CN108897239A - A kind of spacecraft two-stage gesture stability simulation system - Google Patents
A kind of spacecraft two-stage gesture stability simulation system Download PDFInfo
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Abstract
A kind of spacecraft two-stage gesture stability simulation system, for verifying the three hypervisor technologies such as spacecraft " superhigh precision direction ", " ultrastability control ", " super quick control ".Verifying system includes：Celestial body, load simulator are actively directed toward platform, celestial body level-one control loop and load simulator secondary control loop；Celestial body level-one control loop and load simulator secondary control loop include：Control unit, executing agency, measuring unit；Celestial body level-one control loop is connected with load simulator secondary control loop by platform；It is actively directed toward platform and provides active controlling force for load simulator secondary control loop；The reaction force of active controlling force is passed to celestial body level-one control loop by being actively directed toward platform by load simulator.The spacecraft two-stage gesture stability simulation system that the present invention constructs, which can verify that, three surpasses platform spacecraft multistage composite control technology and Control performance standard.
Description
Technical field
The invention belongs to Spacecraft Attitude Control fields, are related to a kind of spacecraft two-stage gesture stability simulation system.
Background technique
Existing space attitude control simulation system is mostly celestial body level-one gesture stability, cannot achieve load Two-stage control, star
It is connected between body and load, the posture of load follows the adjustment of celestial body posture and adjusts, and celestial body executing agency is control moment
Gyro, control-moment gyro output gesture stability torque accuracy is low, disturbing moment is big, cause celestial body posture and targeted attitude it
Between attitude error it is big.
The full physical simulation system of single-stage spacecraft ground of the prior art, has the following disadvantages：
1, the superhigh precision that cannot achieve load is directed toward to be controlled with ultrastability
Turn currently, generalling use flywheel, control-moment gyro etc. in the full physical test system of spacecraft ground containing high speed
Executing agency of the component of son as attitude control system.The high-speed rotating component of executing agency inevitably results from high frequency
Shake and micro-vibration, directly affect the working performance of load, cannot achieve load superhigh precision and are directed toward and ultrastability control
Performance processed.
2, load gravity unloading and load Two-stage control be cannot achieve
The load and celestial body use for three surpassing platform are actively directed toward ultra quiet platform and are connected.Due to depositing for ground gravity disturbing factor
Needing to carry out load zero stiffness gravity unloading, to provide good control environment for load Two-stage control.And traditional boat
In its full physical simulation system in device ground, load gravity unloading cannot achieve, while also cannot achieve load Two-stage control, it is difficult to
Improve load Control performance standard.
Summary of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art proposes a kind of spacecraft two-stage posture control
Simulation system processed solves the problems, such as that spacecraft load cannot achieve high-precision, high stability control in the prior art.
The technical solution of the invention is as follows：
A kind of spacecraft two-stage gesture stability simulation system, including：Celestial body level-one control loop and load simulator second level
Control loop is actively directed toward platform, celestial body, load simulator；It is actively directed toward platform to be fixed on celestial body, load simulator is fixed
Actively it is being directed toward on platform；Actively being directed toward platform includes 3 actuator groups, and each actuator group includes 2 actuator.
Celestial body level-one control loop：Judge the attitude error between celestial body posture and the targeted attitude of load simulator, when
When attitude error is greater than or equal to critical value, the control moment of celestial body is calculated according to attitude error, reduces celestial body and targeted attitude
Between attitude error；When attitude error is less than critical value, control celestial body maintains posture constant；The critical value is actuator
Maximum control angle.
Load simulator secondary control loop：Judge the posture between load simulator and the targeted attitude of load simulator
Error, when attitude error is greater than or equal to critical value, by being actively directed toward between platform courses load simulator and celestial body
Relative attitude remains unchanged；When attitude error is less than critical value, according to the control moment of attitude error assumed (specified) load simulator,
According to the control moment of load simulator control is actively directed toward platform diminution load simulator and load simulator targeted attitude it
Between attitude error.
The celestial body level-one control loop includes the celestial body control unit being each attached on celestial body, celestial body executing agency, star
Bulk measurement unit；
Celestial body measuring unit：Measurement celestial body angular speed and celestial body posture simultaneously feed back to celestial body control unit；
Celestial body control unit：According to the targeted attitude of load simulator, celestial body angular speed that celestial body measuring unit is sent and
Celestial body posture determines the attitude error between celestial body posture and load simulator targeted attitude, and calculates celestial body according to attitude error
Control moment；
Celestial body executing agency：Including multiple control-moment gyros, the celestial body control moment calculated according to celestial body control unit
Adjust celestial body posture.
