CN107665616A - A kind of nine-degree of freedom motion simulator relative motion equivalent method and system - Google Patents
A kind of nine-degree of freedom motion simulator relative motion equivalent method and system Download PDFInfo
- Publication number
- CN107665616A CN107665616A CN201710831767.2A CN201710831767A CN107665616A CN 107665616 A CN107665616 A CN 107665616A CN 201710831767 A CN201710831767 A CN 201710831767A CN 107665616 A CN107665616 A CN 107665616A
- Authority
- CN
- China
- Prior art keywords
- freedom
- degree
- motion simulator
- coordinate system
- simulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Data Mining & Analysis (AREA)
- Mathematical Analysis (AREA)
- Pure & Applied Mathematics (AREA)
- Computational Mathematics (AREA)
- Mathematical Optimization (AREA)
- Business, Economics & Management (AREA)
- Computing Systems (AREA)
- Educational Technology (AREA)
- Educational Administration (AREA)
- Algebra (AREA)
- Aviation & Aerospace Engineering (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
A kind of nine-degree of freedom motion simulator relative motion equivalent method of the present invention and system, belong to space technology ground simulation test field, for solving the problems, such as spacecraft relative motion simulator relative motion simulation context deficiency, motion simulator is set to meet more experiment demands, spacecrafts rendezvous nine-degree of freedom motion simulator includes three freedom degree motion simulator and six freedom-degree motion simulator, nine-degree of freedom motion simulator is " three+six " configuration, shares nine frees degree.Nine-degree of freedom motion simulator can simulate the two aircraft physical process that each three axle relative positions are moved between three-axis attitude motion and two aircraft during two aircraft Close approachs are initially separated to docking contact or by docking completion status.The algorithm can greatly improved nine-degree of freedom motion simulator laterally and vertical relative motion simulation scope, so as to meet the experiment demand of two aircraft relative position range of movement during spacecrafts rendezvous, tested for comprehensive verification and provide guarantee.
Description
Technical field
A kind of nine-degree of freedom motion simulator relative motion equivalent method of the present invention and system, belong to space technology ground and imitate
True experiment field.
Background technology
During the Shenzhou spacecraft and the spacecrafts rendezvous of tiangong-1, the range of relative motion between two aircraft has sternly
The index request of lattice, only meets this index request, and two aircraft could complete normal spacecrafts rendezvous task.Simultaneously according to this
Index request, corresponding technical requirement is proposed for the normal range of operation for measuring sensor.Therefore, as long as two flights
Range of relative motion between device meets corresponding index requirement, and under other no abnormal conditions, measurement sensor should just be located
In normal operating conditions, accurate, stable measurement data is provided for control computer, control computer is completed using measurement data
The resolving of spacecrafts rendezvous control algolithm, control aircraft complete spacecrafts rendezvous and meet corresponding index requirement.
Therefore, when ground experiment is tested, in order to fully test the efficient working range of confirmatory measurement sensor, measurement number
According to accuracy and control computer control algolithm resolve correctness and validity, it should in two aircraft relative motion models
The experimental test for meeting to carry out full working scope in the case of corresponding index requirement is enclosed, and the test under boundary condition is even more important.
Spacecrafts rendezvous nine-degree of freedom motion simulator is the spacecrafts rendezvous scheme nine-degree of freedom semi-physical simulation such as Shenzhou spacecraft
Checking test and the important tests equipment of measurement sensor single machine test experiment, are mainly made up of two parts：First, it is fixed on ground
Three-axis attitude turntable, moved for simulated target attitude for aerocraft, also known as three freedom degree motion simulator；2nd, one
The individual three-axis attitude turntable that can do three-dimensional translating, also known as six freedom-degree motion simulator, three-axis attitude turntable chase after for simulation
Track attitude for aerocraft is moved, and three-dimensional translating is used for three axle relative positions between simulating two aircraft and moved.Spacecrafts rendezvous nine
Free degree motion simulator is " three+six " configuration, shares nine frees degree.Nine-degree of freedom motion simulator can simulate two flights
Two aircraft each transport by three-axis attitude during device Close approach is initially separated to docking contact or by docking completion status
The dynamic physical process that three axle relative positions are moved between two aircraft.
But limited by conditions such as equipment development feasibility and test sites, the transverse direction (y) of six freedom-degree motion simulator
Range of movement and vertical (z) range of movement are typically relatively small, it is impossible to meet laterally and perpendicular during two aircraft spacecrafts rendezvous
To range of relative motion index request.So merely with six freedom-degree motion simulator hardware transverse direction in itself and vertical motion model
Enclose, can only the experiment of covering part spacecrafts rendezvous plan-validation and measurement sensor single machine test experiment content of the test, Wu Faman
The experiment demand of sufficient full working scope covering.
The content of the invention
The technology of the present invention solves problem：It is in itself laterally and perpendicular for spacecrafts rendezvous nine-degree of freedom motion simulator hardware
To range of relative motion is small, limitation of movement, it is impossible to the problem of carrying out l-G simulation test and the test of full working scope, it is proposed that one kind nine from
By degree motion simulator relative motion equivalent algorithm and system, nine-degree of freedom motion simulator transverse direction and vertical phase greatly improved
To the simulation context of motion, so as to meet the experiment demand of two aircraft relative position range of movement during spacecrafts rendezvous, it is
Comprehensive verification experiment provides guarantee.
