CN114625027A - Multi-spacecraft attitude and orbit control ground full-physical simulation system based on multi-degree-of-freedom motion simulator - Google Patents
Multi-spacecraft attitude and orbit control ground full-physical simulation system based on multi-degree-of-freedom motion simulator Download PDFInfo
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Abstract
The invention provides a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator, and belongs to the field of ground simulation tests of aircrafts. The multi-degree-of-freedom double-satellite accompanying flight simulator simulates accompanying flight motion of a tracking satellite and a target satellite. And the on-table attitude and orbit control system controls the tracking satellite and the target satellite to reach the expected running state according to the instruction. The dynamics simulator simulates the two-star on-orbit/attitude dynamics in real time. The relative navigation system senses the relative motion state of the two stars and carries out navigation calculation on the sensing result. The wireless data transmission system realizes data interaction between the system on the platform and the system under the platform. The visual demonstration system simulates the real-time working condition of the motion simulator through professional software. The invention adopts two dumbbell type air bearing tables to simulate and track the attitude motion of the star and the target star, thereby realizing the motion simulation of two degrees of freedom in plane and three degrees of freedom in attitude, achieving the aim of high-precision simulation and providing a reliable platform for verification of a satellite flight accompanying control scheme.
Description
Technical Field
The invention relates to a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator, and belongs to the field of aircraft ground simulation tests.
Background
The thesis "full physical simulation platform construction for satellite attitude control algorithm fast verification" (proceedings of 2017 academic seminars of space mechanics and space optics, Zhou Mei, Chang Lin, Van nationality, etc., 2017 in 9 months) designs a full physical simulation system with a dumbbell type triaxial air bearing table as a core for ground verification of a satellite attitude control algorithm, and carries out triaxial stable satellite dynamics simulation experiment research with a control moment gyro group as an execution mechanism. The system can realize the rapid tracking of the planned attitude trajectory under the condition of meeting multiple constraints. Although a dumbbell-shaped turntable with a larger rotation angle range is adopted in the full-physical simulation platform construction oriented to the satellite attitude control algorithm rapid verification, the system aims at the verification problem of the single-satellite attitude control algorithm, lacks a verification means of the orbit control algorithm, cannot perform ground simulation on the double-satellite accompanying flight control problem, and has large limitation.
The thesis "multi-mode hybrid propulsion hover control and semi-physical simulation system" (the Chinese inertial technical report, anyhow, zhang dynasty, xiahongwei, etc., 8 months in 2019) proposes a design method of two parameters for in-plane hover in a multi-mode hybrid propulsion mode for the hover control of a stationary orbit satellite, and designs a set of general space motion simulation verification system based on a 12-degree-of-freedom two-star simulation system. The test system and the verification method have universality and can be popularized and applied to ground verification of other relative motion control technologies. The semi-physical simulation of the thesis 'multi-mode hybrid propulsion hovering control and semi-physical simulation system' simulates the relative motion of a tracking star and a target star based on the scale of a twelve-degree-of-freedom motion simulation system, although the system has the advantages of large scale, multiple dimensions and high precision, the system is limited by a linear guide rail mechanical structure, the simulation of the transverse relative position motion between the tracking star and the target star in the orbit around flying approaching process cannot be realized, and the popularization and application of the system are limited.
The patent "a spacecraft is around flying and is close motion simulator" (patent, Beijing control engineering institute, CN104200715A, 20141210) provides a spacecraft around flying and is close motion simulator, including test platform, target aircraft motion analogue means and tracking aircraft analogue means, can realize tracing aircraft and target aircraft in the orbit around flying and close lifelike simulation of in-process absolute attitude motion and relative position motion separately, have easy operation, anti environmental disturbance ability reinforce, simulation time is controllable and advantages such as simulation process can be reappeared accurately. The patent "a spacecraft is around flying and is close motion simulator" utilizes triaxial machinery revolving stage and test platform to have built one set and has around flying and be close motion simulator, but the target simulation ware fixed mounting of this system is at platform central authorities, lacks the simulation to its initiative motion, and the position change of pursuit simulator is accomplished through vertical position and horizontal position analog mechanism, and application scope is limited, can't satisfy the simulated demand of ground high accuracy.
