CN114625027B - 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
- Publication number
- CN114625027B CN114625027B CN202210259531.7A CN202210259531A CN114625027B CN 114625027 B CN114625027 B CN 114625027B CN 202210259531 A CN202210259531 A CN 202210259531A CN 114625027 B CN114625027 B CN 114625027B
- Authority
- CN
- China
- Prior art keywords
- simulator
- star
- air
- platform
- target
- 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.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 65
- 238000004088 simulation Methods 0.000 title claims abstract description 61
- 238000004364 calculation method Methods 0.000 claims abstract description 5
- 238000007667 floating Methods 0.000 claims description 26
- 238000012544 monitoring process Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 10
- 238000004422 calculation algorithm Methods 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 230000001174 ascending effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000012795 verification Methods 0.000 abstract description 18
- 238000012360 testing method Methods 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 4
- 239000004579 marble Substances 0.000 description 3
- 230000005486 microgravity Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 206010034719 Personality change Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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-star companion simulator simulates companion motions of a tracked star and a target star. The on-table attitude and orbit control system controls the tracking star and the target star to reach the expected running state according to the instruction. The dynamics simulator simulates the on-orbit/attitude dynamics of two stars in real time. The relative navigation system perceives the relative motion state of the two stars, and carries out navigation calculation on the perceived result. The wireless data transmission system realizes data interaction between systems on the platform and under the platform. The vision demonstration system simulates the real-time working condition of the motion simulator through professional software. According to the invention, the gesture movement of the tracked star and the target star is simulated by adopting two dumbbell-shaped air bearing tables, so that the movement simulation of two degrees of freedom and three degrees of freedom of gesture on a plane is realized, the purpose of high-precision simulation can be achieved, and a reliable platform is provided for the verification of a satellite 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 ground simulation tests of aircrafts.
Background
The paper "full-physical simulation platform construction for rapid verification of satellite attitude control algorithm" (the discussion of the society of space electromechanics and space optics in 2017, zhou Meili, chang Lin, fan Guowei, etc., 9 in 2017) is designed for the ground verification problem of satellite attitude control algorithm, and a full-physical simulation system with a dumbbell-type triaxial air bearing table as a core is designed and triaxial stable satellite dynamics simulation experiment research with a control moment gyro group as an actuating mechanism is carried out. The system can realize the rapid tracking of the planned gesture track under the condition of meeting multiple constraints. The paper is that a dumbbell type turntable with a larger rotation angle range is adopted for the construction of a full-physical simulation platform for the rapid verification of a satellite attitude control algorithm, but the system aims at the verification problem of a single satellite attitude control algorithm, lacks a verification means of the orbit control algorithm, cannot simulate the ground of the double satellite accompanying flight control problem, and has large limitation.
Aiming at the requirements of static orbit satellite hover control, a paper multi-mode hybrid propulsion hover control and semi-physical simulation system (Chinese inertial technical journal, any one, zhang Dali, xia Gongwei, and the like, 8 months in 2019) provides an in-plane hover two-parameter design method under a multi-mode hybrid propulsion mode, and designs a set of general space motion simulation verification system based on a 12-degree-of-freedom double-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 paper multi-mode hybrid propulsion hover control and semi-physical simulation system is based on the twelve-degree-of-freedom motion simulation system to simulate the relative motion of the tracked star and the target star in a scaled mode, and the system is limited by the mechanical structure of the linear guide rail although the system has the advantages of large scale, multiple dimensions and high precision, so that the simulation of the transverse relative position motion between the tracked star and the target star in the orbital orbiting approach process can not be realized, and the popularization and the application of the system are limited.