The present invention technical solution be：A kind of nine-degree of freedom motion simulator relative motion equivalent method, step is such as
Under：
(1) relative attitude relation between desired three freedom degree motion simulator and six freedom-degree motion simulator known to
(θ1, θ2, θ3) and relative position relation (X, Y, Z)；
(2) according to step (1) desired three freedom degree motion simulator and six freedom-degree motion simulator relative attitude and
Station-keeping data, calculate the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situationAnd Three Degree Of Freedom
Motion simulator coordinate systemBetween transformational relation；
(3) according to step (1) relative position relation between three freedom degree motion simulator and six freedom-degree motion simulator
(X, Y, Z), the controlled quentity controlled variable of three freedom degree motion simulator under equivalent situation is calculated, according to three-degree-of-freedom motion mould under equivalent situation
Intend the controlled quentity controlled variable of device, calculate three freedom degree motion simulator coordinate systemTransition matrix；
(4) according to the three freedom degree motion simulator coordinate system of step (3)Transition matrix and step (2) six
Free degree motion simulator coordinate systemWith three freedom degree motion simulator coordinate systemBetween transformational relation,
Calculate the controlled quentity controlled variable that six freedom-degree motion simulator is new under equivalent situation；
(5) according to the controlled quentity controlled variable of step (3) three freedom degree motion simulator and step (4) six freedom-degree motion simulator
Controlled quentity controlled variable, determine the controlled quentity controlled variable of nine-degree of freedom motion simulator.
In the step (1), (θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freely
Spend motion simulator coordinate systemThe Eulerian angles of three reference axis.
In the step (1), (X, Y, Z) is six freedom-degree motion simulator coordinate systemOrigin OfIn Three Degree Of Freedom
Motion simulator coordinate systemUnder coordinate.
The three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three freedom degree motion simulator
The intersection point of three rotating shafts, three axles are pointed to along three rotor shaft directions, wherein XtAxle is positive to simulate to be horizontally away from six-freedom motion
Device direction, ZtPositive axle is to be perpendicularly oriented to the earth direction, YtAxle and XtAxle, ZtAxle forms right-handed coordinate system.
The six freedom-degree motion simulator coordinate systemCoordinate origin OfPositioned at six freedom-degree motion simulator
The intersection point of three rotating shafts, three axles are pointed to along three rotor shaft directions, wherein XfPositive axle is to be horizontally directed to three freedom degree movement simulation
Device direction, ZfAxle forward direction is perpendicularly oriented to the earth direction, YfAxle and XfAxle, ZfAxle forms right-handed coordinate system.
A kind of nine-degree of freedom motion simulator relative motion equivalent system, including：Posture position acquisition module, transformational relation
Determining module, transition matrix determining module, controlled quentity controlled variable determining module, equivalent modules；
Posture position acquisition module obtains relative appearance between three freedom degree motion simulator and six freedom-degree motion simulator
State relation (θ1, θ2, θ3) and relative position relation (X, Y, Z), deliver to transformational relation determining module and transition matrix determining module；
Transformational relation determining module, according to the three freedom degree motion simulator sent and six freedom-degree motion simulator phase
To posture and station-keeping data, the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situation is calculatedWith
Three freedom degree motion simulator coordinate systemBetween transformational relation, deliver to controlled quentity controlled variable determining module；
Transition matrix determining module, according to relative position between three freedom degree motion simulator and six freedom-degree motion simulator
Relation (X, Y, Z) is put, the controlled quentity controlled variable of three freedom degree motion simulator under equivalent situation is calculated, according to Three Degree Of Freedom under equivalent situation
The controlled quentity controlled variable of motion simulator delivers to equivalent modules, calculates three freedom degree motion simulator coordinate systemTransition matrix,
Deliver to controlled quentity controlled variable determining module；
Controlled quentity controlled variable determining module, the three freedom degree motion simulator coordinate system sent according to controlled quentity controlled variable determining moduleTransition matrix and the six freedom-degree motion simulator coordinate system sent of controlled quentity controlled variable determining moduleWith three certainly
By degree motion simulator coordinate systemBetween transformational relation, calculate equivalent situation under six freedom-degree motion simulator it is new
Controlled quentity controlled variable, deliver to equivalent modules；
Equivalent modules, the controlled quentity controlled variable and controlled quentity controlled variable of the three freedom degree motion simulator sent according to transition matrix determining module
The controlled quentity controlled variable for the six freedom-degree motion simulator that determining module is sent, determine the controlled quentity controlled variable of nine-degree of freedom motion simulator.
(the θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree movement simulation
Device coordinate systemThe Eulerian angles of three reference axis.
(X, Y, the Z) is six freedom-degree motion simulator coordinate systemOrigin OfIn three freedom degree movement simulation
Device coordinate systemUnder coordinate.
The three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three freedom degree motion simulator
The intersection point of three rotating shafts, three axles are pointed to along three rotor shaft directions, wherein XtAxle is positive to simulate to be horizontally away from six-freedom motion
Device direction, ZtPositive axle is to be perpendicularly oriented to the earth direction, YtAxle and XtAxle, ZtAxle forms right-handed coordinate system.