The patent "a verification method of spacecraft autonomous intersection around control system ground verification device" (patent, Beijing aerospace university, CN105974822A, 20160928) comprises a center fixed station, a three-axis turntable target simulator, a three-axis turntable tracking attitude simulator, a three-dimensional motion module, a nine-degree-of-freedom motion measurement and control system, and the like, and adopts a scale reduction simulation mode to realize spacecraft autonomous intersection around motion ground simulation. The system and the method are simple and easy to implement, and the existing ground verification capability is widened. The patent 'a verification method of a spacecraft autonomous flight-around intersection control system ground verification device' converts three-degree-of-freedom translation under a tracking star rectangular coordinate system into three-degree-of-freedom position motion under a tracking star cylindrical coordinate system in a ground test device, and realizes flight-around of a tracking star to a target star. However, the system adopts a gear transmission mechanism to realize circumferential motion, and the precision is limited.
The patent "ground simulation experiment system for on-orbit fault removal operation" (patent, national defense science and technology university, CN106081171A, 20161109) discloses a ground simulation experiment system for on-orbit fault removal operation, wherein a simulation service spacecraft and a simulation target spacecraft run on a microgravity simulation air floating platform, can simulate on-orbit approach and on-orbit capture, have multiple control modes such as automatic and human-in-loop, and can be used for verifying on-orbit service technology in a microgravity environment. The patent 'space on-orbit fault removal operation ground simulation experiment system' can perform fault removal on a target star simulator in a mode of tracking the star simulator by autonomous or remote control operation, but the system cannot simulate the attitude change of two star pitch angles, has a large difference with an actual on-orbit task scene, and cannot meet the verification requirement of a concomitant flight control algorithm.
The prior art is influenced by the motion range, the mechanical structure and the performance of a platform, has insufficient simulation precision of relative motion of two stars, has limited applicable scenes, and cannot effectively reproduce actual accompanying flight control task scenes.
In order to solve the technical problem, the patent provides a moonlet accompanying flight control ground simulation verification technology based on a multi-degree-of-freedom motion simulator. According to the technology, an actual task scene is fully considered, two dumbbell-shaped air floating platforms are adopted to simulate and track attitude motion of the star and the target star, and the dumbbell-shaped air floating platforms operate on the microgravity simulation air floating platform, so that motion simulation of two degrees of freedom and three degrees of freedom of the attitude in the plane is realized, the actual scene of the accompanying flight task is reproduced to the greatest extent, the purpose of high-precision simulation can be achieved, and a reliable platform is provided for verification of a small satellite accompanying flight control scheme.
Disclosure of Invention
The invention aims to solve the problems in the prior art and further provides a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator.
