CN113419549A - Motion simulator motion distribution method of space target capture test system - Google Patents
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Abstract
The invention discloses a motion distribution method of a motion simulator of a space target capture test system. Two six-degree-of-freedom industrial mechanical arms with attached moving bases are usually arranged in a space target capture semi-physical test system and are arranged on a one-dimensional motion guide rail to serve as a six-degree-of-freedom motion simulator for two objects in space. Since the robot arm can only simulate the motion in its working space, the absolute motion range of the mass center of the object in the space is very large. Motion simulators are therefore typically used to simulate relative motion between objects that are at close mutual distances. The invention aims to reasonably distribute the relative motion to each motion simulator through a proper motion distribution strategy under the condition of knowing the relative poses of the moving objects in two spaces, thereby not only ensuring the relative motion simulation effect, but also meeting the realizability of a real object system. The invention is suitable for cooperative/non-cooperative targets and is also suitable for a space target rendezvous and docking test system.
Description
Technical Field
The invention relates to the technical field of ground test verification, in particular to a motion distribution method of a motion simulator of a space target capture test system.
Background
The space on-orbit service and maintenance technology is a hotspot and a key point of current aerospace technology research, and all the tasks such as maintenance of a failed satellite, removal of space debris, service life prolongation of an on-orbit satellite and the like involve approaching and capturing technologies of space targets. In order to complete such a difficult on-orbit task, besides providing a feasible and perfect technical scheme, in view of the great difference between the ground environment and the space environment, a reasonable ground test method with verification capability needs to be provided. A trial verification system for spatial target capture is therefore generated.
At present, a space target rendezvous and docking test system at home and abroad mainly aims at a cooperative stable target, aircrafts at an active end and an inactive end both have stable ground postures, and the input of a motion simulator is a relative position and respective ground postures. In a space target capture test system, an industrial mechanical arm serving as a motion simulator cannot always maintain the self-rotation motion due to the limitation of software and hardware, and in consideration of test safety, the motion information to be simulated needs to be changed into the complete relative motion of the positions and the postures of two objects, and meanwhile, in the technical scheme, an active end aircraft and a passive end aircraft are required to keep synchronous self-rotation, and the relative posture motion caused by target nutation is reserved.
How to distribute the simulated motion required by the motion simulator of the active end and the passive end becomes an important problem. The heavier the load installed at the tail end of the motion simulator is, the larger the time delay of the motion simulator for the dynamic response of the input signal is, and the more distorted the motion simulator is; the faster the motion simulator moves, the greater the security risk to the stand-alone equipment installed at the end thereof; the single-machine equipment installed at the tail end of the motion simulator is generally an industrial product or an aerospace product electric component, and cannot bear a mechanical environment condition with a large magnitude, so that the motion speed of the motion simulator is limited in turn.
Disclosure of Invention
The invention aims to: the method for distributing the motion of the motion simulator of the space target capture test system overcomes the defects of the prior art, reasonably distributes the relative motion to each motion simulator of the space target capture test system through a proper motion distribution strategy under the condition that the relative poses of the moving objects in two spaces are known, ensures the relative motion simulation effect and meets the realizability of a physical system.
The technical scheme of the invention is as follows: the motion distribution method of the motion simulator of the space target capture test system is realized, and comprises the following steps:
1. firstly, defining each coordinate system required for solving motion allocation in a test system:
the CKcm is a nominal mass center coordinate system of the object at the driving end, the origin is at the nominal mass center of the dynamic model, and the directions of the three axes are determined according to the actual situation;
MBcm is a nominal centroid coordinate system of the passive end object, the origin is at the nominal centroid of the dynamic model, and the three-axis directions are determined according to actual conditions;
the CKbase system is a base coordinate system of an active end, the origin is at the geometric center of an installation flange surface of the base of the robot, the vertical flange surface is in the + Z direction, the direction pointing to the passive end along the guide rail is in the + X direction, and the + Y direction is determined by a right-hand system;
MBbase is a passive end base coordinate system, the origin is at the geometric center of an installation flange surface of the robot base, the vertical flange surface is in the + Z direction, the direction pointing to the active end along the guide rail is in the + X direction, and the + Y direction is determined by a right-hand system;
the system CKDH0 and CKDH6 are respectively the DH coordinate systems of the active end motion simulator at the base and the tail end; MBDH0 and MBDH6 are DH coordinates of the passive end motion simulator at the base and the end, respectively.