The six freedom-degree motion simulator coordinate systemCoordinate origin OfSimulated positioned at six-freedom motion
The intersection point of three rotating shafts of device, three axles are pointed to along three rotor shaft directions, wherein XfPositive axle is to be horizontally directed to three-degree-of-freedom motion mould
Intend device direction, ZfAxle forward direction is perpendicularly oriented to the earth direction, YfAxle and XfAxle, ZfAxle forms right-handed coordinate system.
The beneficial effect of the present invention compared with prior art is：
(1) it is in itself laterally and vertical relative to solve spacecrafts rendezvous nine-degree of freedom motion simulator hardware well by the present invention
Range of movement is small, limitation of movement, it is impossible to the problem of carrying out l-G simulation test and the test of full working scope；
(2) equivalent method proposed by the present invention, algorithm stability is good, can be used not only for STATIC SIMULATION experiment, also can use
In continuous Dynamic Simulating Test, and simulation process is steady；
(3) due to using equivalent method proposed by the present invention, can be reduced when nine-degree of freedom motion simulator is developed pair
The simulator laterally requirement with vertical range of relative motion, while the requirement to test site can also be reduced, therefore can be big
It is big to save development and experimentation cost.
(4) equivalent method proposed by the present invention can easily be generalized to the motion simulator of other configurations, therefore should
It is wide with scope.
(5) method of the invention is that the roll angle based on three freedom degree motion simulator keeps constant, passes through Three Degree Of Freedom
The laterally simulation with vertical relative motion is realized in the elevating movement and yawing rotation of motion simulator.
(6) method of the invention is that the roll angle based on three freedom degree motion simulator keeps constant.If desired,
The roll angle of three freedom degree motion simulator can be allowed to also assist in motion equivalent simulation, so as to which the motion for realizing more complicated is equivalent.
(7) method of the invention is that the nine-degree of freedom relative motion simulator based on " three+six " configuration is conducted a research and tested
Work is demonstrate,proved, but the core concept of this algorithm is can to expand to the nine-degree of freedom motion simulator of other configurations, such as " five+
Four " configurations.
Brief description of the drawings
Fig. 1 is equivalent algorithm schematic diagram proposed by the present invention.
Fig. 2 is that nine-degree of freedom motion simulator coordinate system of the present invention defines schematic diagram.
Fig. 3 is equivalent algorithm position relationship schematic diagram proposed by the present invention.
Fig. 4 is equivalent algorithm flow chart proposed by the present invention；
Fig. 5 is the nine-degree of freedom motion simulator direction of motion of the present invention definition figure.
Embodiment
The present invention proposes a kind of nine-degree of freedom motion simulator relative motion equivalent method, belongs to space technology ground and imitates
True experiment field, for solving the problems, such as spacecraft relative motion simulator relative motion simulation context deficiency, so that
Motion simulator meets more experiment demands.
A kind of nine-degree of freedom motion simulator relative motion equivalent method of the present invention and system, belong to space technology ground and imitate
True experiment field, for solving the problems, such as spacecraft relative motion simulator relative motion simulation context deficiency, makes motion
Simulator meets more experiment demands, and spacecrafts rendezvous nine-degree of freedom motion simulator includes three freedom degree motion simulator and six certainly
By degree motion simulator, nine-degree of freedom motion simulator is " three+six " configuration, shares nine frees degree.Nine-degree of freedom moves mould
Intend device and can simulate during two aircraft Close approachs are contacted or are initially separated by docking completion status to docking two flying
The row device physical process that each three axle relative positions are moved between three-axis attitude motion and two aircraft.The algorithm can greatly improve
Nine-degree of freedom motion simulator laterally and vertical relative motion simulation scope, fly so as to meet during spacecrafts rendezvous two
The experiment demand of row device relative position range of movement, guarantee is provided for comprehensive verification experiment.
As shown in figure 4, a kind of nine-degree of freedom motion simulator relative motion equivalent method of the present invention, step are as follows：
(1) relative attitude relation between desired three freedom degree motion simulator and six freedom-degree motion simulator known to
(θ1, θ2, θ3) and relative position relation (X, Y, Z)；Wherein, (θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree motion simulator coordinate systemThe Eulerian angles of three reference axis, (X, Y, Z) be six from
By degree motion simulator coordinate systemOrigin OfIn three freedom degree motion simulator coordinate systemUnder coordinate.
(2) according to step (1) desired three freedom degree motion simulator and six freedom-degree motion simulator relative attitude and
Station-keeping data, calculate the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situationAnd Three Degree Of Freedom
Motion simulator coordinate systemBetween transformational relation；Wherein, three freedom degree motion simulator coordinate systemSit
Mark system origin OtPositioned at the intersection point of three rotating shafts of three freedom degree motion simulator, three axles are pointed to along three rotor shaft directions, wherein XtAxle
Forward direction is to be horizontally away from six freedom-degree motion simulator direction, ZtPositive axle is to be perpendicularly oriented to the earth direction, YtAxle and XtAxle, Zt
Axle forms right-handed coordinate system.Six freedom-degree motion simulator coordinate systemCoordinate origin OfPositioned at six-freedom motion
The intersection point of three rotating shafts of simulator, three axles are pointed to along three rotor shaft directions, wherein XfAxle is positive to be transported to be horizontally directed to Three Degree Of Freedom
Dynamic simulator direction, ZfAxle forward direction is perpendicularly oriented to the earth direction, YfAxle and XfAxle, ZfAxle forms right-handed coordinate system.
