CN116534294A - Satellite platform system for gravitational wave semi-physical experiment and control method thereof - Google Patents
Satellite platform system for gravitational wave semi-physical experiment and control method thereof Download PDFInfo
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Abstract
The invention discloses a satellite platform system for a gravitational wave semi-physical experiment and a control method thereof. The system can realize high-precision temperature control, magnetic field measurement, self-attraction adjustment and multi-degree-of-freedom drag-free control, simulate the on-orbit running state of a satellite, can complete the coupling between an inertial sensor and a satellite platform and the coupling experiment between a laser interferometry system and the satellite platform, provides an ultra-clean ultra-precise ultra-stable satellite experiment platform for detecting space attraction waves, and greatly reduces the detection risk and cost.
Description
Technical Field
The invention relates to the field of space gravitational waves, in particular to a satellite platform system for gravitational wave semi-physical experiments and a control method thereof.
Background
When space gravitational wave detection is carried out, in order to realize high system sensitivity, the influence of the satellite platform on a load measurement result needs to be overcome, so that the satellite platform with ultra-clean, ultra-precise and ultra-stable needs to be designed. Considering the coupling between the subsystems of the space gravitational wave detection system, such as the coupling between an inertial sensor and a satellite platform, the coupling between a laser interferometry system and the satellite platform, the coupling between the inertial sensor and the laser interferometry system and the like, far exceeds the traditional spacecraft system, the negligible subsystem coupling influence in the traditional spacecraft system is caused, and the coupling influence is considered in the simulation of the space gravitational wave detection system. In order to ensure the smooth implementation of the space gravitational wave detection task and reduce the task cost and risk, a targeted study is necessary to be applied to a semi-physical simulation satellite platform of the space gravitational wave detection system. The existing space gravitational wave detection semi-physical experiment is concentrated on the aspects of satellite constellation establishment, drag-free control system design simulation and load semi-physical experiment verification, and the design of a satellite platform for a ground semi-physical experiment of a space gravitational wave detection task is not yet found.
The space gravitational wave detection task provides unprecedented ultra-high precision requirements for laser interferometry precision, attitude pointing control precision, residual acceleration noise of inspection quality, temperature control precision in a key load area and the like among space gravitational wave detectors, so that the semi-physical simulation technology applicable to the traditional spacecraft system cannot be directly applied to the semi-physical simulation experiment of the space gravitational wave detection system. In the present stage, the dynamics of the distributed satellite system, the control ground semi-physical simulation and the inspection quality ground semi-physical simulation are more researched, but the space gravitational wave detector system ground semi-physical simulation platform for comprehensively inspecting quality, forming satellite postures, forming satellite orbit control and laser link control is not available. Therefore, a ground equivalent ultra-clean ultra-precise ultra-stable semi-physical experimental satellite platform needs to be designed, and the coupling influence among subsystems is verified.
Disclosure of Invention
The invention aims to provide a satellite platform system and a system control method for a gravitational wave semi-physical experiment, so as to solve the problems in the background art.
In order to achieve the above object, a first aspect of the present invention provides a satellite platform system for a gravitational wave semi-physical experiment, including a dynamics simulation system, a self-attraction force adjusting system, a non-dragging motion simulation platform and a satellite platform, wherein the dynamics simulation system is located outside a vacuum tank, and the self-attraction force adjusting system, the non-dragging motion simulation platform and the satellite platform are located inside the vacuum tank;
the dynamic simulation system comprises an attitude and orbit control dynamic simulator and an attitude and orbit control single machine interface simulation device, and is used for outputting high-precision attitude and orbit information of a satellite in real time, and taking coupling among systems into consideration, including coupling between a satellite platform and a check quality, coupling between the satellite platform and an interferometry system, and coupling between the check quality and the interferometry system;
the self-gravitation adjusting system is a set of wide guide rail type self-gravitation adjusting component, and the mass block is moved to a proper position by utilizing a stepping motor, so that nano-level adjustable self-gravitation can be provided;
the non-dragging motion simulation platform is constructed by adopting six-degree-of-freedom piezoelectric ceramics, simulates five-degree-of-freedom motions of two linear directions non-friction translation and three-degree-of-freedom rotation in the horizontal plane of the in-orbit satellite, and counteracts the influence of gravity on the satellite platform;
the satellite platform integrates a magnetic field measurement system, a high-precision temperature control system, a non-dragging load computer and a core cabin, and realizes magnetic field measurement and temperature control of the core cabin and non-dragging control of a satellite.