The patent 'a space vehicle around-flying approaching motion simulator' (patent, beijing control engineering institute, CN104200715A, 20141210) provides a space vehicle around-flying approaching motion simulator, which comprises a test platform, a target vehicle motion simulator and a tracking vehicle simulator, can realize vivid simulation of respective absolute gesture motions and relative position motions of the tracking vehicle and the target vehicle in the process of around-flying approaching, and has the advantages of simple operation, strong environment interference resistance, controllable simulation time, accurate reproduction of simulation process and the like. The space vehicle near motion simulator is characterized in that a set of near motion simulator is built by utilizing a triaxial mechanical turntable and a test platform, but a target simulator of the system is fixedly arranged in the center of the platform, the simulation of the active motion of the target simulator is lacking, the position change of a tracking simulator is completed through a vertical position and horizontal position simulation mechanism, the application range is limited, and the requirement of high-precision ground simulation cannot be met.
The patent 'a verification method of a ground verification device of an autonomous fly-around intersection control system of a spacecraft' (patent, beijing aviation aerospace university, CN105974822A, 20160928) consists of a center fixed table, a three-axis table target simulator, a three-axis table tracking gesture simulator, a three-dimensional motion module, a nine-degree-of-freedom motion measurement and control system and the like, and realizes ground simulation of autonomous fly-around intersection motion of the spacecraft by adopting a scale simulation mode. The system and the method are simple and feasible, and the conventional ground verification capability is widened. The three-degree-of-freedom translation under a rectangular coordinate system of a tracking star is converted into three-degree-of-freedom position motion under a cylindrical coordinate system of the tracking star in a ground test device, so that the tracking star can fly around a target star. However, the system adopts a gear transmission mechanism to realize circumferential movement, and the precision is limited.
The patent 'space on-orbit fault release operation ground simulation experiment system' (patent, national defense science and technology university, CN106081171A, 20161109) discloses a space on-orbit fault release operation ground simulation experiment system, wherein a simulation service spacecraft and a simulation target spacecraft operate on a microgravity simulation air floatation platform, can simulate on-orbit approximation and on-orbit capture, have various control modes such as an automatic control mode, a man control mode and the like, and can be used for verifying on-orbit service technology in a microgravity environment. The space on-orbit fault release operation ground simulation experiment system can perform fault release on the target star simulator in an autonomous or remote control operation tracking star simulator mode, but the system cannot simulate the attitude change of a pitch angle of two stars, has a large gap with an actual on-orbit task scene, and cannot meet the verification requirement of a companion flight control algorithm.
The prior art is affected by the motion range, the mechanical structure and the performance of the platform, has insufficient simulation precision on the relative motion of two stars, is limited in applicable scene, and cannot effectively reproduce the actual accompanying flight control task scene.
In order to solve the technical problems, the patent provides a satellite companion flight control ground simulation verification technology based on a multi-degree-of-freedom motion simulator. According to the technology, actual task scenes are fully considered, the two dumbbell-shaped air bearing tables are adopted to simulate and track the gesture movements of the star and the target star, and the dumbbell-shaped air bearing tables run on the microgravity simulation air bearing platform, so that the motion simulation of two degrees of freedom and three degrees of freedom of the gesture is realized, the actual scenes of the satellite accompanying tasks are reproduced to the greatest extent, the purpose of high-precision simulation can be achieved, and a reliable platform is provided for verification of a satellite accompanying 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 invention aims at realizing the following technical scheme:
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-star companion simulator, a bench attitude and orbit control system, a relative navigation system, a wireless data communication system, a vision demonstration system and a ground comprehensive monitoring system;
The multi-degree-of-freedom double-star satellite simulator comprises a tracking star simulator, a target star simulator and an air floatation platform, wherein the tracking star simulator and the target star simulator are arranged on the air floatation platform; the tracking star simulator and the target star simulator both comprise an air foot, a vertical gravity compensation device and an air floating platform body, an air film is formed between the air foot jet and the air floating platform, and the air floating platform body floats on the air floating platform, so that the simulator can move on the plane of the air floating platform at will; 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 stability of the air floating platform body is guaranteed; the air floatation table body simulates a small satellite body, so that the omnidirectional rotation of the yaw axis and the roll axis direction and the rotation capacity within the range of +/-30 degrees of the pitch axis are realized;
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 velocity sensors to acquire the angular velocities and the velocities of the tracking star simulator and the target star simulator, necessary feedback information is provided for the control of the simulator, and the executing mechanism consists of a reaction wheel and a small fan and controls the attitude and 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 surface of the tracking star simulation air-bearing table body, measures relative distance, relative pitch angle and relative yaw angle, transmits information to the navigation computer through wireless communication, the radar target simulator is arranged on the table surface of the target star simulation air-bearing table body, simulates a target star matching characteristic signal, and the navigation computer system carries out navigation calculation by utilizing a relative navigation algorithm according to the acquired measurement information and sends a navigation result to the controller;
The wireless data communication system comprises a wireless route and a wireless network card, wherein the wireless route is arranged on the tracking star simulator and the target star simulator, transmits the information on the platform to the position below the platform, receives the instruction signal uploaded by the position below the platform, and is connected with a computer of the ground comprehensive monitoring system, receives the information on the platform and uploads the instruction signal;
the visual demonstration system simulates the real-time working condition of the motion simulator and intuitively demonstrates the on-orbit task scene; the ground comprehensive monitoring system is responsible for coordination among all subsystems, data detection and processing tasks.