(3) according to step (1) relative position relation between three freedom degree motion simulator and six freedom-degree motion simulator
(X, Y, Z), the controlled quentity controlled variable of three freedom degree motion simulator under equivalent situation is calculated, according to three-degree-of-freedom motion mould under equivalent situation
Intend the controlled quentity controlled variable of device, calculate three freedom degree motion simulator coordinate systemTransition matrix；
(4) according to the three freedom degree motion simulator coordinate system of step (3)Transition matrix and step (2) six
Free degree motion simulator coordinate systemWith three freedom degree motion simulator coordinate systemBetween transformational relation,
Calculate the controlled quentity controlled variable that six freedom-degree motion simulator is new under equivalent situation；
(5) according to the controlled quentity controlled variable of step (3) three freedom degree motion simulator and step (4) six freedom-degree motion simulator
Controlled quentity controlled variable, determine the controlled quentity controlled variable of nine-degree of freedom motion simulator.
A kind of nine-degree of freedom motion simulator relative motion equivalent system of the present invention, including：Posture position acquisition module, turn
Change relationship determination module, transition matrix determining module, controlled quentity controlled variable determining module, equivalent modules；
Posture position acquisition module obtains relative appearance between three freedom degree motion simulator and six freedom-degree motion simulator
State relation (θ1, θ2, θ3) and relative position relation (X, Y, Z), deliver to transformational relation determining module and transition matrix determining module；
Wherein, (θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree motion simulator coordinate systemThe Eulerian angles of three reference axis.(X, Y, Z) is six freedom-degree motion simulator coordinate systemOrigin OfThree certainly
By degree motion simulator coordinate systemUnder coordinate.
Transformational relation determining module, according to the three freedom degree motion simulator sent and six freedom-degree motion simulator phase
To posture and station-keeping data, the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situation is calculatedWith
Three freedom degree motion simulator coordinate systemBetween transformational relation, deliver to controlled quentity controlled variable determining module；
Transition matrix determining module, according to relative position between three freedom degree motion simulator and six freedom-degree motion simulator
Relation (X, Y, Z) is put, the controlled quentity controlled variable of three freedom degree motion simulator under equivalent situation is calculated, according to Three Degree Of Freedom under equivalent situation
The controlled quentity controlled variable of motion simulator delivers to equivalent modules, calculates three freedom degree motion simulator coordinate systemTransition matrix,
Deliver to controlled quentity controlled variable determining module；
Controlled quentity controlled variable determining module, the three freedom degree motion simulator coordinate system sent according to controlled quentity controlled variable determining moduleTransition matrix and the six freedom-degree motion simulator coordinate system sent of controlled quentity controlled variable determining moduleWith three certainly
By degree motion simulator coordinate systemBetween transformational relation, calculate equivalent situation under six freedom-degree motion simulator it is new
Controlled quentity controlled variable, deliver to equivalent modules；
Equivalent modules, the controlled quentity controlled variable and controlled quentity controlled variable of the three freedom degree motion simulator sent according to transition matrix determining module
The controlled quentity controlled variable for the six freedom-degree motion simulator that determining module is sent, determine the controlled quentity controlled variable of nine-degree of freedom motion simulator.
Three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three freedom degree motion simulator three
The intersection point of rotating shaft, three axles are pointed to along three rotor shaft directions, wherein XtPositive axle is to be horizontally away from six freedom-degree motion simulator side
To ZtPositive axle is to be perpendicularly oriented to the earth direction, YtAxle and XtAxle, ZtAxle forms right-handed coordinate system.Six freedom-degree motion simulator
Coordinate systemCoordinate origin OfPositioned at the intersection point of three rotating shafts of six freedom-degree motion simulator, three axles are pointed to along three
Rotor shaft direction, wherein XfPositive axle is to be horizontally directed to three freedom degree motion simulator direction, ZfAxle forward direction is perpendicularly oriented to big place
To YfAxle and XfAxle, ZfAxle forms right-handed coordinate system.
Relative position motion simulation is realized using large-scale angular movement.
As shown in figure 1, the two-dimentional schematic diagram of equivalent algorithm proposed by the present invention is given, its middle conductor A and line segment B centers
Distance be ρ, and the angle between the line of centres and horizontal line is that the distance between Φ, line segment B centers to horizontal line is L.It is existing
It is done as follows：
Central rotation by line segment B around line segment A, turn clockwise Φ so that and the two line segment lines of centres overlap with horizontal line,
Line segment B is changed into B '；
Around central rotation, turn clockwise line segment B ' Φ, obtains line segment B1；
Around central rotation, turn clockwise line segment A Φ, obtains line segment A1.
So, the relativeness between line segment A1 and line segment B1 and line segment A are consistent with line segment B relativeness.A1 and B1
By realizing the movement of A and B on vertical water horizontal line direction centrally along the movement on horizontal line and the rotation of two line segments.