The celestial body measuring unit includes：3M optical fibre gyro, M are positive integer greater than 3, and at least 3 optical fiber tops
The measurement direction pairwise orthogonal of spiral shell.
The quantity of the control-moment gyro is 4, and the low speed frame shaft of control-moment gyro is in standard pyramid configuration,
The low speed frame shaft of each control-moment gyro and two seamed edge central axis of pyramid configuration.
The load simulator secondary control loop includes：Load control unit, load executing agency, load measurement list
Member, load gravity unloading device；
Load measuring units：Measurement load simulator angular speed and load simulator posture simultaneously feed back to load control list
Member；
Load control unit：According to load simulator angular speed and load simulator posture determine load simulator posture with
Attitude error between load simulator targeted attitude, and the control moment of assumed (specified) load simulator；According to load simulator
The attitude error that platform reduces between load simulator and targeted attitude is actively directed toward in control moment control；
Load gravity unloading device：It is mounted on celestial body, top lifts load simulator, unloads the weight of load simulator
Power；
Load executing agency：The active controlling force that actuator by being actively directed toward platform provides adjusts load simulator
Posture；
Load control unit：It is mounted on the posture that control load simulator is used on load simulator；
Load measuring units：It is fixed on load simulator for measuring the angular speed and load simulator of load simulator
Posture.
The actuator includes：Flexible hinge, motor stator；6 actuator flexible hinge one end are each attached to load simulator
Installation point piOn, i=1, the installation point p of 2 ..., 6, six load simulatorsiIt is coplanar；6 actuator motor stator one end are equal
It is fixed on the installation point b of celestial bodyiOn, the installation point b of six celestial bodiesiIt is coplanar.
The load gravity unloading device of the load simulator secondary control loop includes：Spring, support construction；Support knot
Structure includes the plate for having multiple support rods on an end face, and multiple support rods constitute pyramidal structure, and the other end of support rod is fixed
On celestial body；The other end of one end of slab construction fixed spring, spring lifts load simulator.
The measuring unit of load simulator secondary control loop includes：Two autocollimators, prism square, inertial sensors；
Prism square is mounted on load simulator shell, and the optical axis of two autocollimators is directed toward two adjacent end faces of prism square, is used to
Property sensor is mounted on load simulator, for measuring the angular speed of star load simulator.
The beneficial effect of the present invention compared with prior art is：
1) celestial body level-one gesture stability circuit of the invention and load second level posture control loop are by being actively directed toward platform
Actuator connection, is actively directed toward the posture of the actuator active control load simulator of platform, reduces the posture of load simulator
Attitude error between targeted attitude improves the control precision of simulation system.
2) load simulator of simulation system of the present invention has independent gravity unloading device, it can be achieved that load zero stiffness is outstanding
It hangs, solves the problems, such as the gravity unloading of celestial body and load two-stage system, microgravity environment condition when meeting in-orbit improves mould
Quasi- system simulates the authenticity of environment in orbit.
3) executing agency of the invention includes control-moment gyro and actuator, and the control moment precision of actuator is better than control
The control moment precision of moment gyro output processed, when the attitude error between celestial body posture and targeted attitude is more than or equal to critical
When value, the posture of control-moment gyro adjustment celestial body and load simulator is used；Appearance between celestial body posture and targeted attitude
When state error is less than critical value, the higher actuator independent control load simulator of service precision reduces load simulator and mesh
Mark the attitude error between posture.
Detailed description of the invention
Fig. 1 is system block diagram of the invention；
Fig. 2 is platform configuration picture of the present invention；
Fig. 3 is load micrometer sensor mounting configuration figure；
Fig. 4 is that load and body stabilization are directed toward test chart；
Fig. 5 is load and the quick motor-driven direction test chart of celestial body.
Specific embodiment
As astronomical observation demand is constantly promoted, it is desirable that control system realizes that optics load " three surpasses " control performance, i.e., in fact
Existing optics load " superhigh precision direction ", " ultrastability control ", " super quick control " control.Three surpass platform and exactly aims at this
Class optics load high-precision attitude demand for control is come into being.Emerging three surpasses platform spacecraft by celestial body, load two-stage system
Composition, celestial body and load are actively directed toward ultra quiet platform by flexibility and are connected.Three surpass the relevant control performance indicator of platform in model
Using the examination for having to pass through the stringent full physical test in ground before.For large-scale load, how to construct and three surpass the full object of platform
Managing emulation test system is that engineer primarily solves the problems, such as.