The invention discloses a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator.
According to the multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator, six reaction wheels are respectively arranged on a gas floating platform of the tracking star simulator and a gas floating platform of the target star simulator, and are orthogonally arranged along the three-axis direction, so that attitude control is realized through angular momentum exchange; the track control of the simulator is realized by installing 4 small fans for the propeller on the outer side of the air foot air bottle to track the arbitrary movement of the star simulator and the target star simulator on the plane of the air floating platform, and the 4 small fans are in an orthogonal installation 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 direction gravity compensation device is of a rigid structure, and is connected with the air foot in a rigid mode, so that the ascending and descending motions without friction and vibration are realized, and the degrees of freedom in other directions except one degree of freedom in the motion direction are all bound by the structure.
According to the multi-spacecraft attitude orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator, the dumbbell-shaped air bearing table is adopted to simulate and track the attitude motions of a star and a target star, the full revolution of the star and the target star can be realized at 360 degrees on a rolling shaft and a yaw shaft, the full revolution can be more closely attached to a real accompanying scene, the high-precision ground verification can be effectively carried out on a small satellite accompanying control scheme, and the reliability of the system is improved. The visual demonstration system provides a more visual view for scientific researchers, improves the flexibility of verification technology, and overcomes the defect that on-orbit verification is difficult to carry out.
Drawings
FIG. 1 is a block diagram of a multi-spacecraft attitude and orbit ground full-physical simulation system based on a multi-degree-of-freedom motion simulator.
FIG. 2 is a schematic diagram of a multi-degree of freedom dual star fly simulator in accordance with the present invention.
Fig. 3 is a schematic structural diagram of a dumbbell-shaped air bearing table in the invention.
FIG. 4 is a schematic diagram of a three-axis dumbbell-shaped air bearing table body according to the invention.
FIG. 5 is a schematic hardware diagram of the on-table attitude and orbit control system in the invention.
FIG. 6 is a block diagram of an air bearing table attitude and orbit control system according to the present invention.
FIG. 7 is a schematic diagram of a relative navigation system according to the present invention.
FIG. 8 is a schematic diagram of the system workflow in the present invention.
Detailed Description
The invention will be described in further detail 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 protection of the present invention is not limited to the following embodiments.
Embodiment one: as shown in fig. 1-7, the multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator according to the embodiment comprises a multi-degree-of-freedom double-star companion simulator, a bench attitude and orbit control system, a relative navigation system, a wireless data communication system (a telemetry system), a vision demonstration system and a ground comprehensive monitoring system, as shown in fig. 1.
The multi-degree-of-freedom double-star accompanying simulator consists of a tracking star simulator, a target star simulator and an air floatation platform, and is positioned in an equipment room (or a microwave darkroom) and used for simulating accompanying movements of the tracking star and the target star. 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 on-orbit/attitude dynamics of two stars in real time. The relative navigation system is used for sensing the relative motion state of the two stars and performing navigation calculation on the sensing result. The wireless data transmission system realizes data interaction between systems on the platform and 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 comprehensive monitoring system is responsible for coordination among subsystems, data detection and processing and other tasks.