As shown in Figure 2 and Figure 5, coordinate system is defined as follows：
Three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three freedom degree motion simulator three
The intersection point of rotating shaft, three axles are pointed to along three rotor shaft directions, wherein XtPositive axle is to be horizontally away from six freedom-degree motion simulator side
To ZtPositive axle is to be perpendicularly oriented to the earth direction, YtAxle and XtAxle, ZtAxle forms right-handed coordinate system.
Six freedom-degree motion simulator coordinate systemCoordinate origin OfPositioned at six freedom-degree motion simulator three
The intersection point of rotating shaft, three axles are pointed to along three rotor shaft directions, wherein XfPositive axle is to be horizontally directed to three freedom degree motion simulator side
To ZfAxle forward direction is perpendicularly oriented to the earth direction, YfAxle and XfAxle, ZfAxle forms right-handed coordinate system.
In the Shenzhou spacecraft and tiangong-1 spacecrafts rendezvous scheme nine-degree of freedom semi physical checking test and measurement sensor list
In machine testing experiment, implementation process is as follows：
1) relative attitude relation and relative position relation between desired two motion simulator known to；
2) when not considering equivalent algorithm, according to desired relative attitude and station-keeping data calculate two coordinate systems it
Between transformational relation；
3) three-degree-of-freedom motion under equivalent situation is calculated according to relative position relation (X, Y, Z) between two motion simulators
The controlled quentity controlled variable of simulator；
Calculate the controlled quentity controlled variable of the six freedom-degree motion simulator under equivalent situation.
Spacecrafts rendezvous nine-degree of freedom motion simulator is Technique in Rendezvous and Docking scheme nine-degree of freedom semi-physical simulation checking examination
The important tests equipment of sensor single machine test experiment is tested and measured, is mainly made up of two parts：First, three axles on ground are fixed on
Attitude spin table, for the in-orbit three-axis attitude motion of simulated target aircraft, also known as three freedom degree motion simulator；2nd, one
The three-axis attitude turntable of three-dimensional translating, also known as six freedom-degree motion simulator can be done, three-axis attitude turntable, which is used to simulate, to be followed the trail of
Attitude for aerocraft is moved, and three-dimensional translating is used for three axle relative positions between simulating two aircraft and moved.Spacecrafts rendezvous nine is certainly
It is " three+six " configuration by degree motion simulator, shares nine frees degree.Nine-degree of freedom motion simulator can simulate two aircraft
Each three-axis attitude moves two aircraft during Close approach is initially separated to docking contact or by docking completion status
And two physical process for moving of three axle relative positions between aircraft.
But limited by conditions such as equipment development feasibility and test sites, the transverse direction (y) of six freedom-degree motion simulator
Range of movement and vertical (z) range of movement are typically relatively small, it is impossible to meet laterally and perpendicular during two aircraft spacecrafts rendezvous
To range of relative motion index request.So using the transverse direction and vertical motion scope of six freedom-degree motion simulator itself, only
The experiment of energy covering part spacecrafts rendezvous plan-validation and the content of the test of measurement sensor single machine test experiment, can not meet full work
The experiment demand of condition covering.
Based on the demand, it is proposed that a kind of nine-degree of freedom motion simulator relative motion equivalent algorithm, the algorithm can be big
Width improves scope of the nine-degree of freedom motion simulator laterally with vertical relative motion simulation, so as to meet spacecrafts rendezvous process
In two aircraft relative position range of movement experiment demand, for comprehensive verification experiment provide guarantee.
Embodiment 1
It is as follows to implement step：
1) relative attitude relation (θ between desired two motion simulator known to1, θ2, θ3) and relative position relation (X, Y,
Z)。(θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree motion simulator coordinate systemThe Eulerian angles of three reference axis, (X, Y, Z) are six freedom-degree motion simulator coordinate systemsOrigin OfThree certainly
By degree motion simulator coordinate systemUnder coordinate.
2) when not considering equivalent algorithm, according to desired relative attitude and station-keeping data calculate two coordinate systems it
Between transformational relation.
Under normal circumstances, the appearance that relative attitude relation passes through three freedom degree motion simulator and six freedom-degree motion simulator
State motion is common to be completed, and relative position relation is completed by the three-dimensional translating of six freedom-degree motion simulator.If Three Degree Of Freedom
The posture of motion simulator keeps constant, then relative attitude relation is only complete by the attitude motion of six freedom-degree motion simulator
Into.
Six freedom-degree motion simulator coordinate systemWith three freedom degree motion simulator coordinate systemBetween
Transformational relation can be tried to achieve by relative attitude and relative position.
Make coordinate systemWithBetween transition matrix beAnd changed (root according to 321 turns of sequences
Can also select other to turn sequence according to the structure of turntable),
So
Make coordinate systemOrigin is in coordinate systemIn be expressed as A1, then
A1=[X, Y, Z]T
So the transformational relation between Two coordinate system is：
3) three-degree-of-freedom motion under equivalent situation is calculated according to relative position relation (X, Y, Z) between two motion simulators
The controlled quentity controlled variable of simulator.
As shown in figure 3, setting nine-degree of freedom motion simulator is in a certain state, from three freedom degree motion simulator coordinate systemObserve six freedom-degree motion simulator coordinate systemSix freedom-degree motion simulator coordinate system original can be obtained
Point OfIn three freedom degree motion simulator coordinate systemUnder expression.