It is different from traditional single-stage spacecraft, three surpass platform spacecraft with celestial body level-one control loop and load simulator
Secondary control loop.Three surpass the full physical test system in platform relevant control technology ground and the full physical test of single-stage spacecraft ground
Design method is completely different.
As shown in Figure 1, two-stage gesture stability simulation system of the invention includes：Celestial body level-one control loop and load simulated
Device secondary control loop is actively directed toward platform, celestial body, load simulator；Platform is actively directed toward to be fixed on celestial body, it is load simulated
Device, which is fixed on, to be actively directed toward on platform；Actively being directed toward platform includes 3 actuator groups, and each actuator group includes 2 actuator.
Celestial body level-one control loop：Judge the attitude error between celestial body posture and the targeted attitude of load simulator, when
When attitude error is greater than or equal to critical value, the control moment of celestial body is calculated according to attitude error, reduces celestial body and targeted attitude
Between attitude error；When attitude error is less than critical value, control celestial body maintains posture constant；
Load simulator secondary control loop：Judge the posture between load simulator and the targeted attitude of load simulator
Error, when attitude error is greater than or equal to critical value, by being actively directed toward between platform courses load simulator and celestial body
Relative attitude remains unchanged；When attitude error is less than critical value, according to the control moment of attitude error assumed (specified) load simulator,
According to the control moment of load simulator control is actively directed toward platform diminution load simulator and load simulator targeted attitude it
Between attitude error.The critical value is the maximum control angle of actuator.
Celestial body level-one control loop includes the celestial body control unit being each attached on celestial body, celestial body executing agency, celestial body survey
Measure unit；
Celestial body level-one control loop is connected with load simulator secondary control loop by platform；Platform is load simulator
Secondary control loop provides active controlling force；The reaction force of active controlling force is passed to celestial body by platform by load simulator
Level-one control loop.
Celestial body measuring unit：It is fixed on celestial body, measures celestial body angular speed and celestial body posture and feeds back to celestial body control and is single
Member；Including：3M optical fibre gyro, M are positive integer greater than 3, and the measurement direction pairwise orthogonal of at least 3 optical fibre gyros,
The nominal angular momentum h of control-moment gyro0It is as follows to meet condition：
h0≥Isatωmax/γn
Wherein, γ is the gyro group angular motion coefficient of discharge that n control-moment gyro is constituted.IsatFor the whole star inertia of spacecraft,
ωmaxFor the maximum angular rate of spacecraft.
Celestial body control unit：Be fixed on celestial body, according to targeted attitude, celestial body angular speed that celestial body measuring unit is sent and
Celestial body posture determines the attitude error between celestial body posture and targeted attitude, and the control force of celestial body is calculated according to attitude error
Square.
Celestial body executing agency：Being mounted on includes 4 control-moment gyros on celestial body, the star calculated according to celestial body control unit
Body control moment adjusts celestial body posture.The low speed frame shaft of control-moment gyro is in standard pyramid configuration, each control force
The low speed frame shaft of square gyro and two seamed edge central axis of pyramid configuration.
Actively being directed toward platform includes 3 actuator groups, and the installation point of 3 actuator groups is uniformly distributed on a circumference.
Each actuator group includes 2 actuator.Actuator includes flexible hinge, motor stator；Actuator flexible hinge one end is fixed on load
The installation point p of lotus simulatoriOn, i=1, the installation point p of 2 ..., 6, six load simulatorsiIt is coplanar；Actuator motor stator one
The installation point b at end and celestial bodyiIt is fixed, the installation point b of six celestial bodiesiIt is coplanar.
Displacement sensor is installed in platform actuator, for measuring the translation displacements for being actively directed toward platform actuator, position
Displacement sensor is eddy current sensor or capacitance type sensor.Celestial body control unit is calculated according to the translation displacements of platform actuator and is carried
Relative attitude between lotus simulator and celestial body, celestial body executing agency make load simulated according to the relative Attitude Control for Spacecraft celestial body posture
Relative attitude between device and celestial body remains unchanged.
Actively being directed toward platform actuator further includes flexible passive link and active control link；Flexible passive link is used for star
The isolation of body high frequency micro vibration inhibits, and active control link is for load simulated direction active controlling force and celestial body low frequency micro-vibration
Active isolation inhibit.The output bandwidth of active control link is to export control force precision greater than 1kHz and be better than 0.001N.