The multi-degree-of-freedom double-star companion simulator consists of an air floatation platform, a tracking star simulator and a target star simulator, as shown in fig. 2.
The air floatation platform ① adopts a fine grinding marble platform, has high rigidity, small deformation and small environmental influence, basically has no change after long-time use, provides a dynamic environment of micro-disturbance moment, can realize high-precision large-range motion of two degrees of freedom of an XY plane, and achieves the aim of high-precision simulation.
The target star motion simulation system ② and the tracked star motion simulation system ③ are dumbbell-shaped air bearing tables for simulating three-dimensional rotation and two-dimensional translation of the target star and the tracked star, as shown in fig. 3.
The translation part is realized by the air foot, and the air foot ④ below the platform body is supplied by the air bottle ⑦, and an air film is formed between the air injection and the marble table surface, so that the air floating platform floats on the air floating platform, and the simulator can move on the platform plane at will. The vertical gravity compensation device ⑤ can keep the lower surface of the air foot parallel to the upper surface of the marble table all the time, and meanwhile, the stability of the air floating table body is ensured. The vertical gravity compensation device is of a rigid structure, and is connected with the air foot in a rigid mode, so that the lower surface of the air foot is always parallel to the upper surface of the air floating platform, and meanwhile stability of the air floating platform body is guaranteed. The device is actually an air-float guide rail, can realize the ascending and descending movement without friction and vibration, and the degrees of freedom in other directions except one degree of freedom in the movement direction are all bound by the guide rail structure. The left and right sides of fig. 2 show the initial and raised state of the compensating device. The dumbbell-shaped air bearing table ⑥ simulates a small satellite body, can realize the omnibearing rotation of the yaw axis and the rolling axis, can provide the rotation capacity within the range of +/-30 degrees of the pitching axis, and can complete the high-precision simulation of the posture of the small satellite, as shown in fig. 4.
The hardware part of the on-table gesture rail control system consists of a PC/104, an on-table power supply system, a gyroscope, an accelerometer and an executing mechanism, as shown in figure 5.
PC/104 is an industrial computer bus standard defined specially for embedded control, and adopts stack connection, so that the PC/104 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 station runs on the PC/104. The power supply system on the bench consists of a group of lithium batteries, and can meet the power demand of a series of electric equipment on the bench. The gyroscope and the accelerometer are used as attitude and speed sensors for acquiring the angular speeds and speeds of the tracking star simulator and the target star simulator, and necessary feedback information is provided for the control of the simulator. The actuator consists of a reaction wheel and a small fan and is used for controlling the gesture and the track. Six customized reaction wheels (momentum wheels) are respectively arranged on the tracking star simulator and the target star simulator, and are orthogonally arranged along the three-axis direction, so that attitude control is realized through angular momentum exchange. The track control is realized by installing 4 small fans for the propeller on the outer side of the gas cylinder, and the small fans adopt an orthogonal installation mode.
The software part of the on-platform gesture track control system adopts XPC Target real-time control system development, the system is an additional product based on an RTW system provided by MathWorks company, an Intel 80x86/Pentium computer or PC compatible machine can be converted into a real-time system with high stability, and the rapid prototyping of the control system or DSP system, the hardware in-loop test and the real-time system function preparation can be realized. XPCTarget adopts a 'double-machine' mode of a host machine-a target machine, wherein the target machine is PC/104, and the host machine is a common computer. The host is used for running Simulink, and the target PC/104 is used for executing the generated codes.
The structure of the flywheel fan attitude rail control system based on PID of the air bearing table body is shown in figure 6. Firstly, giving reference pose information, and uploading the reference pose information to a tracking star simulator and a target star simulator; the information forms a control instruction through a PID pose controller, and the instruction is sent to a flywheel and a fan; the output moment and the output speed of the actuating mechanism are combined with the external interference and pass through a gesture orbit dynamics and kinematics model to form an actual control effect; the pose sensor measures the position and pose information of the simulator in real time, and the information and the difference value input by the reference pose form a closed loop, so that the pose rail control of the air bearing table is achieved.