The purpose of the invention is realized by the following technical scheme:
a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator comprises a multi-degree-of-freedom double-satellite accompanying flight simulator, an on-table attitude and orbit control system, a relative navigation system, a wireless data communication system, a scene demonstration system and a ground comprehensive monitoring system;
the multi-degree-of-freedom double-satellite accompanying flight simulator comprises a tracking satellite simulator, a target satellite simulator and an air floating platform, wherein the tracking satellite simulator and the target satellite simulator are arranged on the air floating platform; the tracking star simulator and the target star simulator respectively comprise an air foot, a vertical gravity compensation device and an air floating platform body, an air film is formed between air injection of the air foot and the air floating platform, and the air floating platform body floats on the air floating platform, so that the simulator can move freely on the plane of the air floating platform; the gravity compensation device in the vertical direction enables the lower surface of the air foot to be always parallel to the upper surface of the air floating platform, and meanwhile, the stability of the air floating platform body is ensured; the air floating platform body simulates a small satellite body to realize the all-around rotation in the directions of a yaw axis and a rolling axis and the rotation capability within the range of +/-30 degrees of a pitch axis;
the on-table attitude and orbit control system comprises a processor, an on-table power supply system, a gyroscope, an accelerometer and an executing mechanism, wherein the on-table power supply system supplies power to electric equipment, the gyroscope and the accelerometer are used as attitude and speed sensors to acquire the angular speed and the speed of the tracking star simulator and the target star simulator and provide necessary feedback information for the control of the simulators, and the executing mechanism consists of a reaction wheel and a small fan and controls the attitude and the orbit;
the relative navigation system comprises a microwave radar, a radar target simulator and a navigation computer, wherein the microwave radar is arranged on the table top of the tracking satellite simulation air floatation table body, measures a relative distance, a relative pitch angle and a relative yaw angle and transmits information to the navigation computer through wireless communication;
the wireless data communication system comprises a wireless router and a wireless network card, wherein the wireless router is arranged on the tracking satellite simulator and the target satellite simulator, transmits the information on the station to the station and receives the instruction signal uploaded by the station, and the wireless network card is connected with a computer of the ground comprehensive monitoring system, receives the information on the station and uploads the instruction signal;
the visual demonstration system simulates the real-time working condition of the motion simulator and visually demonstrates the on-orbit task scene; the ground integrated monitoring system is responsible for coordination, data detection and processing tasks among all subsystems.
The invention relates to a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator, wherein a target star motion simulator and a tracking star motion simulator are dumbbell-shaped air bearing tables and simulate the three-dimensional rotation and two-dimensional translation of a target star and a tracking star.
The invention relates to a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator, wherein six reaction wheels are respectively arranged on gas floating platforms of a tracking satellite simulator and a target satellite simulator, are orthogonally arranged along the three-axis direction, and realize attitude control through angular momentum exchange; the track control of the simulator is realized by installing 4 small fans used for a propeller at the outer side of an air-supported gas cylinder to track the star simulator and the target star simulator to move on the plane of the air floatation platform at will, and the 4 small fans are installed in an orthogonal mode.
The multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator is characterized in that the vertical gravity compensation device is of a rigid structure, and is in rigid connection with the air foot, so that frictionless and vibration-free ascending and descending motions are realized, and besides one degree of freedom in the motion direction, the degrees of freedom in other directions are all restrained by the structure.
According to the multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator, the dumbbell-shaped air bearing platform is adopted to simulate and track the attitude motion of the star and the target star, the full rotation can be realized at 360 degrees on the rolling axis and the yawing axis, the real accompanying scene can be approached to a greater extent, the small satellite accompanying control scheme can be effectively subjected to high-precision ground verification, and the reliability of the system is improved. The visual demonstration system provides a more visual angle for scientific research personnel, improves the flexibility of the verification technology, and overcomes the defect that on-orbit verification is difficult to perform.
Drawings
Fig. 1 is a structural block diagram of a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator.
Fig. 2 is a schematic structural diagram of the multiple-degree-of-freedom double-star accompanying flight simulator in the invention.
Fig. 3 is a schematic structural view of a dumbbell-shaped air bearing table in the present invention.
FIG. 4 is a schematic three-axis view of the dumbbell air-floating stage of the present invention.
FIG. 5 is a diagram of a desktop attitude and orbit control system according to the present invention.
Fig. 6 is a structural diagram of an air bearing table attitude and orbit control system of the invention.
FIG. 7 is a diagram of a relative navigation system according to the present invention.
FIG. 8 is a schematic diagram of the system operation process of the present invention.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
The first embodiment is as follows: as shown in fig. 1 to 7, the multi-spacecraft attitude and orbit control ground full physical simulation system based on the multi-degree-of-freedom motion simulator according to the present embodiment includes a multi-degree-of-freedom dual-satellite accompanying flight simulator, a posture and orbit control system on a stage, a relative navigation system, a wireless data communication system (telemetry system), a view demonstration system, and a ground comprehensive monitoring system, as shown in fig. 1.