Further, the satellite platform comprises a magnetic field measurement system, a high-precision temperature control system, a computer without dragging load and a core cabin;
the magnetic field measurement system is used for collecting magnetic field information of the core cabin, and deducting magnetic field and fluctuation interference from the model during later data processing and analysis;
the high-precision temperature control system is used for controlling the temperature of the core cabin in a load required range, and adopts a mode of active and passive combination: the active temperature control utilizes a high-precision temperature controller to realize the preliminary inhibition of external complex thermal disturbance; the passive temperature control aspect adopts a multistage thermal damping method, and mK-level control of key components is realized by constructing a low-pass filter aiming at thermal noise;
the non-dragging load computer is a physical platform for running a non-dragging control algorithm, and provides software and hardware support for realizing the non-dragging control algorithm;
the core cabin is of an independent design and is used for integrally mounting a main load, wherein the main load comprises a high-precision inertial sensor, an optical reference plate and a main secondary mirror.
Further, the magnetic field measurement system consists of a plurality of magnetometers and supporting brackets, a plurality of ground magnetometers are arranged in each satellite core cabin, a ground magnetometer A is arranged outside each satellite cabin and in the vacuum tank, and a ground magnetometer B is arranged at a position far away from the vacuum tank and used for monitoring errors caused by magnetism induction and geomagnetic field fluctuation of the vacuum tank to the in-cabin magnetometers.
Furthermore, the high-precision temperature control system consists of a platinum resistance temperature measurement module and a system management and control module, and the PID algorithm is adopted to realize the precise temperature control, so that the temperature acquisition value is controlled within the range of +/-0.1 ℃.
Further, the drag-free load computer comprises a hardware platform development board, a Linux operating system and load management software: the hardware platform development board is used for functional verification of the processor; the Linux operating system is used for meeting the complex multi-interface communication requirement; the load management software uses a multi-core design and is used for realizing high-degree-of-freedom time sequence manipulation for the management of computer peripheral equipment and on-board single-machine equipment.
Furthermore, the main load is arranged at the central position of the inner part of the core cabin, the cabin body of the core cabin is made of light materials to form a closed temperature control space, and the outer part of the main load is connected with the main structure of the platform cabin through multi-point heat insulation.
Furthermore, the inside and outside of the cabin board of the core cabin are designed through multistage thermal control, so that the realization of the internal high-precision temperature control is ensured.
Further, the core cabin comprises an inertial sensor, a laser interferometer and a torsion balance interface for suspending the inertial sensor;
the laser interferometer comprises an optical signal delay unit and a wavefront simulation unit, and is used for simulating time and space problems caused by the delay of millions of kilometers in space;
the inertial sensor comprises a suspended test mass, a capacitive sensing and electrostatic drive system for measuring displacement of the test mass relative to the satellite body as input to a displacement drag-free controller.
Further, the electrostatic driving system is used as an actuating mechanism of the suspension controller to control the relative positions of other degrees of freedom of the test mass blocks relative to the satellite body.