Known OfIn three freedom degree motion simulator coordinate systemUnder coordinate be (X, Y, Z), then the elevation angleWith
AzimuthShown in the relation such as formula (2) of (X, Y, Z).
So the elevation angle is realized by the elevating movement and yawing rotation of three freedom degree motion simulatorAnd azimuth's
Motion, the roll angle of three freedom degree motion simulator keep constant, three freedom degree motion simulator controlled quentity controlled variable (γt, αt, βt) be：
Three freedom degree motion simulator coordinate system is calculated according to 321 sequence that turnsTransition matrix be：
So Ct=Ct1Ct2Ct3。
4) the new controlled quentity controlled variable of six freedom-degree motion simulator under equivalent situation is calculated
By CtIt is multiplied, obtains at left and right sides of formula (1)：
OrderControlled quentity controlled variable (the γ of the Shaft angle of six freedom-degree motion simulator three is calculated according to 321 turns of sequencesf, αf,
βf) be：
Make A=CtA1, so the controlled quentity controlled variable (X of six freedom-degree motion simulator three-dimensional translatingf, Yf, Zf) be：
So under equivalent situation, the controlled quentity controlled variable of nine-degree of freedom motion simulator is：
Embodiment 2
In the algorithm of example 1, realized by the elevating movement and yawing rotation of three freedom degree motion simulator laterally and perpendicular
To the simulation of relative motion, and the roll angle of three freedom degree motion simulator keeps constant.If desired, three can be allowed certainly
Motion equivalent simulation is also assisted in by the roll angle of degree motion simulator, so as to which the motion for realizing more complicated is equivalent.
Embodiment 3
The algorithm of example 1 is that the nine-degree of freedom relative motion simulator based on " three+six " configuration conducts a research and verified work
Make, but the core concept of this algorithm can be readily extended to the nine-degree of freedom motion simulator of other configurations, such as " five
+ four " configuration.
By experimental verification and emulation, the present invention solves spacecrafts rendezvous nine-degree of freedom motion simulator hardware sheet well
Body transverse direction and vertical range of relative motion are small, limitation of movement, it is impossible to the problem of carrying out l-G simulation test and the test of full working scope；This hair
Bright method stability is good, can be used not only for STATIC SIMULATION experiment, it may also be used for continuous Dynamic Simulating Test, and simulation process
Steadily；Due to using equivalent algorithm proposed by the present invention, can be reduced when nine-degree of freedom motion simulator is developed to simulator
The requirement of horizontal and vertical range of relative motion, while the requirement to test site can also be reduced, therefore can greatly save
Development and experimentation cost, can easily be generalized to the motion simulator of other configurations, therefore have a wide range of application.And this hair
Bright roll angle based on three freedom degree motion simulator keeps constant, by the elevating movement of three freedom degree motion simulator and partially
Shipping is dynamic to realize the laterally simulation with vertical relative motion.
The present invention is that the nine-degree of freedom relative motion simulator based on " three+six " configuration conducts a research and verified work,
But the core concept of this algorithm is can to expand to the nine-degree of freedom motion simulator of other configurations, such as " five+four " configuration, and
And the method for the present invention is that the roll angle based on three freedom degree motion simulator keeps constant.If desired, three can be allowed
The roll angle of free degree motion simulator also assists in motion equivalent simulation, so as to which the motion for realizing more complicated is equivalent.
Claims (10)
1. a kind of nine-degree of freedom motion simulator relative motion equivalent method, it is characterised in that step is as follows：
(1) relative attitude relation (θ between desired three freedom degree motion simulator and six freedom-degree motion simulator known to1, θ2,
θ3) and relative position relation (X, Y, Z)；
(2) according to step (1) desired three freedom degree motion simulator and six freedom-degree motion simulator relative attitude and relatively
Position data, calculate the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situationAnd three-degree-of-freedom motion
Simulator coordinate systemBetween transformational relation；
(3) according to step (1) relative position relation between three freedom degree motion simulator and six freedom-degree motion simulator (X, Y,
Z), the controlled quentity controlled variable of three freedom degree motion simulator under equivalent situation is calculated, according to three freedom degree motion simulator under equivalent situation
Controlled quentity controlled variable, calculate three freedom degree motion simulator coordinate systemTransition matrix；
(4) according to the three freedom degree motion simulator coordinate system of step (3)Transition matrix and step (2) six degree of freedom
Motion simulator coordinate systemWith three freedom degree motion simulator coordinate systemBetween transformational relation, calculate etc.
The new controlled quentity controlled variable of six freedom-degree motion simulator in the case of effect；
(5) according to the control of the controlled quentity controlled variable of step (3) three freedom degree motion simulator and step (4) six freedom-degree motion simulator
Amount, determine the controlled quentity controlled variable of nine-degree of freedom motion simulator.
A kind of 2. nine-degree of freedom motion simulator relative motion equivalent method according to claim 1, it is characterised in that：Institute
State in step (1), (θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree movement simulation
Device coordinate systemThe Eulerian angles of three reference axis.
A kind of 3. nine-degree of freedom motion simulator relative motion equivalent method according to claim 1, it is characterised in that：Institute
State in step (1), (X, Y, Z) is six freedom-degree motion simulator coordinate systemOrigin OfIn three freedom degree movement simulation
Device coordinate systemUnder coordinate.