The multi-degree-of-freedom double-satellite accompanying flight simulator consists of a tracking satellite simulator, a target satellite simulator and an air floating platform, is positioned in an equipment room (or a microwave darkroom), and is used for simulating the accompanying flight motion of the tracking satellite and the target satellite. And the on-table attitude and orbit control system is used for controlling the tracking star and the target star to reach the expected running state according to the instruction. The dynamics simulator is used for simulating the two-star on-orbit/attitude dynamics in real time. The relative navigation system is used for sensing the relative motion state of the two stars and carrying out navigation calculation on the sensing result. The wireless data transmission system realizes data interaction between the system on the platform and the system under the platform. The visual demonstration system simulates the real-time working condition of the motion simulator through professional software and intuitively demonstrates the on-orbit task scene. The ground integrated monitoring system is responsible for coordination among all subsystems, data detection, processing and other tasks.
The multi-degree-of-freedom double-satellite accompanying flight simulator comprises an air floating platform, a tracking satellite simulator and a target satellite simulator, and is shown in figure 2.
The air floating platform adopts a fine grinding marble platform, has high rigidity, small deformation and small environmental influence, is basically unchanged after being used for a long time, provides a dynamic environment of micro interference torque, can realize two-degree-of-freedom high-precision large-range motion of an XY plane, and achieves the aim of high-precision simulation.
The target star motion simulation system and the tracking star motion simulation system are dumbbell-shaped air bearing tables and are used for simulating three-dimensional rotation and two-dimensional translation of the target star and the tracking star, and the dumbbell-shaped air bearing tables are shown in figure 3.
The translation part is realized by an air foot, the air foot (IV) below the table body supplies air by an air cylinder (IV), and an air film is formed between air injection and the marble table surface, so that the air floating table floats on the air floating platform, and the simulator can move on the plane of the platform at will. The vertical gravity compensation device can keep the lower surface of the air foot parallel to the upper surface of the marble table all the time, and simultaneously ensure the stability of the air floating table body. The vertical gravity compensation device is of a rigid structure and is in rigid connection with the air foot, so that the lower surface of the air foot is always parallel to the upper surface of the air floatation platform, and the stability of the air floatation platform body is ensured. The device is actually a set of air-floating guide rail, can realize rising and falling movements without friction and vibration, and except one degree of freedom in the movement direction, the degrees of freedom in other directions are bound by a guide rail structure. Shown on the left and right in fig. 2 are the initial and rising states of the compensating device. The dumbbell-shaped air floating platform simulates a minisatellite body, can realize the all-directional rotation of the yaw axis and the roll axis, can provide the rotation capability within the range of +/-30 degrees of the pitch axis, and can finish the high-precision simulation of the attitude of the minisatellite, as shown in figure 4.
The hardware part of the posture and orbit control system on the table consists of a PC/104, a power supply system on the table, a gyroscope, an accelerometer and an actuating mechanism, and is shown in figure 5.
The PC/104 is an industrial computer bus standard specially defined for embedded control, adopts stack connection, has the advantages of small and compact structure, good shock resistance, low power consumption, flexible application and the like, and provides convenience for subsequent maintenance and upgrading. A series of software on the table is running on the PC/104. The power supply system on the bench consists of a group of lithium batteries, and can meet the power consumption requirements of a series of electric equipment on the bench. The gyroscope and the accelerometer are used as attitude and speed sensors and used for acquiring the angular speed and the speed of the tracking star simulator and the target star simulator and providing necessary feedback information for the control of the simulators. The actuator consists of reaction wheels and a small fan for attitude and track control. Six customized reaction wheels (momentum wheels) are respectively arranged on the tracking star simulator and the target star simulator, are orthogonally arranged along the three-axis direction, and realize attitude control through angular momentum exchange. The track control is realized by installing 4 small fans used for a propeller at the outer side of the gas cylinder, and the small fans are installed in an orthogonal mode.