Actively it is directed toward the measurement minimum resolution ε of the displacement sensor in platform actuatorl0Meet：
Wherein, I3×3Indicate 3 × 3 unit matrix；εl=[ε1 … εl]TFor l displacement sensor precision of platform.
Actively it is directed toward the power output f of platform actuator0Meet：
In formula, amaxFor the maximum angular acceleration of spacecraft；IpcFor the maximum value of three axis rotary inertia of load simulator.Jp
For load mass center Jacobian matrix, IpcFor maximum rotary inertia in three axis of load simulator.
Load simulator secondary control loop includes：Load control unit, load executing agency, load measuring units, load
Loading power discharge mechanism；
Load simulator is used for the quality and Inertia Characteristics of simulation load；
Load gravity unloading device：For unloading the gravity of load simulator, including：Spring, support construction；Support construction
Including there is the plate of multiple support rods on an end face, multiple support rods constitute pyramidal structure, and the other end of support rod is fixed on
On the top layer of celestial body；The other end of one end of slab construction fixed spring, spring lifts load simulator, the bottom of load simulator
The platform actuator of portion and platform is fixed.
Load executing agency：The appearance of load simulator is adjusted by the active controlling force that the platform actuator of platform provides
State；
Load control unit：It is mounted on the posture that control load simulator is used on load simulator；
Load measuring units：It is fixed on load simulator for measuring the angular speed of load simulator.Including：Two certainly
Collimator, prism square, inertial sensor；Prism square is mounted on load simulator shell, and the optical axis of two autocollimators is directed toward
Two adjacent end faces of prism square, inertial sensor are mounted on load simulator, for measuring the angle of star load simulator
Speed.
Autocollimator measurement accuracy μθ, inertial sensor, that is, load micrometer sensor measurement accuracy μωIt is as follows to meet condition：
Wherein, εθPrecision, ε are controlled for the direction of load simulatorω isThe stability of load simulator, λθFor autocollimator
Measurement accuracy coefficient；λωFor load micrometer sensor measurement accuracy coefficient.
The measurement range l of the eddy current sensor of the load Attitude Measuring Unit0Meet：
Wherein, θbp=[θbpx θbpy θbpz]TFor three axis relative attitude angle of celestial body and load simulator；JpIt is load simulated
Device mass center Jacobian matrix；δ L=[δ L1 … δLl]TFor the translation displacements of l actuator of platform.
Celestial body executing agency CMGs：Three surpassing the whole three axis maximum inertia of star of platform is Isat=8000kgm2, whole star agility is motor-driven
Maximum angular rate is ωmax=4 (°/s), CMGs number is that gyro group angular momentum coefficient gamma=1.2 item that 4, CMGs is constituted are each
The nominal angular momentum h of CMGs0It should meet：
h0≥Isatωmax/γn≈116(Nms)
Select CMG angular momentum h0=125Nms.
Actively being directed toward three axis maximum inertia of platform load is Ipc=140kgm2, load and celestial body platform maximum relative angle add
Speed is amax=0.5 (°/s2).Then each voice coil motor power output f0It should meet：
It is ε that the load of load micrometer sensor, which is directed toward control precision,θ=0.1 ", λθ=0.1；Stability is εω=1 × 10-4
(°/s), λω=1.Then load autocollimator measurement accuracy μθ<0.01 ", load micrometer sensor measurement accuracy μω<1×10-4(°/
s).Selection measurement noise be better than 0.01 " photoelectric auto-collimator, selected angle random walk be better than 1 × 10-4The load of (°/s)
Micrometer sensor.
Maximum relative attitude between load and celestial body platform is θpb=0.3 °, then the measurement range l of eddy current sensor0Cause
Meet l0>2mm.Select vortex sensor measuring range for 3mm.