At the same time, contract
Is a homogeneous transformation matrix between coordinate system a and coordinate system b.
2. Real-time reading relative position and attitude of two object nominal mass center coordinate systems in space generated by dynamic simulator
3. Giving the base motion rules of the two motion simulators and reading the base position X in real timeCKbase、XMBbase；
4. Calculating the relative pose of two base coordinate systems
The relative distance between the two base coordinate systems is
Δbase＝(XCKbase-XMBbase)+RasterErr
In the formula XCKbaseAnd XMBbaseThe RasterErr is a calibrated system constant error quantity in advance, and is used for measuring the position of a base on a guide rail in real time through a high-precision measuring tool (such as a grating ruler). So that the relative position and attitude of the two base coordinate systems are
In the formula
Is a relative attitude matrix of the two base coordinate systems, determined by the coordinate system definition.
5. Given attitude motion law of nominal center of mass of driving end object relative to motion simulator base
Considering that more effective loads and information processors thereof are arranged at the tail end of the driving end simulator, the attitude motion rule of the nominal mass center of the driving end object relative to the motion simulator base is given as no motion, and the initial value of the driving end object at the beginning of the test is maintained
6. Calculating the law of the motion of the nominal centroid of the passive end object relative to the motion simulator base according to the relative poses of the two objects after deducting the relative motion of the two bases and the pose motion of the active end object
Obtained according to the previous steps
Then, according to the formula
And obtaining the pose motion rule of the nominal mass center of the passive end object relative to the motion simulator base.
7. Calculating the pose motion rule of the tail ends of the two motion simulators relative to the base according to the relative pose relationship between the nominal centroid coordinate systems of the two objects and the tail end coordinate systems of the respective motion simulators
Obtained according to the previous steps
Then, according to the formula
Calculating the relative position and attitude of two objects at each moment corresponding to the two motion simulators after motion distribution
And
8. to pair
Performing inverse kinematics solution of a mechanical arm
Calculating joint angle instruction values theta corresponding to joints of the two motion simulators in real timeCKcmd、θMBcmdAnd sending the data to a motion simulator.
Compared with the prior art, the invention has the following beneficial effects: the motion distribution method of the existing similar motion simulator generally projects the respective motion of the active end and the passive end in an absolute reference system, and the motion simulator can be randomly distributed to any reference system for motion simulation in combination with test requirements; the motion allocation strategy can be customized according to the test requirements, the mechanical environment bearing capacity of the loaded single machine and the safety of the test system can be taken into consideration, the actual motion situation is not strictly followed in the past, and only the relative motion equivalence is ensured; meanwhile, the customization of the strategy considers the fidelity of the motion simulation and the software and hardware capabilities of the motion simulator, so that the test system has greater use flexibility.
Drawings
Fig. 1 is an illustration of an industrial six-degree-of-freedom robot arm.
Fig. 2 is an exemplary diagram of a DH coordinate system of the motion simulator.
Fig. 3 is an exemplary diagram of a spatial target capture testing system.
Fig. 4 is a calculation flowchart of the motion allocation method.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples, which should not be construed as limiting the scope of the present invention.
As shown in fig. 4, the present invention provides a motion simulator motion allocation method of a spatial target capture test system, which comprises the following steps:
the examples given are: a space target capture test system is shown in figure 3, two six-degree-of-freedom industrial mechanical arms shown in figure 1 are used as motion simulators for simulating six-degree-of-freedom motion of objects in space, and bases of the two industrial mechanical arms are mounted on a one-dimensional motion guide rail.