Another aspect of the present invention provides a satellite platform system control method for a gravitational wave semi-physical experiment, including the steps of:
step 1, measuring displacement information between two satellites by a laser interferometer, and measuring mass block angle, angular acceleration, displacement and linear acceleration information by an inertial sensor;
step 2, measuring the angle, angular acceleration, displacement and linear acceleration information of the satellite platform by using the non-dragging motion simulation platform;
step 3, outputting control force and moment required by the satellite and electrostatic driving force of the inertial sensor through the designed non-dragging controller by the non-dragging load computer according to the measurement information of the step 1 and the step 2;
step 4, controlling the movement of the mass block by the inertial sensor electrostatic driving system according to the calculation result in the step 3;
step 5, according to the calculation result in the step 3, the control force and moment required by the satellite are output through the thruster model and then the satellite is subjected to the environmental interference to act on the satellite dynamics model together, so that the satellite generates corresponding displacement and rotation angle;
step 6, the control system of the non-dragging motion simulation platform converts the input quantity into voltage information and outputs the voltage information to the non-dragging motion simulation platform, and the motion of the satellite platform is controlled through the non-dragging motion simulation platform;
step 7, during closed-loop control, the high-precision temperature control system controls the temperature of the core cabin to be in a load required range, and the magnetic field measurement system acquires magnetic field information of the core cabin;
and 8, simulating the self-attraction interference of the outside on the inertial sensor through a self-attraction adjusting system, and verifying the influence of the self-attraction change on the load and the drag-free control.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the system can realize high-precision temperature control, magnetic field measurement, self-attraction adjustment and multi-degree-of-freedom drag-free control, simulate the on-orbit running state of a satellite, can complete the coupling between an inertial sensor and a satellite platform and the coupling experiment between a laser interferometry system and the satellite platform, provides an ultra-clean ultra-precise ultra-stable satellite experiment platform for detecting space attraction waves, and greatly reduces the detection risk and cost.
Drawings
Fig. 1 is a schematic structural diagram of a satellite platform system for a gravitational wave semi-physical experiment.
Fig. 2 is a schematic diagram of a core cabin structure, wherein 1 is a core cabin body, 2 is a load housing, 3 is a laser interferometer lens barrel, 4 is a motor cage, and 5 is an optical component.
Fig. 3 is a flowchart of a satellite platform system control method for a gravitational wave semi-physical experiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in FIG. 1, the space gravitational wave semi-physical experiment system comprises a dynamics simulation system, a self-attraction adjusting system, a non-dragging motion simulation platform and a satellite platform, wherein the dynamics simulation system is positioned outside a vacuum tank, and the rest is positioned in the vacuum tank. The satellite platform comprises a magnetic field measurement system, a high-precision temperature control system, a computer without dragging load and a core cabin. The core cabin consists of an inertial sensor and a laser interferometer and is provided with a torsion balance interface for suspending the inertial sensor.
The satellite platform is used for integrating a magnetic field measurement system, a high-precision temperature control system, a non-dragging load computer and a core cabin, and realizing magnetic field measurement, temperature control and non-dragging control of satellites. The core cabin is of an independent design and is used for integrally mounting a main load, and comprises a high-precision inertial sensor, an optical reference plate, a main mirror, a secondary mirror and the like. The main load is arranged at the center of the inner part of the core cabin, so that the heat interference of other platform structures and a single machine is avoided. The core cabin body is made of light materials to form a closed temperature control space, and the outside is connected with the main structure of the platform cabin through multipoint heat insulation, so that heat conduction is reduced as much as possible. The inner and outer of the core cabin boards are designed to ensure the realization of the internal high-precision temperature control through multistage thermal control.
In order to utilize the torsion to carry out the ground high-precision self-gravitation measurement test, the core cabin structure and the inertial sensor are reserved with relevant interfaces so as to be connected with the torsion to construct a core cabin test platform.
The high-precision temperature control system adopts a mode of active and passive combination, and the active temperature control utilizes a high-precision temperature control instrument to realize the primary inhibition of external complex thermal disturbance; the passive temperature control aspect adopts a multistage thermal damping method, and mK-level control of key components is realized by constructing a low-pass filter aiming at thermal noise.
The high-precision temperature control instrument is divided into three modules according to functions, namely a platinum resistance temperature measurement module 1, a platinum resistance temperature measurement module 2 and a system management and control module. The platinum resistance temperature measuring module 1 and the platinum resistance temperature measuring module 2 are identical modules, and only the module codes are different. The system management and control module is defined as a main node module in the equipment, the platinum resistance temperature measurement module 1 and the platinum resistance temperature measurement module 2 are slave nodes in the equipment, and data transmission is carried out between the three modules through internal CAN bus communication. And accurate temperature control is realized by adopting a PID algorithm, so that the temperature acquisition value is controlled within the range of +/-0.1 ℃ of the set value.