As shown in Fig. 2, load simulator installs radius surface rp=0.53m, celestial body install radius surface rB=0.53m, load mould
Quasi- device mounting surface orientation angle θp=5 °, celestial body mounting surface orientation angle θB=36 ° and actively it is directed toward the height H=0.14m of platform.It is main
It is dynamic to be directed toward platform and load simulator installation point piAnd celestial body installation point biIt calculates as follows：
p1=[- rP cos(θP/2),rP sin(θP/2),H]T
p2=[- rP cos(θP/2),-rP sin(θP/2),H]T
p3=[rP sin(30-θP/2),-rP cos(30-θP/2),H]T
p4=[rP sin(30+θP/2),-rP cos(30+θP/2),H]T
p5=[rP sin(30+θP/2),rPcos(30+θP/2),H]T
p6=[rP sin(30-θP/2),rP cos(30-θP/2),H]T
b1=[- rB cos(θB/2),rB sin(θB/2),0]T
b2=[- rB cos(θB/2),-rB sin(θB/2),0]T
b3=[rB sin(30-θB/2),-rB cos(30-θB/2),0]T
b4=[rB sin(30+θB/2),-rB cos(30+θB/2),0]T
b5=[rB sin(30+θB/2),rB cos(30+θB/2),0]T
b5=[rB sin(30-θB/2),rB cos(30-θB/2),0]T
Load mass center Jacobian matrix JpAnd celestial body mass center Jacobian matrix JbIt is calculated as：
Specific numerical value is substituted into, load mass center Jacobian matrix J can be calculatedpAnd celestial body mass center Jacobian matrix JbMeter
It is：
The installation battle array C of celestial body measuring unitgbIt is expressed as under celestial body center-of-mass coordinate：
As shown in figure 3, the measurement axis arrangement of load simulator micrometer sensor of the invention is trigone wimble structure (OG1,
OG2,OG3Respectively three measurement axis of load simulator micrometer sensor), battle array C is installedgpIt is indicated under load geocentric coordinate system
For：
In formula, θ=54.7356 ° are three measurement axis OG1,OG2,OG3With load coordinate zpThe angle of axis；β=30 ° are
Gp2、Gp3In load xp-op-ypThe projection of plane and ypAngle.
Load control unit performance load director demon is actively to be directed toward ultra quiet platform actuator closed-loop control system
Hardcore.It mainly includes 16 A/D converters, 16 D/A converters, processor, power management modules.16 A/D turn
Parallel operation acquires the eddy current sensor signals in actuator, and measuring signal is passed to processor, by calculation process, passes to
16 D/A converters, and export to the driver in the flexible actuator of intelligence, power management module provides 16 A/D converters
Power supply needed for acquisition, processor operation, 16 D/A converter outputs.
Celestial body controller is using industrial personal computer operation control program.Multiple serial ports are had on industrial personal computer, for controlling with load
Device communication receives load information, vortex information etc., sends stellar target posture information etc..
Actuator voice coil motor driver is the control instruction for receiving load controller and voice coil motor is driven to realize
Control output.The driver being actively directed toward in ultra quiet platform actuator is equivalent to a voltage/current conversion links, passes through reception
Controller output voltage in intelligence flexibility actuator, and electric current is converted voltages into, it exports to voice coil motor.
Celestial body gyro (gyro coordinate system is parallel with celestial body coordinate system) and control-moment gyro are installed on celestial body platform
Group.According to load installation point piUltra quiet platform is actively directed toward in progress and load simulator is installed.According to celestial body installation point biIt is led
Dynamic ultra quiet platform/load entirety of being directed toward is installed with celestial body.Load and load gravity unloading bracket are installed.By adjusting gravity unloading
Stand spring length realizes the unloading of load zero-g.
The test of platform full physical simulation three is surpassed using the progress of this simulation system, verifying three surpasses platform courses performance indicator.Fig. 4
Give celestial body and stable load test result.In stability contorting, the three-axis attitude error of celestial body is respectively less than 2 ", it is load simulated
The three-axis attitude error of device is less than 0.05 ", it is seen then that the attitude error of load simulator and targeted attitude is significantly better than celestial body and mesh
Mark the attitude error of posture.Fig. 5 gives celestial body and the quick motor-driven test result of load.Celestial body and load in 408s~418.3s
Lotus can be realized 0 ° to 20 ° of Large Angle Rapid Maneuvering, and the agility that the posture of celestial body and load can be realized 4 °/s is motor-driven.Whole
After star posture agility is motor-driven, by the control of " three surpassing " platform, the steady state time after the agility of load simulator is motor-driven is better than 4s.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. a kind of spacecraft two-stage gesture stability simulation system, which is characterized in that including：Celestial body level-one control loop and load mould
Quasi- device secondary control loop is actively directed toward platform, celestial body, load simulator；It is actively directed toward platform to be fixed on celestial body, load mould
Quasi- device, which is fixed on, to be actively directed toward on platform；
Celestial body level-one control loop：Judge the attitude error between celestial body posture and the targeted attitude of load simulator, works as posture
When error is greater than or equal to critical value, the control moment of celestial body is calculated according to attitude error, is reduced between celestial body and targeted attitude
Attitude error；When attitude error is less than critical value, control celestial body maintains posture constant；
Load simulator secondary control loop：Judge that the posture between load simulator and the targeted attitude of load simulator is missed
Difference passes through the phase being actively directed toward between platform courses load simulator and celestial body when attitude error is greater than or equal to critical value
Posture is remained unchanged；When attitude error is less than critical value, according to the control moment of attitude error assumed (specified) load simulator, root
Platform is actively directed toward according to the control moment control of load simulator to reduce between load simulator and load simulator targeted attitude
Attitude error.