The coordinate systems in the test system are shown in fig. 2.
The CKcm is a nominal mass center coordinate system of the object at the driving end, the origin is at the nominal mass center of the dynamic model, and the directions of the three axes are determined according to the actual situation;
MBcm is a nominal centroid coordinate system of the passive end object, the origin is at the nominal centroid of the dynamic model, and the three-axis directions are determined according to actual conditions;
the CKbase system is a base coordinate system of an active end, the origin is at the geometric center of an installation flange surface of the base of the robot, the vertical flange surface is in the + Z direction, the direction pointing to the passive end along the guide rail is in the + X direction, and the + Y direction is determined by a right-hand system;
MBbase is a passive end base coordinate system, the origin is at the geometric center of an installation flange surface of the robot base, the vertical flange surface is in the + Z direction, the direction pointing to the active end along the guide rail is in the + X direction, and the + Y direction is determined by a right-hand system;
the system CKDH0 and CKDH6 are respectively the DH coordinate systems of the active end motion simulator at the base and the tail end; MBDH0 and MBDH6 are DH coordinates of the passive end motion simulator at the base and the end, respectively. The DH coordinate system of the motion simulator is shown in fig. 2.
Step 1, the spatial motion data of the two objects are obtained by calculation of a dynamics simulation computer of a test system, and the relative position and attitude of a two-object nominal mass center coordinate system are directly generated
And sending the data to a data management and control computer of the test system.
Step 3, the data management and control computer controls the computer according to the collected data and the formula
Δbase＝(XCKbase-XMBbase)+RasterErr
Calculating the relative pose of two base coordinate systems
In the formula XCKbaseAnd XMBbaseThe RasterErr is a calibrated system constant error in advance, and is used for measuring the position of a base on a guide rail in real time through a grating ruler arranged on the guide rail.
Step 4, giving the attitude motion law of the nominal mass center of the object at the driving end relative to the motion simulator base
In this embodiment, since the active end carries more reference devices, in order to reduce the test risk, the pose motion law of the nominal centroid of the object at the active end relative to the motion simulator base is kept as no motion, and the pose motion law is maintainedInitial value at the beginning of the test
The rest relative pose motion is assumed by the six joint motion of the passive end motion simulator
Step 5, according to the data obtained in the previous step, the data management and control computer uses a formula
Calculating the pose and motion law of the nominal centroid of the passive end object relative to the motion simulator base
Step 6, obtaining the product of the previous step
The data management and control computer controls the computer according to the formula
Calculating the pose motion rule of the tail ends of the two motion simulators relative to the base at the moment in real time
Step 7, solving a formula according to a DH parameter table and inverse kinematics of the mechanical arm
The data management control computer calculates the joint angle instruction value theta corresponding to each joint of the two motion simulators in real timeCKcmd、θMBcmdAnd sent to the transportA dynamic simulator.
In summary, by adopting the motion distribution method of the motion simulator of the space target capture test system, under the condition that the relative poses of the moving objects in two spaces are known, the relative motion is reasonably distributed to each motion simulator of the space target capture test system through a reasonable motion distribution strategy, the fidelity of motion simulation is ensured, and simultaneously the software and hardware capability of the motion simulator, the mechanical environment bearing capability of a loaded single machine and the safety of the test system are considered, so that the physical system has realizability.
The above embodiments are merely illustrative of the present invention, and not restrictive, and any equivalent modifications or equivalent variations may be made within the scope of the present invention.