The software part of the on-board attitude and orbit control system is developed by adopting an XPC Target real-time control system, the system is an additional product based on an RTW system provided by MathWorks company, an Intel 80x86/Pentium computer or a PC compatible machine can be converted into a high-stability real-time system, and the rapid prototyping of a control system or a DSP system, the loop test of hardware and the preparation of real-time system functions can be realized. XPCTarget adopts a 'dual-computer' mode of a host computer-a target computer, wherein the target computer is a PC/104, and the host computer is a common computer. The host is used to run Simulink and the target PC/104 machine is used to execute the generated code.
The structure of a flywheel fan attitude and orbit control system based on PID of the air bearing table body is shown in FIG. 6. Firstly, giving reference pose information and uploading the reference pose information to a tracking star simulator and a target star simulator; forming a control instruction by the information through a PID position controller, and sending the instruction to the flywheel and the fan; the output torque and speed of the actuating mechanism are combined with external interference, and an actual control effect is formed through an attitude orbit dynamics and a kinematics model; the position and attitude information of the simulator is measured in real time by the attitude sensor, and the difference value between the position and attitude information and the reference attitude input forms a closed loop, so that the attitude and orbit control of the air bearing table is realized.
The relative navigation system consists of a microwave radar, a radar target simulator and a navigation computer system, as shown in figure 3. The microwave radar is arranged on the table top of the tracking satellite simulation air bearing table and used for measuring relative distance, relative pitch angle and relative yaw angle and transmitting information to the navigation computer system through wireless communication. The radar target simulator is arranged on the table top of the target satellite simulation air bearing table and used for simulating the target satellite matching characteristic signals. And the navigation computer system performs navigation calculation by using a relative navigation algorithm according to the acquired measurement information and sends a navigation result to the controller.
The wireless data communication system consists of a wireless router and a wireless network card. The wireless router is installed on the tracking star simulator and the target star simulator, transmits the information on the station under the station and receives the instruction signal transmitted under the station. The wireless network card is connected with a computer of the ground comprehensive monitoring system, receives information on the station and uploads instruction signals. The wireless data communication form is adopted, so that the limitation of the wire to the simulator is avoided.
The comprehensive monitoring system comprises hardware and software and is mainly responsible for acquiring test data and parameters of a multi-degree-of-freedom double-star simulator, a relative navigation system, an on-table attitude and orbit control system and other systems, controlling and managing various system devices, and providing tasks such as an off-table man-machine interaction interface, state, data display, processing and the like.
The visual demonstration system consists of a demonstration computer and simulation software, and the visual demonstration system simulation is developed based on an STK platform. The software is a set of aerospace analysis software developed by AGI company in America, is embedded with abundant model resources, has strong functions, has an external interface and supports the joint development of C language and Matlab. After receiving the position and attitude information of the tracking star and the target star from the data transmission system, the STK can simulate relative motion through the integrated dynamic module and display two-dimensional and three-dimensional virtual scenes on the display screen.
Example two: as shown in fig. 8, a working flow of the multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator according to the embodiment is shown in fig. 8, and the system issues an instruction through a ground comprehensive monitoring system to enable the multi-degree-of-freedom dual-satellite accompanying flight simulator to be in a nominal position. After receiving a starting instruction issued by the comprehensive monitoring system, the control system sends information such as the relative distance, the relative angle and the like simulated in real time to the execution mechanism according to the embedded satellite dynamics and control model. The execution mechanism drives the multi-degree-of-freedom double-satellite accompanying flight simulator to simulate the accompanying flight motion of the tracking satellite and the target satellite according to the instruction. Meanwhile, the microwave radar senses the radar target simulator on the target satellite simulator, and the captured information is sent to the relative navigation computer for processing. And sending the navigation result to a control system as a basis for the next motion control. And comparing the flight accompanying control result with the true value in the ground comprehensive monitoring system to be used as a basis for evaluating the control scheme to be verified. And the real-time working condition is transmitted to a visual demonstration system, and the on-orbit task scene is more visually displayed on a screen.