The core cabin is simplified into a multi-stage thermal damping system, and two factors influencing the temperature stability of the core temperature control single machine are respectively heat capacity C and thermal resistance R. According to a multistage temperature control theory, thermal resistance among layers is designed on the basis of an existing structural model, and the thermal resistance mainly comprises radiation thermal resistance and contact thermal resistance. The temperature uniformity of each stage is enhanced, and the inner surface of each stage adopts a coating with larger emissivity, which is generally black paint or blackening treatment. The thermal contact resistance mainly refers to thermal resistance generated when heat is transferred between parts of each level through contact. Because the contact heat transfer quantity is usually larger, the contact thermal resistance is increased as much as possible in the design process, and the glass fiber reinforced plastic with lower heat conductivity is adopted in the scheme by adopting a heat insulation installation mode.
The non-dragging load computer is a physical platform for running a non-dragging control algorithm, provides software and hardware support for realizing the non-dragging control algorithm, and mainly comprises a hardware platform development board, a Linux operating system and load management software.
The hardware platform development board is used for functional verification of the processor. The Linux operating system is used for meeting the complex multi-interface communication requirements. The load management software uses a multi-core design and is used for realizing high-degree-of-freedom time sequence manipulation for the management of computer peripheral equipment and on-board single-machine equipment.
A magnetic field measurement system is arranged in the satellite core cabin, and magnetic field and fluctuation interference can be deducted from a model during later data processing and analysis. Each set of measuring system consists of a plurality of magnetometers and supporting brackets. A plurality of ground magnetometers are arranged in each satellite core cabin, meanwhile, a ground magnetometer A is arranged outside each satellite cabin and in the vacuum tank, and a ground magnetometer B is arranged at a position far away from the vacuum tank and used for monitoring errors caused by magnetic induction and geomagnetic field fluctuation of the vacuum tank to the in-cabin magnetometers.
A self-attraction adjusting mechanism is arranged in the vacuum tank to provide adjustable self-attraction of nanometer level. The self-gravitation adjusting mechanism is a set of wide guide rail type self-gravitation adjusting assembly, and the function of moving the mass block to a proper position is realized by utilizing a stepping motor.
The dynamic simulation system outputs the high-precision attitude and orbit information of the satellite in real time, and meanwhile, the coupling between the systems, such as the coupling between a satellite platform and a check mass, the coupling between the satellite platform and an interferometry system, the coupling between the check mass and the interferometry system, and the like, needs to be considered. The system comprises a gesture track control dynamics simulator and gesture track control single machine interface simulation equipment.
The laser interferometer introduces an optical signal delay unit and a wavefront simulation unit to simulate the time and space problems caused by the delay of millions of kilometers in space.
The inertial sensor comprises a suspended test mass block, a capacitance sensor and an electrostatic driving system, the displacement of the test mass block relative to the satellite body can be measured, the displacement is used as the input of a displacement drag-free controller, and the electrostatic driving system is used as the actuating mechanism of a suspension controller to control the horizontal displacement (1 degree of freedom) and the rotation direction gesture (3 degrees of freedom) of the test mass block relative to the satellite body.
The non-dragging motion simulation platform is constructed by adopting six-degree-of-freedom piezoelectric ceramics, simulates five-degree-of-freedom motion of an in-orbit satellite, and comprises two linear directions in a horizontal plane, non-friction translation and three-degree-of-freedom rotation, and additionally, the influence of gravity on the satellite platform is counteracted.