Claims (7)
1. A motion simulator motion distribution method of a space target capture test system is characterized by comprising the following steps:
1) defining each coordinate system needed for solving the motion distribution in the test system:
2) real-time reading relative position and attitude of two object nominal mass center coordinate systems in space generated by dynamic simulator
3) According to the test requirements, giving the base motion rules of the two motion simulators and reading the base positions X of the two motion simulators in real timeCKbase、XMBbase；
4) Calculating the relative pose of two base coordinate systems
5) According to the test requirements, the position and posture movement rule of the nominal mass center of the object at the driving end relative to the movement simulator base is given
6) According to the relative poses of the two objects, after the relative motion of the two bases and the pose motion of the object at the driving end are deducted, the pose motion rule of the nominal mass center of the object at the driven end relative to the motion simulator base is calculated
7) Calculating the relative pose relationship between the nominal centroid coordinate systems of the two objects and the terminal coordinate systems of the motion simulators to obtain the pose motion law of the terminals of the two motion simulators relative to the base
8) To pair
Performing inverse kinematics solution of a mechanical arm
Calculating joint angle instruction values theta corresponding to joints of the two motion simulators in real timeCKcmd、θMBcmdAnd finally sent to the motion simulator.
2. The motion simulator motion allocation method of the spatial target capture testing system according to claim 1, characterized in that: the coordinate system in the step 1) is established as follows:
the CKcm is a nominal mass center coordinate system of the driving end object, and the origin is at the nominal mass center of the dynamic model;
mbcm is the passive end object nominal centroid coordinate system with the origin at the nominal centroid of its dynamical model;
the CKbase system is a base coordinate system of an active end, the origin is at the geometric center of an installation flange surface of the base of the robot, the vertical flange surface is in the + Z direction, the direction pointing to the passive end along the guide rail is in the + X direction, and the + Y direction is determined by a right-hand system;
MBbase is a passive end base coordinate system, the origin is at the geometric center of an installation flange surface of the robot base, the vertical flange surface is in the + Z direction, the direction pointing to the active end along the guide rail is in the + X direction, and the + Y direction is determined by a right-hand system;
the system CKDH0 and CKDH6 are respectively the DH coordinate systems of the active end motion simulator at the base and the tail end; MBDH0 and MBDH6 are DH coordinates of the passive end motion simulator at the base and the end, respectively.
3. The motion simulator motion allocation method of the spatial target capture testing system according to claim 2, characterized in that: at the same time, contract Tb aIs a homogeneous transformation matrix between coordinate system a and coordinate system b.
4. The motion simulator motion allocation method of the spatial target capture testing system according to claim 3, characterized in that: the specific method for calculating the relative poses of the two base coordinate systems in the step 4) is as follows:
the relative distance between the two base coordinate systems is
Δbase＝(XCKbase-XMBbase)+RasterErr
In the formula XCKbaseAnd XMBbaseThe RasterErr is a calibrated system constant error quantity in advance, and is a position of a base on a guide rail measured in real time by a high-precision measuring tool; the relative pose of the two base coordinate systems is
In the formula
Is a relative attitude matrix of the two base coordinate systems, determined by the coordinate system definition.
5. The motion simulator motion allocation method of the spatial target capture testing system according to claim 4, wherein: the specific method for giving the pose motion rule of the nominal center of mass of the driving end object relative to the motion simulator base in the step 5) is as follows:
giving the attitude motion law of the nominal center of mass of the object at the driving end relative to the motion simulator base as no motion, and keeping the initial value at the beginning of the test
6. The motion simulator motion allocation method of the spatial target capture testing system according to claim 5, characterized in that: the specific method for calculating the pose motion law of the nominal centroid of the passive end object relative to the motion simulator base in the step 6) is as follows:
according to the formula
And obtaining the pose motion rule of the nominal mass center of the passive end object relative to the motion simulator base.
7. The motion simulator motion allocation method of the spatial target capture testing system according to claim 6, wherein: the specific method for calculating the pose motion law of the tail ends of the two motion simulators relative to the base in the step 6) is as follows:
according to the formula
Calculating the relative position and attitude of two objects at each moment corresponding to the two motion simulators after motion distribution
And
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