present invention and without constraint suspension machine
Structure two, to adapt to the subjects of different profiles while additional mass is reduced as far as possible.
6. replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks according to claim 1, it is special
Levying is：The coordination communication control system includes coordinating control module, data communication module, monitoring running state module and in real time
Display module, realizes free pedestal, co-ordinate-type mechanical arm and suspension gravity compensation three system multi objective control tasks of system
Coordination optimization between information transmission, status monitoring and system.
7. replaceable free across the yardstick checking of pedestal motion reappearance of space tasks according to claim 1 or 2,3,4,6
Device, it is characterized in that：The work of replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks proposed by the present invention
Make principle for subjects be fixed on suspension gravity compensation system without in constraint suspension mechanism, suspension gravity compensation system is inclined
Angle transducer measures the movable information of hitch point with tension sensor in real time, and suspension control card is according to the movable information controlled level
Suspension servomotor on direction and the servomotor on vertical direction realize the motion that follows of hitch point three dimensions, and there is provided examination
It is residing gravity environment to test object and perform space tasks, realizes the reproduction of space gravity movement environment；Co-ordinate-type mechanical arm can
The rotation of subjects Three Degree Of Freedom and the Three Degree Of Freedom translation of relative free-radical seat are driven, so as to realize the pose of experimental subjects
Motion reappearance；Pedestal senses positioning unit by filtering the image information and pedestal photoelectric encoder that fusion pedestal camera is gathered
Real-time position information is provided for free pedestal, base motion control unit passes through the space orbit dynamics side based on subjects
Journey calculates desired orbital position in real time, and the expectation of ground free radicals seat is calculated using across the yardstick principle of equal effects and the theory of similarity
Position, the actual position information obtained by the desired locations information and measurement processing, which is calculated, expects input, drives free pedestal real
Existing desired similar movement, so as to realize that the track motion of spacecraft reproduces；Coordinate communication control system logical by integral data
Believe that the information reconciliation of module controls free pedestal, co-ordinate-type mechanical arm and the work for hanging gravity compensation system, so that comprehensively again
Existing spacecraft performs the whole process of space tasks.
8. replaceable free across the yardstick checking device of pedestal motion reappearance of space tasks according to claim 7, it is special
Levying is：Illustrate the test and validation step of the present apparatus exemplified by testing spacecraft：
(1) experiment spacecraft is installed in suspension gravity compensation system, a, the position of Adjustment Tests spacecraft ensure equivalent outstanding
Hanging point is overlapped with testing the barycenter of spacecraft；B, the position of the vertical Active Compensation mechanism of adjustment reach the optimum position of test space
(being determined according to the space tasks that need to be verified)；
(2) co-ordinate-type mechanical arm is connected with experiment spacecraft；
(3) systematic parameter of validation task object is determined：A, the track profile kinetics equation of spacecraft and task original state,
Gravity numerical value suffered by b, experiment spacecraft, c, the task sequence for testing spacecraft；
(4) test and validation work is carried out：All systems of a, electrifying startup, b, free pedestal 1 base motion control unit with
The nominal trajectory of the lower tracking test spacecraft of pedestal sensing positioning unit effect, c, experiment spacecraft implement track by task sequence
With attitude maneuver, position and appearance when d, co-ordinate-type mechanical arm motoring ring test spacecraft motion simulated test spacecraft execution task
State adjustment motion, e, the three-dimensional space motion of the hitch point tracking test spacecraft of suspension gravity compensation system, f, record are all
The running state data of subsystem, provides data for test analysis and supports；
(5) experiment, finishing analysis result of the test are terminated：A, shutoff device power supply, unload experiment spacecraft, b, according to task process
The information of middle measurement record, the feasibility of analysis task scheme.
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| CN114261544A (en) * | 2021-12-30 | 2022-04-01 | 哈尔滨工业大学 | Five-degree-of-freedom zero-gravity test device |
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