A flow chart of a control method of the satellite platform system for the gravitational wave semi-physical experiment is shown in fig. 3. The specific closed-loop control flow is as follows:
(1) The method comprises the steps that a laser interferometer measures displacement information between two satellites, and an inertial sensor measures angle, angular acceleration, displacement and linear acceleration information of a mass block;
(2) The method comprises the steps that the non-dragging motion simulation platform measures the angle, angular acceleration, displacement and linear acceleration information of the satellite platform;
(3) The non-dragging load computer outputs the control force and moment required by the satellite and the electrostatic driving force of the inertial sensor through the designed non-dragging controller according to the measurement information of the components (1) and (2);
(4) Controlling the movement of the mass block by the inertial sensor electrostatic driving system according to the calculation result of the step (3);
(5) According to the calculation result of the step (3), the control force and moment required by the satellite are output through the thruster model and then are jointly acted on the satellite dynamics model by the environmental interference received by the satellite, so that the satellite generates corresponding displacement and rotation angle;
(6) The displacement and the rotation angle of the satellite are realized through a non-dragging motion simulation platform, the simulation platform control system converts the input quantity into voltage information and outputs the voltage information to the non-dragging motion simulation platform, and the motion of the satellite platform is controlled through the simulation platform;
(7) During closed-loop control, the high-precision temperature control system controls the temperature of the core cabin to be in a load required range, and the magnetic field measurement system acquires magnetic field information of the core cabin;
(8) The self-gravitation interference of the outside to the inertial sensor is simulated through the self-gravitation regulating system, and the influence of the self-gravitation change on the load and the drag-free control is verified.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The satellite platform system for the gravitational wave semi-physical experiment is characterized by comprising a dynamics simulation system, a self-attraction adjusting system, a non-dragging motion simulation platform and a satellite platform, wherein the dynamics simulation system is positioned outside a vacuum tank, and the self-attraction adjusting system, the non-dragging motion simulation platform and the satellite platform are positioned in the vacuum tank;
the dynamic simulation system comprises an attitude and orbit control dynamic simulator and an attitude and orbit control single machine interface simulation device, and is used for outputting high-precision attitude and orbit information of a satellite in real time, and taking coupling among systems into consideration, including coupling between a satellite platform and a check quality, coupling between the satellite platform and an interferometry system, and coupling between the check quality and the interferometry system;
the self-gravitation adjusting system is a set of wide guide rail type self-gravitation adjusting component, and the mass block is moved to a proper position by utilizing a stepping motor, so that nano-level adjustable self-gravitation can be provided;
the non-dragging motion simulation platform is constructed by adopting six-degree-of-freedom piezoelectric ceramics, simulates five-degree-of-freedom motions of two linear directions non-friction translation and three-degree-of-freedom rotation in the horizontal plane of the in-orbit satellite, and counteracts the influence of gravity on the satellite platform;
the satellite platform integrates a magnetic field measurement system, a high-precision temperature control system, a non-dragging load computer and a core cabin, and realizes magnetic field measurement and temperature control of the core cabin and non-dragging control of a satellite.
2. The satellite platform system for gravitational wave semi-physical experiments of claim 1, wherein the satellite platform comprises a magnetic field measurement system, a high precision temperature control system, a drag-free load computer and a core cabin;
the magnetic field measurement system is used for collecting magnetic field information of the core cabin, and deducting magnetic field and fluctuation interference from the model during later data processing and analysis;
the high-precision temperature control system is used for controlling the temperature of the core cabin in a load required range, and adopts a mode of active and passive combination: the active temperature control utilizes a high-precision temperature controller to realize the preliminary inhibition of external complex thermal disturbance; the passive temperature control aspect adopts a multistage thermal damping method, and mK-level control of key components is realized by constructing a low-pass filter aiming at thermal noise;
the non-dragging load computer is a physical platform for running a non-dragging control algorithm, and provides software and hardware support for realizing the non-dragging control algorithm;
the core cabin is of an independent design and is used for integrally mounting a main load, wherein the main load comprises a high-precision inertial sensor, an optical reference plate and a main secondary mirror.
3. The satellite platform system for the gravitational wave semi-physical experiment according to claim 2, wherein the magnetic field measurement system consists of a plurality of magnetometers and supporting brackets, a plurality of ground magnetometers are arranged in each satellite core cabin, a ground magnetometer A is arranged outside each satellite cabin and in a vacuum tank, and a ground magnetometer B is arranged far from the vacuum tank and used for monitoring errors caused by magnetization of the vacuum tank and geomagnetic field fluctuation on the magnetometers in the cabin.
4. The satellite platform system for the gravitational wave semi-physical experiment according to claim 2, wherein the high-precision temperature control system consists of a platinum resistance temperature measurement module and a system management and control module, and the accurate temperature control is realized by adopting a PID algorithm, so that the temperature acquisition value is controlled within a range of +/-0.1 ℃.