The relative navigation system consists of a microwave radar, a radar target simulator and a navigation computer system, as shown in fig. 3. The microwave radar is arranged on the table top of the tracking star simulation air floating table, is used for measuring relative distance, relative pitch angle and relative yaw angle, and transmits information to the navigation computer system through wireless communication. The radar target simulator is arranged on the table surface of the target star simulation air bearing table and is used for simulating the matching characteristic signals of the target star. And the navigation computer system performs navigation calculation by utilizing a relative navigation algorithm according to the acquired measurement information, and sends a navigation result to the controller.
The wireless data communication system is composed of a wireless router and a wireless network card. The wireless router is arranged on the tracking star simulator and the target star simulator, transmits the information on the platform under the platform, and receives the instruction signals uploaded under the platform. The wireless network card is connected with a computer of the ground comprehensive monitoring system, receives the information on the platform and uploads the instruction signal. The limitation of the wire to the simulator is avoided by adopting a wireless data communication form.
The comprehensive monitoring system comprises two parts, namely 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, a platform attitude and orbit control system and other systems, controlling and managing equipment of each system, and providing tasks of a platform under man-machine interaction interface, state, data display, processing and the like.
The vision demonstration system consists of a demonstration computer and simulation software, and is simulated based on STK platform development. The software is a set of aerospace analysis software developed by AGI company in the United states, is embedded with abundant model resources, has powerful functions and external interfaces, and supports joint development of C language and Matlab. After receiving the star tracking and target star pose information from the data transmission system, the STK can simulate the relative motion through the integrated dynamics module, and a two-dimensional and three-dimensional virtual scene is displayed on a display screen.
Embodiment two: as shown in fig. 8, the 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 the ground comprehensive monitoring system to enable the multi-degree-of-freedom double-satellite 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 real-time simulated relative distance, relative angle and the like to the executing mechanism according to the embedded satellite dynamics and the control model. The executing mechanism drives the multi-degree-of-freedom double-star companion simulator to simulate companion motions of the tracked star and the target star according to the instruction. Meanwhile, the microwave radar senses a radar target simulator on the target star 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 next motion control. And comparing the 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. The real-time working condition is transmitted to the visual demonstration system, and the on-orbit task scene is more intuitively displayed on the screen.
In the foregoing, the present invention is merely preferred embodiments, which are based on different implementations of the overall concept of the invention, and the protection scope of the invention is not limited thereto, and any changes or substitutions easily come within the technical scope of the present invention as those skilled in the art should not fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (4)
1. The multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator is characterized by comprising a multi-degree-of-freedom double-star companion simulator, a bench attitude and orbit control system, a relative navigation system, a wireless data communication system, a vision demonstration system and a ground comprehensive monitoring system;
The multi-degree-of-freedom double-star satellite simulator comprises a tracking star simulator, a target star simulator and an air floatation platform, wherein the tracking star simulator and the target star simulator are arranged on the air floatation platform; the tracking star simulator and the target star simulator both comprise an air foot, a vertical gravity compensation device and an air floating platform body, an air film is formed between the air foot jet and the air floating platform, and the air floating platform body floats on the air floating platform, so that the simulator can move on the plane of the air floating platform at will; 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 stability of the air floating platform body is guaranteed; the air floatation table body simulates a small satellite body, so that the omnidirectional rotation of the yaw axis and the roll axis direction and the rotation capacity within the range of +/-30 degrees of the pitch axis are realized;
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 velocity sensors to acquire the angular velocities and the velocities of the tracking star simulator and the target star simulator, necessary feedback information is provided for the control of the simulator, and the executing mechanism comprises a reaction wheel and a small fan to control 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 surface of the tracking star simulation air-bearing table body, measures relative distance, relative pitch angle and relative yaw angle, transmits information to the navigation computer through wireless communication, the radar target simulator is arranged on the table surface of the target star simulation air-bearing table body, simulates a target star matching characteristic signal, and the navigation computer system carries out navigation calculation by utilizing a relative navigation algorithm according to the acquired measurement information and sends a navigation result to the controller;
The wireless data communication system comprises a wireless route and a wireless network card, wherein the wireless route is arranged on the tracking star simulator and the target star simulator, transmits the information on the platform to the position below the platform, receives the instruction signal uploaded by the position below the platform, and is connected with a computer of the ground comprehensive monitoring system, receives the information on the platform and uploads the instruction signal;
the visual demonstration system simulates the real-time working condition of the motion simulator and intuitively demonstrates the on-orbit task scene; the ground comprehensive monitoring system is responsible for coordination among all subsystems, data detection and processing tasks.