A kind of 4. nine-degree of freedom motion simulator relative motion equivalent method according to claim 1, it is characterised in that：Institute
State three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three rotating shafts of three freedom degree motion simulator
Intersection point, three axles are pointed to along three rotor shaft directions, wherein XtPositive axle is to be horizontally away from six freedom-degree motion simulator direction, Zt
Positive axle is to be perpendicularly oriented to the earth direction, YtAxle and XtAxle, ZtAxle forms right-handed coordinate system.
A kind of 5. nine-degree of freedom motion simulator relative motion equivalent method according to claim 1, it is characterised in that：Institute
State six freedom-degree motion simulator coordinate systemCoordinate origin OfPositioned at three rotating shafts of six freedom-degree motion simulator
Intersection point, three axles are pointed to along three rotor shaft directions, wherein XfPositive axle is to be horizontally directed to three freedom degree motion simulator direction, Zf
Axle forward direction is perpendicularly oriented to the earth direction, YfAxle and XfAxle, ZfAxle forms right-handed coordinate system.
A kind of 6. nine-degree of freedom motion simulator relative motion equivalent system, it is characterised in that including：Posture position acquisition module,
Transformational relation determining module, transition matrix determining module, controlled quentity controlled variable determining module, equivalent modules；
Posture position acquisition module obtains relative attitude between three freedom degree motion simulator and six freedom-degree motion simulator and closed
It is (θ1, θ2, θ3) and relative position relation (X, Y, Z), deliver to transformational relation determining module and transition matrix determining module；
Transformational relation determining module, according to the three freedom degree motion simulator sent appearance relative with six freedom-degree motion simulator
State and station-keeping data, calculate the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situationWith three certainly
By degree motion simulator coordinate systemBetween transformational relation, deliver to controlled quentity controlled variable determining module；
Transition matrix determining module, closed according to relative position between three freedom degree motion simulator and six freedom-degree motion simulator
It is (X, Y, Z) controlled quentity controlled variable of three freedom degree motion simulator under equivalent situation to be calculated, according to three-degree-of-freedom motion under equivalent situation
The controlled quentity controlled variable of simulator delivers to equivalent modules, calculates three freedom degree motion simulator coordinate systemTransition matrix, deliver to
Controlled quentity controlled variable determining module；
Controlled quentity controlled variable determining module, the three freedom degree motion simulator coordinate system sent according to controlled quentity controlled variable determining moduleTurn
Change matrix and six freedom-degree motion simulator coordinate system that controlled quentity controlled variable determining module is sentAnd three freedom degree movement simulation
Device coordinate systemBetween transformational relation, calculate the new controlled quentity controlled variable of six freedom-degree motion simulator under equivalent situation, deliver to
Equivalent modules；
Equivalent modules, the controlled quentity controlled variable and controlled quentity controlled variable of the three freedom degree motion simulator sent according to transition matrix determining module determine
The controlled quentity controlled variable for the six freedom-degree motion simulator that module is sent, determine the controlled quentity controlled variable of nine-degree of freedom motion simulator.
A kind of 7. nine-degree of freedom motion simulator relative motion equivalent system according to claim 6, it is characterised in that：Institute
State (θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree motion simulator coordinate systemThe Eulerian angles of three reference axis.
A kind of 8. nine-degree of freedom motion simulator relative motion equivalent system according to claim 6, it is characterised in that：Institute
It is six freedom-degree motion simulator coordinate system to state (X, Y, Z)Origin OfIn three freedom degree motion simulator coordinate systemUnder coordinate.
A kind of 9. nine-degree of freedom motion simulator relative motion equivalent system according to claim 6, it is characterised in that：Institute
State three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three rotating shafts of three freedom degree motion simulator
Intersection point, three axles are pointed to along three rotor shaft directions, wherein XtPositive axle is to be horizontally away from six freedom-degree motion simulator direction, Zt
Positive axle is to be perpendicularly oriented to the earth direction, YtAxle and XtAxle, ZtAxle forms right-handed coordinate system.