While the invention has been described with reference to specific preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications and alternative embodiments, which may be apparent to those skilled in the art, within the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator is characterized in that the multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator comprises a multi-degree-of-freedom double-satellite accompanying flight simulator, an on-table attitude and orbit control system, a relative navigation system, a wireless data communication system, a scene demonstration system and a ground comprehensive monitoring system;
the multi-degree-of-freedom double-satellite accompanying flight simulator comprises a tracking satellite simulator, a target satellite simulator and an air floating platform, wherein the tracking satellite simulator and the target satellite simulator are arranged on the air floating platform; the tracking star simulator and the target star simulator respectively comprise an air foot, a vertical gravity compensation device and an air floating platform body, an air film is formed between air injection of the air foot and the air floating platform, and the air floating platform body floats on the air floating platform, so that the simulator can move freely on the plane of the air floating platform; the gravity compensation device in the vertical direction enables the lower surface of the air foot to be always parallel to the upper surface of the air floating platform, and meanwhile, the stability of the air floating platform body is guaranteed; the air floating platform body simulates a small satellite body to realize the all-around rotation in the directions of a yaw axis and a rolling axis and the rotation capability within the range of +/-30 degrees of a pitch axis;
the on-table attitude and orbit control system comprises a processor, an on-table power supply system, a gyroscope, an accelerometer and an actuating mechanism, wherein the on-table power supply system supplies power for electric equipment, the gyroscope and the accelerometer are used as attitude and speed sensors to acquire the angular speed and the speed of the tracking satellite simulator and the target satellite simulator and provide necessary feedback information for the control of the simulators, and the actuating mechanism comprises a reaction wheel and a small fan and controls the attitude and the orbit;
the relative navigation system comprises a microwave radar, a radar target simulator and a navigation computer, wherein the microwave radar is arranged on the table top of the tracking satellite simulation air floatation table body, measures a relative distance, a relative pitch angle and a relative yaw angle and transmits information to the navigation computer through wireless communication;
the wireless data communication system comprises a wireless router and a wireless network card, wherein the wireless router is arranged on the tracking satellite simulator and the target satellite simulator, transmits the information on the station to the station and receives the instruction signal uploaded by the station, and the wireless network card is connected with a computer of the ground comprehensive monitoring system, receives the information on the station and uploads the instruction signal;
the visual demonstration system simulates the real-time working condition of the motion simulator and visually demonstrates the on-orbit task scene; the ground integrated monitoring system is responsible for coordination, data detection and processing tasks among all subsystems.
2. The multi-spacecraft attitude and orbit control ground full physical simulation system based on the multi-degree-of-freedom motion simulator of claim 1, wherein the target star motion simulator and the tracking star motion simulator are both dumbbell-shaped air bearing platforms, and simulate three-dimensional rotation and two-dimensional translation of the target star and the tracking star.
3. The multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator of claim 1, wherein six reaction wheels are respectively arranged on the gas floating platforms of the tracking satellite simulator and the target satellite simulator, are orthogonally arranged along the three-axis direction, and realize attitude control through angular momentum exchange; the track control of the simulator is realized by installing 4 small fans used for a propeller at the outer side of an air-supported gas cylinder to track the star simulator and the target star simulator to move on the plane of the air floatation platform at will, and the 4 small fans are installed in an orthogonal mode.
4. The multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator of claim 1, wherein the vertical gravity compensation device is a rigid structure, is connected with the air foot in a rigid manner, realizes frictionless and vibration-free ascending and descending motions, and has one degree of freedom in the motion direction and the degrees of freedom in the other directions bound by the structure.
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| CN117584139A (en) * | 2024-01-19 | 2024-02-23 | 北京控制工程研究所 | Full-gravity unloading test system and method for space robot |
| CN117584139B (en) * | 2024-01-19 | 2024-04-09 | 北京控制工程研究所 | Full-gravity unloading test system and method for space robot |
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