2. The multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator according to claim 1, wherein the target star simulator and the tracking star simulator are dumbbell-shaped air bearing tables 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 according to claim 1, wherein six reaction wheels are respectively arranged on a gas floating platform of the tracking star simulator and a gas floating platform of the target star simulator, and are orthogonally arranged along the three-axis direction, so that attitude control is realized through angular momentum exchange; the track control of the simulator is realized by installing 4 small fans for the propeller on the outer side of the air foot air bottle to track the arbitrary movement of the star simulator and the target star simulator on the plane of the air floating platform, and the 4 small fans are in an orthogonal installation mode.
4. The multi-spacecraft attitude and orbit control ground full-physical simulation system based on the multi-degree-of-freedom motion simulator according to claim 1, wherein the vertical direction gravity compensation device is of a rigid structure, is connected with an air foot in a rigid mode, realizes frictionless and vibration-free ascending and descending motions, and is limited by the structure except one degree of freedom in the motion direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210259531.7A CN114625027B (en) | 2022-03-16 | 2022-03-16 | Multi-spacecraft attitude and orbit control ground full-physical simulation system based on multi-degree-of-freedom motion simulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210259531.7A CN114625027B (en) | 2022-03-16 | 2022-03-16 | Multi-spacecraft attitude and orbit control ground full-physical simulation system based on multi-degree-of-freedom motion simulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114625027A CN114625027A (en) | 2022-06-14 |
| CN114625027B true CN114625027B (en) | 2024-05-24 |
Family
ID=81902289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210259531.7A Active CN114625027B (en) | 2022-03-16 | 2022-03-16 | Multi-spacecraft attitude and orbit control ground full-physical simulation system based on multi-degree-of-freedom motion simulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114625027B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115587429A (en) * | 2022-11-22 | 2023-01-10 | 中国民用航空飞行学院 | Navigation accompanying flight system and method based on wireless transmission and digital twins |
| CN116068915B (en) * | 2023-03-08 | 2023-06-09 | 哈尔滨工业大学 | High-simulation-degree distributed simulation device and method for GNC system of spacecraft |
| CN116610044B (en) * | 2023-07-21 | 2023-09-19 | 哈尔滨工业大学 | Satellite full-physical simulation device and method based on gas-liquid suspension technology |
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2012157593A (en) * | 2012-12-27 | 2014-07-10 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Московский Физико-Технический Институт (Государственный Университет)" | METHOD FOR LAND SIMULATION OF THE FLIGHT OF SPACE VEHICLES IN SPACE |
| CN104298128A (en) * | 2014-09-29 | 2015-01-21 | 哈尔滨工业大学 | Ground simulation method for spacecraft navigation guidance technology |
| CN105182798A (en) * | 2015-09-10 | 2015-12-23 | 哈尔滨工业大学 | Ground motion full-physical simulation system for spacecraft |
| 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 |
| CN110815215A (en) * | 2019-10-24 | 2020-02-21 | 上海航天控制技术研究所 | Multi-mode fused rotating target approaching and stopping capture ground test system and method |
| CN114166251A (en) * | 2022-01-20 | 2022-03-11 | 伸瑞科技（北京）有限公司 | Space non-cooperative target relative navigation ground verification system |
-
2022