5. The satellite platform system for gravitational wave semi-physical experiments of claim 2, wherein the drag-free loading computer comprises a hardware platform development board, a Linux operating system, and load management software: the hardware platform development board is used for functional verification of the processor; the Linux operating system is used for meeting the complex multi-interface communication requirement; the load management software uses a multi-core design and is used for realizing high-degree-of-freedom time sequence manipulation for the management of computer peripheral equipment and on-board single-machine equipment.
6. The satellite platform system for the gravitational wave semi-physical experiment according to claim 2, wherein the main load is arranged at the inner center of the core cabin, the core cabin body is made of light materials to form a closed temperature control space, and the outer part of the core cabin body is connected with the main structure of the platform cabin through multi-point heat insulation.
7. The satellite platform system for the gravitational wave semi-physical experiment according to claim 6, wherein the inner and outer sides of the cabin board of the core cabin are designed to ensure the realization of internal high-precision temperature control through multistage thermal control.
8. The satellite platform system for gravitational wave semi-physical experiments of claim 6, wherein the core compartment includes an inertial sensor, a laser interferometer, and a torsion balance interface suspending the inertial sensor;
the laser interferometer comprises an optical signal delay unit and a wavefront simulation unit, and is used for simulating time and space problems caused by the delay of millions of kilometers in space;
the inertial sensor comprises a suspended test mass, a capacitive sensing and electrostatic drive system for measuring displacement of the test mass relative to the satellite body as input to a displacement drag-free controller.
9. The satellite platform system for gravitational wave semi-physical experiments of claim 8, wherein the electrostatic drive system acts as an actuator of the levitation controller to control the relative position of the test mass with respect to the satellite body in other degrees of freedom.
10. The satellite platform system control method for the gravitational wave semi-physical experiment is characterized by comprising the following steps of:
step 1, measuring displacement information between two satellites by a laser interferometer, and measuring mass block angle, angular acceleration, displacement and linear acceleration information by an inertial sensor;
step 2, measuring the angle, angular acceleration, displacement and linear acceleration information of the satellite platform by using the non-dragging motion simulation platform;
step 3, outputting control force and moment required by the satellite and electrostatic driving force of the inertial sensor through the designed non-dragging controller by the non-dragging load computer according to the measurement information of the step 1 and the step 2;
step 4, controlling the movement of the mass block by the inertial sensor electrostatic driving system according to the calculation result in the step 3;
step 5, according to the calculation result in the step 3, the control force and moment required by the satellite are output through the thruster model and then the satellite is subjected to the environmental interference to act on the satellite dynamics model together, so that the satellite generates corresponding displacement and rotation angle;
step 6, the control system of the non-dragging motion simulation platform converts the input quantity into voltage information and outputs the voltage information to the non-dragging motion simulation platform, and the motion of the satellite platform is controlled through the non-dragging motion simulation platform;
step 7, during closed-loop control, the high-precision temperature control system controls the temperature of the core cabin to be in a load required range, and the magnetic field measurement system acquires magnetic field information of the core cabin;
and 8, simulating the self-attraction interference of the outside on the inertial sensor through a self-attraction adjusting system, and verifying the influence of the self-attraction change on the load and the drag-free control.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116795004A (en) * | 2023-08-28 | 2023-09-22 | 国科大杭州高等研究院 | Micro thruster semi-physical simulation system and method |
| CN117806185A (en) * | 2024-02-28 | 2024-04-02 | 华中科技大学 | Physical simulation verification device for space gravitational wave detection satellite formation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116795004A (en) * | 2023-08-28 | 2023-09-22 | 国科大杭州高等研究院 | Micro thruster semi-physical simulation system and method |
| CN116795004B (en) * | 2023-08-28 | 2023-12-15 | 国科大杭州高等研究院 | Micro thruster semi-physical simulation system and method |
| CN117806185A (en) * | 2024-02-28 | 2024-04-02 | 华中科技大学 | Physical simulation verification device for space gravitational wave detection satellite formation |
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