2. a kind of simulation system according to claim 1, it is characterised in that：The celestial body level-one control loop includes solid
Celestial body control unit, celestial body executing agency, the celestial body measuring unit being scheduled on celestial body；
Celestial body measuring unit：Measurement celestial body angular speed and celestial body posture simultaneously feed back to celestial body control unit；
Celestial body control unit：The celestial body angular speed and celestial body sent according to the targeted attitude of load simulator, celestial body measuring unit
Posture determines the attitude error between celestial body posture and load simulator targeted attitude, and the control of celestial body is calculated according to attitude error
Torque processed；
Celestial body executing agency：Including multiple control-moment gyros, adjusted according to the celestial body control moment that celestial body control unit calculates
Celestial body posture.
3. a kind of simulation system according to claim 2, which is characterized in that the celestial body measuring unit includes：3M light
Fine gyro, M are positive integer greater than 3, and the measurement direction pairwise orthogonal of at least 3 optical fibre gyros.
4. a kind of simulation system according to claim 2, which is characterized in that the platform that is actively directed toward includes 3 actuations
Device group, each actuator group include 2 actuator.
5. a kind of simulation system according to claim 2, it is characterised in that：The quantity of the control-moment gyro is 4, control
The low speed frame shaft of moment gyro processed is in standard pyramid configuration, the low speed frame shaft of each control-moment gyro and golden word
Two seamed edge central axis of tower configuration.
6. a kind of simulation system according to claim 4, which is characterized in that the load simulator secondary control loop packet
It includes：Load control unit, load executing agency, load measuring units, load gravity unloading device；
Load measuring units：Measurement load simulator angular speed and load simulator posture simultaneously feed back to load control unit；
Load control unit：Load simulator posture and load are determined according to load simulator angular speed and load simulator posture
Attitude error between simulator targeted attitude, and the control moment of assumed (specified) load simulator；According to the control of load simulator
Torque Control is actively directed toward the attitude error that platform reduces between load simulator and targeted attitude；
Load gravity unloading device：It is mounted on celestial body, top lifts load simulator, unloads the gravity of load simulator；
Load executing agency：The active controlling force that actuator by being actively directed toward platform provides adjusts the appearance of load simulator
State；
Load control unit：It is mounted on the posture that control load simulator is used on load simulator；
Load measuring units：It is fixed on load simulator for measuring the angular speed and load simulator appearance of load simulator
State.
7. simulation system according to claim 6, which is characterized in that the actuator includes：Flexible hinge, motor stator；6
A actuator flexible hinge one end is each attached to the installation point p of load simulatoriOn, i=1,2 ..., 6, six load simulators
Installation point piIt is coplanar；6 actuator motor stator one end are each attached to the installation point b of celestial bodyiOn, the installation point b of six celestial bodiesi
It is coplanar.
8. a kind of simulation system according to claim 7, which is characterized in that the load simulator secondary control loop
Load gravity unloading device includes：Spring, support construction；Support construction includes the plate for having multiple support rods on an end face,
Multiple support rods constitute pyramidal structure, and the other end of support rod is fixed on celestial body；One end of slab construction fixed spring, spring
The other end lift load simulator.
9. a kind of simulation system according to claim 6, which is characterized in that the measurement of load simulator secondary control loop
Unit includes：Two autocollimators, prism square, inertial sensors；Prism square is mounted on load simulator shell, two autocollimatics
The optical axis of straight instrument is directed toward two adjacent end faces of prism square, and inertial sensor is mounted on load simulator, for measuring star
The angular speed of load simulator.
10. according to any a kind of simulation system of claim 4 or 6-9, it is characterised in that：The critical value is actuator
Maximum control angle.
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