- 2022-03-16 CN CN202210259531.7A patent/CN114625027B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2012157593A (en) * | 2012-12-27 | 2014-07-10 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Московский Физико-Технический Институт (Государственный Университет)" | METHOD FOR LAND SIMULATION OF THE FLIGHT OF SPACE VEHICLES IN SPACE |
| CN104298128A (en) * | 2014-09-29 | 2015-01-21 | 哈尔滨工业大学 | Ground simulation method for spacecraft navigation guidance technology |
| CN105182798A (en) * | 2015-09-10 | 2015-12-23 | 哈尔滨工业大学 | Ground motion full-physical simulation system for spacecraft |
| 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 |
| CN110815215A (en) * | 2019-10-24 | 2020-02-21 | 上海航天控制技术研究所 | Multi-mode fused rotating target approaching and stopping capture ground test system and method |
| CN114166251A (en) * | 2022-01-20 | 2022-03-11 | 伸瑞科技（北京）有限公司 | Space non-cooperative target relative navigation ground verification system |
Non-Patent Citations (2)
| Title |
|---|
| 基于RTX的卫星姿轨控***地面实时仿真***;夏红伟;凌明祥;曾庆双;解伟男;;计算机仿真;20060928(第09期);全文 * |
| 高精度多自由度航天器模拟器关键技术及实验研究;徐喆垚;《中国博士学位论文全文数据库》;20171216;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114625027A (en) | 2022-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114625027B (en) | Multi-spacecraft attitude and orbit control ground full-physical simulation system based on multi-degree-of-freedom motion simulator | |
| CN106516182B (en) | Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system | |
| CN101733749B (en) | Multidomain uniform modeling and emulation system of space robot | |
| CN109515769B (en) | Multi-star suspension type microgravity simulation system | |
| CN105182770B (en) | A kind of spacecraft semi-physical simulation experimental system and method based on rotor craft | |
| CN102180270B (en) | Microminiature rotorcraft experiment platform and application thereof | |
| CN103365214A (en) | Single rotor wing unmanned aerial vehicle three-freedom degree semi-physical simulation platform and experimental method | |
| Liu et al. | Attitude control for astronaut assisted robot in the space station | |
| CN103868648A (en) | Barycenter measuring method for three-axis air floatation simulation experiment platform | |
| CN116068915B (en) | High-simulation-degree distributed simulation device and method for GNC system of spacecraft | |
| Lee et al. | Multidegree-of-freedom motion platform based on spherical wheels | |
| CN108227723A (en) | A kind of underwater robot and its application process of stability analysis and structure optimization | |
| Wei et al. | Novel ground microgravity experiment system for a spacecraft-manipulator system based on suspension and air-bearing | |
| CN108922310A (en) | Rocking bar manipulates load device and rocking bar simulator | |
| Kondo et al. | Prototype model of tripod parallel mechanism with planar actuators for flight simulator | |
| Davis et al. | Mobile robotic system for ground-testing of multi-spacecraft proximity operations | |
| Li et al. | Cable-Driven Parallel Robot in the Hardware-in-the-Loop Simulation for GNC System | |
| CN112379343A (en) | Radar target simulator motion platform equipment and control method thereof | |
| Liu et al. | Design and testing of BIT flying robot | |
| Qiu et al. | Research on Gravity Compensation System of Planetary Rover Based on Electrodynamic Suspension | |
| Kwok Choon | Hardware-In-The-Loop Testbed for the Dynamics of Spacecraft Rendezvous and Capture | |
| Huang | Design and Demonstration of a Two-Dimentional Test Bed for UAV Controller Evaluation | |
| CN114935934B (en) | Spacecraft relative motion high-precision pointing continuous light control method based on coordinate binding | |
| CN117826619B (en) | Extraterrestrial celestial body detection soft landing multimachine reference correction and ground simulation system and method | |
| Olivares-Mendez et al. | Establishing a Multi-Functional Space Operations Emulation Facility: Insights from the Zero-G Lab |
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 |