A kind of 10. nine-degree of freedom motion simulator relative motion equivalent system according to claim 6, it is characterised in that：
The six freedom-degree motion simulator coordinate systemCoordinate origin OfPositioned at six freedom-degree motion simulator, three turn
The intersection point of axle, three axles are pointed to along three rotor shaft directions, wherein XfAxle is positive to be horizontally directed to three freedom degree motion simulator direction,
ZfAxle forward direction is perpendicularly oriented to the earth direction, YfAxle and XfAxle, ZfAxle forms right-handed coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710831767.2A CN107665616B (en) | 2017-09-15 | 2017-09-15 | A kind of nine-degree of freedom motion simulator relative motion equivalent method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710831767.2A CN107665616B (en) | 2017-09-15 | 2017-09-15 | A kind of nine-degree of freedom motion simulator relative motion equivalent method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107665616A true CN107665616A (en) | 2018-02-06 |
| CN107665616B CN107665616B (en) | 2019-10-22 |
Family
ID=61097940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710831767.2A Active CN107665616B (en) | 2017-09-15 | 2017-09-15 | A kind of nine-degree of freedom motion simulator relative motion equivalent method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107665616B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109120330A (en) * | 2018-08-07 | 2019-01-01 | 北京空间技术研制试验中心 | Long-range joint-trial method between the system of the spacecraft of strange land distribution |
| CN109238608A (en) * | 2018-09-18 | 2019-01-18 | 重庆理工大学 | A kind of Road Simulation Test method of power battery pack |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528802A (en) * | 2010-12-31 | 2012-07-04 | 中国科学院计算技术研究所 | Motion driving method for robot with nine degrees of freedom |
| US20130131865A1 (en) * | 2011-11-22 | 2013-05-23 | Disney Enterprises, Inc. | Kinematic and Dynamic Calibration Methods for Legged Robots with Force-Controlled Joints |
| CN103576689A (en) * | 2013-10-08 | 2014-02-12 | 北京控制工程研究所 | Rendezvous and docking six-degree-of-freedom relative control method |
| CN105974822A (en) * | 2016-06-13 | 2016-09-28 | 北京航空航天大学 | Spacecraft autonomous fly-around intersection control system verification device and spacecraft autonomous fly-around intersection control method |
| CN106363607A (en) * | 2016-10-31 | 2017-02-01 | 北京控制工程研究所 | Space manipulator system for capturing with strong bearing ability and large motion range |
-
2017
- 2017-09-15 CN CN201710831767.2A patent/CN107665616B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528802A (en) * | 2010-12-31 | 2012-07-04 | 中国科学院计算技术研究所 | Motion driving method for robot with nine degrees of freedom |
| US20130131865A1 (en) * | 2011-11-22 | 2013-05-23 | Disney Enterprises, Inc. | Kinematic and Dynamic Calibration Methods for Legged Robots with Force-Controlled Joints |
| CN103576689A (en) * | 2013-10-08 | 2014-02-12 | 北京控制工程研究所 | Rendezvous and docking six-degree-of-freedom relative control method |
| CN105974822A (en) * | 2016-06-13 | 2016-09-28 | 北京航空航天大学 | Spacecraft autonomous fly-around intersection control system verification device and spacecraft autonomous fly-around intersection control method |
| CN106363607A (en) * | 2016-10-31 | 2017-02-01 | 北京控制工程研究所 | Space manipulator system for capturing with strong bearing ability and large motion range |
Non-Patent Citations (1)
| Title |
|---|
| 石磊，等: "人控交会对接九自由度半物理仿真试验***设计及验证", 《空间控制技术与应用》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109120330A (en) * | 2018-08-07 | 2019-01-01 | 北京空间技术研制试验中心 | Long-range joint-trial method between the system of the spacecraft of strange land distribution |
| CN109238608A (en) * | 2018-09-18 | 2019-01-18 | 重庆理工大学 | A kind of Road Simulation Test method of power battery pack |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107665616B (en) | 2019-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103197669B (en) | Satellite multiple attitude control mode test system based on double gimbal control moment gyroscope (DGCMG) structure | |
| CN104898642B (en) | A kind of integration testing analogue system for Spacecraft Attitude Control algorithm | |
| CN106020165B (en) | Spacecraft fault tolerance control method and verification device for aiming at faults of actuating mechanism | |
| CN104133479B (en) | A kind of employing single-axle air bearing table simulates the method for testing of flexible satellite three-axis attitude coupled motions | |
| CN108527373A (en) | The parameter measurement of mechanical arm and discrimination method and device, terminal, storage medium | |
| CN108204879B (en) | A kind of measuring method and system of rotary inertia | |
| Lu et al. | Real-time simulation system for UAV based on Matlab/Simulink | |
| CN101499220B (en) | Method and apparatus for simulating large thruster on spacecraft | |
| CN106200614B (en) | A kind of spacecraft attitude control test macro and method using the true torque of control-moment gyro | |
| CN105737847B (en) | The pilot system of closed loop independent navigation under the conditions of noncooperative target | |
| CN102354123A (en) | Cross-platform extendible satellite dynamic simulation test system | |
| CN105182770A (en) | System and method for spacecraft semi-physical simulation experiment based on rotor craft | |
| CN104015191B (en) | Based on the motion compensation process under the space manipulator tool coordinates of base satellite angular speed | |
| CN107368123A (en) | A kind of control method and device for adjusting the outer temperature heat flux simulation of microsatellite rail | |
| CN105109711A (en) | Simulation system for rendezvous and docking of spacecraft | |
| CN106094565A (en) | A kind of spacecraft autonomous rendezvous control system ground simulation test method | |
| CN104573177A (en) | Simulating method for flight quality evaluation training of transport plane test pilot | |
| CN109454472A (en) | A kind of space multiple degrees of freedom positioning device and its spatial position calculation method | |
| CN107665616B (en) | A kind of nine-degree of freedom motion simulator relative motion equivalent method and system | |
| CN109823566A (en) | A kind of vertically taking off and landing flyer flight control system test platform | |
| CN109976365A (en) | Rocket flight emulation mode and system | |
| CN105716838A (en) | Single-point double force control actuator cylinder servo loading method | |
| CN114167751B (en) | Constellation semi-physical simulation system and simulation method | |
| CN104890897A (en) | Test method for simulating oil surface angle of fuel oil of aircraft during dynamic flight on ground | |
| CN104571097B (en) | A kind of in-orbit closed loop checking system of satellite control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |