CN117806185A - Physical simulation verification device for space gravitational wave detection satellite formation - Google Patents
Physical simulation verification device for space gravitational wave detection satellite formation Download PDFInfo
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Abstract
The application belongs to spacecraft ground test technical field, specifically discloses a space gravitational wave detection satellite formation physical simulation verifying device, includes: the digital simulation system is used for simulating and calculating the position and posture of the three space satellites for detecting the gravitational wave and the disturbance information of the external environment and sending the disturbance information to the ground console; the ground control console is used for receiving the information sent by the digital simulation system, scaling the received information in equal proportion and then sending corresponding control instructions to the three satellite simulators; the three satellite simulators are used for simulating the position and the posture of the three space satellites and the disturbance of the external environment according to the received control instruction of the ground console so as to simulate the detection performance of the three gravitational wave detection satellites when the three gravitational wave detection satellites are disturbed by the external environment; the air suspension system is used for bearing three satellite simulators and providing a micro-low damping motion environment simulating space for the three satellite simulators. The physical simulation verification can be carried out on the performance of space gravitational wave detection satellite formation through the method and the device.
Description
Technical Field
The application belongs to the technical field of spacecraft ground tests, and particularly relates to a physical simulation verification device for space gravitational wave detection satellite formation.
Background
Analyzing gravitational wave signals provides a brand new window for researching universe, wherein gravitational waves with the most widely distributed millihertz frequency band are the main flow direction of future gravitational wave detection. The detection has the highest sensitivity when the gravitational wave detector arm length is close to the gravitational wave wavelength. In order to detect gravitational waves in the millihertz range, gravitational wave detectors are typically designed with arm lengths up to hundreds of thousands of kilometers or even millions of kilometers. Because of the limitations of the geographic environment of the earth, gravitational wave detectors often need to be deployed in space for operation, known as space gravitational wave detectors. Spatial gravitational wave detection is to measure the change in distance between inertial references by laser interferometry, thereby detecting gravitational wave signals.
At present, a series of space gravitational wave detection plans are proposed at home and abroad, such as laser interference space antennas (Laser Interferometer Space Antenna, LISA), tianQin and the like. These spatial gravitational wave detection plans are each formed by three satellites that form an equilateral triangle. However, the relative positions of the three satellites are easy to change due to the disturbance of the space environment, and the measurement of laser interferometry is affected. In addition, there is coupling between the orbit control and attitude control of the satellite, the satellite attitude control and the inter-satellite laser tracking pointing control, so that the detection of the spatial gravitational wave faces many uncertain factors. In order to reduce the task risk, it is necessary to perform physical simulation verification on the inter-satellite laser capturing, tracking and pointing control and ranging performance of the space gravitational wave detection satellite formation in a ground environment.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a physical simulation verification device for formation of a space gravitational wave detection satellite, which aims to solve the problem of how to develop physical simulation and verification on inter-satellite laser capturing, tracking and pointing control and ranging performance of the gravitational wave detection satellite with a laser interferometer in a ground environment.
In order to achieve the above object, the present application provides a physical simulation verification device for space gravitational wave detection satellite formation, including: the system comprises a digital simulation system, a ground console, three satellite simulators, a vision measurement system and an air suspension system;
the digital simulation system is used for simulating and calculating the position and posture of three space satellites for detecting the gravitational wave and the disturbance information of the external environment, and sending the information to the ground console;
the ground console is used for receiving the information sent by the digital simulation system, scaling the received information in equal proportion and then sending corresponding control instructions to the three satellite simulators;
the three satellite simulators are used for simulating the position and the posture of the three space satellites and the disturbance of the external environment according to the received control instruction of the ground console so as to simulate the detection performance of the three gravitational wave detection satellites when the three gravitational wave detection satellites are disturbed by the external environment;
the air suspension system is used for bearing the three satellite simulators and providing a space-simulating micro-low damping motion environment for the three satellite simulators.
It can be understood that the attitude and orbit information and the environmental disturbance information of the gravitational wave detection satellite are calculated in a digital simulation mode; secondly, sending the result of the numerical calculation to a ground console; the ground console transmits the numerical attitude and orbit information and the environmental disturbance information of the gravitational wave detection satellite to the satellite simulator after scaling in an equal ratio; and then, under the micro low damping motion environment provided by the high-pressure air suspension technology, performing physical simulation verification on inter-satellite laser capturing, tracking and pointing control of a satellite simulator with a laser interferometer, and finally verifying the ranging performance. And the physical simulation verification of space gravitational wave detection satellite formation under the ground environment is realized.
In an alternative example, the apparatus further comprises: and the vision measurement system is used for measuring the positions and the postures of the three satellite simulators, realizing real-time tracking and positioning of the movements of the satellite simulators and feeding back the tracking and positioning results to the ground console.
In an alternative example, the digital simulation system includes:
the space environment disturbance simulation module is used for simulating and calculating external environment disturbance parameters of three space satellites;
the attitude and orbit simulation module is used for realizing orbit and attitude recursion of three space satellites by using an integrator;
the attitude and orbit measurement error and noise simulation module is used for simulating the orbit positions of the three space satellites and the measurement errors of the satellite attitudes;
the gesture and drag-free controller simulation module is used for controlling the position and gesture of the three space satellites and realizing drag-free control in a given direction;
and the micro-bovine thruster simulation module is used for carrying out drag-free control on three space satellites under the condition of considering the actual working resolution of the thruster.
In an alternative example, each satellite simulator includes: a satellite platform and a laser interferometer platform;
the satellite platform is used for simulating the position and the posture of a space satellite and the disturbance of the external environment;
the laser interferometer platform comprises two laser interferometers, and the laser emergent directions of the two laser interferometers are at preset angles;
the laser interferometer platform is used for measuring the distance change between the satellite simulators for the other two satellite simulators in a laser interferometry mode so as to simulate gravitational wave detection.
In an alternative example, the satellite platform includes: the air source assembly, the inertia measurement assembly, the cold air propulsion assembly and the control calculation assembly;
the air source assembly is used for storing and releasing compressed air in the cold air propulsion assembly;
the cold air propulsion components are distributed around the satellite simulator to control the satellite simulator to move in two translational degrees of freedom and one rotational degree of freedom according to storage and release of compressed air, so that the three degrees of freedom are moved in a plane where the three satellite simulators are located, the posture of the satellite simulator is controlled, and external environment disturbance suffered by the satellite simulator is simulated;
the inertial measurement component is used for measuring inertial information of the satellite simulator; the inertial information includes: linear acceleration and angular velocity information;
the control calculation component is used for receiving the pose information of the satellite simulator measured by the vision measurement system and the inertial information of the satellite simulator measured by the inertial measurement component, calculating the driving information of the pose of the satellite and sending a control command to the cold air propulsion component.
In an alternative example, the laser interferometer stage comprises: a responsive laser interferometry system and a beam capturing tracking and pointing system;
the response type laser interferometry system is used for measuring the distance change between the two satellite simulators through response type laser interferometry technology based on the laser interference link;
the beam capturing tracking and pointing system is used for measuring the angle difference between the emitted light and the incident light based on the wavefront differential sensing technology of the emitted light and the incident light of the laser interferometer, and the angle of the emitted light is adjusted through the rapid deflection mirror of the flexible hinge mechanical structure so as to be overlapped with the incident laser, so that a laser interference link is established.
In an alternative example, the gas suspension system includes: a plurality of air bearing thrust bearings and a fixed platform;
the plurality of air-float thrust bearings are arranged on each satellite simulator, and the bottom of each air-float thrust bearing is provided with a plurality of air holes;
compressed gas in the gas source component in the satellite platform is released from the gas hole at the bottom of the air-float thrust bearing through the pressure reducing valve, so that a gas film is formed at the bottom of the air-float thrust bearing and the surface of the fixed platform, and the satellite simulator is suspended on the surface of the fixed platform.
In an alternative example, the gas source assembly includes: a plurality of high-pressure gas cylinders, inflation valves, switching valves, pressure reducing valves, electromagnetic valves, air pressure sensors and gas pipelines;
the plurality of high-pressure gas cylinders are uniformly distributed at the middle lower part of the satellite simulator;
the high-pressure gas cylinders are connected in parallel to form a high-pressure gas path, and the high-pressure gas path is connected with the inflation valve through the switching valve and is used for inflating the high-pressure gas cylinders by the external inflation device; the high-pressure air path is connected with the electromagnetic valve through the pressure reducing valve and is used for generating continuous controllable reaction thrust to the cold air propeller; the high-pressure gas path is connected with an air floatation thrust bearing of the air suspension system through a pressure reducing valve and is used for generating a high-rigidity gas film;
each gas pipeline is provided with a pressure sensor for pressure monitoring.
In an alternative example, the inertial measurement assembly includes: acceleration sensor and gyroscope.
In an alternative example, the satellite simulator performs three degrees of freedom motion on a fixed platform of the air levitation system according to control instructions of a ground console;
after the satellite simulators are adjusted to have three degrees of freedom, the laser interferometer platform on the satellite simulators is used for carrying out capturing, tracking and pointing control on laser, and laser interferometry is carried out on the other two satellite simulators;
the satellite simulator sends the laser interferometry result to a ground console;
the ground control console optimizes and improves attitude and orbit control of the satellite simulator, laser capturing, tracking and pointing control of the laser interferometer platform and ranging performance of the laser interferometer platform according to laser interferometry results and tracking and positioning results of the three satellite simulators.
In general, compared with the prior art, the above technical solutions conceived by the present application have the following beneficial effects:
the utility model provides a space gravitational wave detection satellite formation physical simulation verification device, based on Yu Yinli wave detection space satellite's appearance orbit information and environmental disturbance information, based on this basis simulate the little low resistance motion environment of outer space based on high-pressure gas suspension technique to realize the full physical simulation verification of gravitational wave satellite formation dynamics on the ground. The position and posture information of the satellite simulator is measured by adopting a vision measurement system, so that the position and posture information of the satellite in the measurement space of the global navigation satellite system and the star sensor are simulated more truly; meanwhile, the cold air thrusters are tangentially distributed along the rotation axis line of the satellite simulator, and the combination can not only generate force but also generate moment, so that the movement of the satellite simulator on the marble platform with three degrees of freedom is satisfied. The air suspension system of each satellite simulator is provided with four air suspension thrust bearings, so that the load carrying capacity can be improved, and the requirement that other loads to be physically verified are additionally arranged on the satellite simulator for subsequent tasks is met.
The device provided by the application can carry out physical simulation verification on the inter-satellite laser capturing, tracking and pointing control and ranging performance of the space gravitational wave detection satellite formation. The influence of space environment disturbance, satellite orbit control and attitude control coupling, satellite attitude control and inter-satellite laser tracking pointing control coupling on laser interferometry can be effectively evaluated. The method has important significance and wide application prospect in reducing task risks and optimizing space gravitational wave satellite formation design.
Drawings
Fig. 1 is a schematic diagram of a physical simulation verification device for space gravitational wave detection satellite formation provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of the working principle of the digital simulation system provided in the implementation of the present application;
FIG. 3 is a schematic diagram of a satellite simulator provided in the practice of the present application;
FIG. 4 is a schematic diagram of a gas source assembly of a satellite simulator provided in accordance with an embodiment of the present application;
FIG. 5 is a bottom view of a satellite simulator provided in accordance with an embodiment of the present application;
FIG. 6 is a top view of a satellite simulator formation provided by an implementation of the present application;
fig. 7 is a schematic diagram of a working flow of a space gravitational wave detection satellite formation simulation control simulation device according to the embodiment of the present application.
Detailed Description
For convenience of understanding, the following description will explain and describe english abbreviations and related technical terms related to the embodiments of the present application.
Embodiments of the present application are described below with reference to the accompanying drawings in the embodiments of the present application.
The utility model aims to provide a physical simulation verification device for space gravitational wave detection satellite formation, which is used for carrying out physical simulation and verification on the control and ranging performance of inter-satellite laser capturing, tracking and pointing of gravitational wave detection satellites with laser interferometers under the ground environment. Aiming at the high-precision laser pointing control requirement of gravitational wave detection satellite formation, the method calculates attitude and orbit information and disturbance information of gravitational wave detection satellites in a digital simulation mode; secondly, sending the digital calculation result to a ground control console, and sending the information to a satellite simulator after the ground control console is scaled in an equal ratio; then under the micro low damping motion environment provided by the high-pressure air suspension technology, a satellite simulator with a laser interferometer is used for carrying out physical simulation verification on control of inter-satellite laser capturing, tracking and pointing, and finally verifying the ranging performance.
Specifically, aiming at the requirement that high-precision laser pointing control is needed for space gravitational wave detection satellite formation, numerical attitude and orbit information and environmental disturbance information of gravitational wave detection satellites are calculated in a digital simulation mode; secondly, sending the result of the numerical calculation to a ground console; the ground console transmits the numerical attitude and orbit information and the environmental disturbance information of the gravitational wave detection satellite to the satellite simulator after scaling in an equal ratio; and then, under the micro low damping motion environment provided by the high-pressure air suspension technology, performing physical simulation verification on inter-satellite laser capturing, tracking and pointing control of a satellite simulator with a laser interferometer, and finally verifying the ranging performance. And the physical simulation verification of space gravitational wave detection satellite formation under the ground environment is realized.
As shown in fig. 1, an embodiment of the present application proposes a physical simulation verification device for space gravitational wave detection satellite formation, the device includes: digital simulation system, ground console, satellite simulator, vision measurement system and air suspension system.
The digital simulation system is used for setting different space environments and satellite parameters, and calculating attitude and orbit information and environment disturbance information of satellite values through the values;
the ground console simulates a telemetering command center and is used for setting an experimental scheme, sending a simulator control command and receiving and displaying simulator state information;
three identical satellite simulators, which are used for simulating three satellites of gravitational wave detection;
the vision measurement system simulates a global navigation satellite system and a star sensor and is used for measuring the position and posture information of a satellite simulator;
the air suspension system is used for simulating a space micro-low damping motion environment; and
the five systems carry out data transmission in a wireless mode in a local area network consisting of routers.
The embodiment of the application provides a physical simulation verification device for space gravitational wave detection satellite formation, which mainly aims to provide a full-physical simulation device for solving the problem of physical simulation and verification of inter-satellite laser capturing, tracking and pointing control and ranging performance of gravitational wave detection satellites with laser interferometers in a ground environment.
As shown in fig. 1, the local area network constructed by the wireless router forms a communication network, and the information communication among the digital simulation system, the ground console, each satellite simulator and the vision measurement system is connected through WIFI.
As shown in fig. 2, the marble platform carrying the air suspension system can achieve the purpose of reducing the influence of gravity through adjustment of flatness and levelness. The flatness of the optimized marble platform is better than that of the marble platformLevelness is better thanThe gravity-generated sliding force is less than +.>. Can meet the requirement that each satellite simulator performs +.>Slightly low damping floating motion within an area. The number of the marble platforms is three, and the distance between the center points of the marble platforms is +.>. The three marble planes are positioned at the same height and are used for simulating a space orbit plane formed by formation of the space gravitational wave detection satellite.
As shown in fig. 2, the digital simulation system is composed of five parts, namely a space environment disturbance simulation module, a gesture and track measurement error/noise simulation module, a gesture and drag-free controller simulation module and a micro-cow-level thruster simulation module. The space environment disturbance simulation module is used for realizing calculation of earth gravity, solar pressure, atmospheric resistance, solar attraction and even micro-meteor impact; the gesture and track simulation module realizes track and gesture recursion by using an integrator; the attitude and orbit measurement error/noise simulation module realizes the simulation of the global navigation satellite system on the measurement error of the orbit position and the satellite sensor on the satellite attitude; the gesture and drag-free control module is used for realizing gesture control on sun/earth/relative pointing, realizing drag-free control in a given direction and giving a control strategy under the layout of a given thruster; the micro-bovine thruster simulation module gives actual drag-free control under the consideration of the actual working resolution of the thruster. The digital simulation system transmits the real attitude orbit information and the perturbation/torque information of the satellite to the ground console.
Optionally, the ground console is an information center of the whole set of simulation device, and consists of general computer hardware and special upper computer software.
Furthermore, the ground console not only needs to receive satellite attitude and orbit simulation information and space disturbance simulation information sent by the digital simulation system, but also needs to meet the requirements of control instruction sending and real-time monitoring of working states of the satellite simulator.
As shown in fig. 3, the three identical satellite simulators are each composed of a satellite platform and a laser interferometer platform. The satellite platform is a carrier of the whole satellite simulator and comprises an air source assembly, a power assembly, a communication assembly, an inertial measurement assembly, a cold air propulsion assembly and a satellite-borne computer assembly. The laser interferometer platform is a key load of the whole satellite simulator, and comprises a beam capturing tracking and pointing system and a responsive laser interferometry system.
As shown in fig. 3, the power supply assembly on the satellite platform comprises a storage battery and a power supply controller, and is used for simulating the satellite-borne battery and the power supply controller on the satellite, so as to provide power for electric equipment on the satellite simulator.
As shown in fig. 3, the inertial navigation measurement unit is composed of an acceleration sensor and a gyroscope and is used for measuring linear acceleration and angular velocity information of the satellite platform.
Optionally, the satellite simulator is the core of the whole set of simulation device and consists of a satellite platform and 2 laser interferometer platforms with 60-degree included angles. The satellite platform is a carrier of the whole satellite simulator and comprises an air source assembly, a power assembly, a communication assembly, an inertial measurement assembly, a cold air propulsion assembly and a satellite-borne computer assembly. The laser interferometer platform is a key load of the whole satellite simulator, and comprises a beam capturing tracking and pointing system and a responsive laser interferometry system.
As shown in FIG. 4, the air source assembly is a storage and release part of compressed air of the whole simulator, and comprises a high-pressure air bottle, an inflation valve, a switching valve, a pressure reducing valve, an electromagnetic valve, an air pressure sensor and an air pipeline. Four high-pressure gas cylinders are uniformly distributed in parallel at the middle lower part of the single satellite simulator. The four high-pressure gas cylinders form a high-pressure gas circuit in a parallel connection mode. The high-pressure gas path is connected with the charging valve through the switching valve and is used for charging gas into the high-pressure gas cylinder by the external charging device; the high-pressure air path is connected with the electromagnetic valve through the pressure reducing valve and is used for generating continuous controllable reaction thrust by the cold air propeller so as to simulate the pose of the space satellite and the environmental disturbance received by the space satellite; the high-pressure air path is connected with the air-float thrust bearing through the pressure reducing valve and is used for generating a high-rigidity air film. Each gas pipeline is provided with a pressure sensor for pressure monitoring.
The communication network is composed of local area networks constructed by wireless routers, and the wireless routers are used for connecting information communication among the digital simulation system, the ground console, each satellite simulator and the vision measurement system.
The inertial navigation measurement assembly consists of an acceleration sensor and a gyroscope and is used for measuring linear acceleration and angular velocity information of the satellite platform.
As shown in fig. 5, the cool air propulsion assembly is composed of a solenoid valve and a laval nozzle. Each satellite simulator is provided with 8 cold air propulsion assemblies which are distributed around the satellite simulation floating body. The input excitation of each thruster can be controlled respectively, so that the satellite simulator can move in two translational degrees of freedom and one rotational degree of freedom on the marble platform, and three degrees of freedom in a satellite formation plane can be moved.
As shown in FIG. 5, 4 identical air thrust bearings are installed at the bottom of the satellite platform, 10 air holes are formed below each air thrust bearing, after the air thrust bearings are connected with a high-pressure air cylinder through an air pipeline, a layer of high-rigidity air film can be provided between the surface of the marble platform and the satellite simulation floating body, so that the satellite simulation floating body is suspended above the marble platform, the 4 air thrust bearings not only meet the multi-degree-of-freedom motion requirement of the satellite simulation floating body, but also increase the loading capacity of the device, and a sensor and other devices can be additionally installed according to different task requirements.
As shown in fig. 6, each satellite simulator is provided with two interferometer optical platforms at an angle of 60 degrees, and the two interferometer optical platforms form a regular triangle satellite formation configuration respectively.
The control computing component is a control center of the satellite simulator and can receive pose information of the satellite simulator measured by the vision sensor; the inertial measurement module is capable of receiving inertial information of the satellite simulator measured by the inertial measurement module; the driving information of the satellite pose can be calculated, and a control command is sent to the cold air propulsion assembly.
Further, the beam capturing tracking and pointing system is based on a wavefront differential sensing technology of emitted light and incident light, the angle difference between the emitted light and the incident light is measured, and the angle of the emitted light is adjusted through a fast deflection mirror of a flexible hinge mechanical structure to coincide with the incident laser, so that a laser link is established.
After the laser interference link is established, the distance change between the two satellite simulators is measured by a responsive laser interferometry technique.
Further, the vision measurement system consists of a plurality of motion capture cameras, motion capture software and target balls. The plurality of motion capture cameras capture target balls fixed on the satellite simulator, and can accurately construct three-dimensional space position information of a rigid body formed by the target balls in real time, so that real-time tracking and positioning of the motion of the satellite simulator are realized.
As shown in fig. 7, the working flow of the space gravitational wave detection satellite formation simulation control simulation device is as follows:
step S1: the digital simulation system, the ground console, the satellite simulator, the vision measurement system are powered on and initialized. The initialized satellite simulator is controlled to the center point position of the marble platform. The ground console establishes wireless communication links with the digital simulation system, the satellite simulator and the vision measurement system respectively.
Step S2: and starting the digital simulation system, inputting space environment parameters, satellite body parameters and task parameters in the input panel, and starting software operation.
Step S3: and (2) transmitting the space gravitational wave detection satellite formation attitude and orbit expected information, the environment power and other information calculated by the digital simulation system in the step (S2) to a ground console in real time.
Step S4: the ground console calculates expected attitude and orbit information of each satellite in the three-star coplanar coordinate system and received environmental perturbation force, and sends the expected attitude and orbit information and the received environmental perturbation force to the satellite simulator after scaling in an equal ratio.
Step S5: the satellite simulator executes three-degree-of-freedom motion on the marble table according to the pose control information and the injection disturbance information of the ground console.
Step S6: and S5, on the basis that the satellite platform finishes position and attitude control, a beam pointing measurement and control system on the laser interferometer platform carries out the control of capturing, tracking and pointing of laser.
Step S7: and step S6, after the inter-satellite laser capturing, tracking and pointing control is completed to establish a laser link, performing laser interferometry.
Step S8: and observing and recording the position and posture data of the satellite simulator, the incident laser angle of the laser interferometer and the ranging tracking data displayed by the ground console software.
Step S9: the simulation effect of the simulation control simulation device for the formation of the space gravitational wave detection satellite is examined through experimental results, and satellite attitude and orbit control, laser capturing, tracking and pointing control of a laser interferometer and ranging performance of the laser interferometer are optimized and improved according to simulation results.
Because the space gravitational wave detection planning task is complex, the coordination of a plurality of systems is involved, engineering risks are high, and the verification of dynamic process, control algorithm and key load is urgently needed to be carried out on space gravitational wave detection satellite formation on the ground, in particular to the full-physical simulation verification of high-precision laser pointing control strategy and satellite-borne laser interferometer performance of the space gravitational wave detection satellite formation. However, at present, control algorithms such as a laser pointing capturing and aligning control algorithm, an attitude cooperative control strategy and the like for space gravitational wave detection satellite formation only carry out numerical verification and mathematical simulation, and it is difficult to predict and model a real space environment and time-varying disturbance suffered in the space environment.
Compared with the existing numerical simulation theory and technology, the physical simulation verification device for the formation of the space gravitational wave detection satellite can simulate the micro-low resistance motion environment of the outer space based on the high-pressure air suspension technology, so that the full physical simulation verification of the formation dynamics of the gravitational wave satellite on the ground is realized.
Compared with the physical simulation verification device for space gravitational wave detection satellite formation, the physical simulation verification device has the advantages that the position and posture information of gravitational wave detection satellite values and external environment disturbance information are calculated in a digital simulation mode, and the information is scaled and then sent to a satellite simulator. Thereby checking the control effect of inter-satellite laser tracking under the external disturbance force applied to the satellite.
The visual measurement system is adopted to measure the position and posture information of the satellite simulation floating body, so that the position and posture information of the satellite in the measurement space of the global navigation satellite system and the star sensor are simulated more truly;
meanwhile, the cold air thrusters are tangentially distributed along the rotation axis line of the satellite simulator, and the combination can not only generate force but also generate moment, so that the movement of the satellite simulator on the marble platform with three degrees of freedom is satisfied.
The air suspension system of each satellite simulator is provided with four air suspension thrust bearings, so that the load carrying capacity can be improved, and the requirement that other loads to be physically verified are additionally arranged on the satellite simulator for subsequent tasks is met.
Compared with the existing numerical simulation theory and technology, the physical simulation verification device for the formation of the space gravitational wave detection satellite can simulate the micro-low resistance motion environment of the outer space based on the high-pressure air suspension technology, so that the full physical simulation verification of the formation dynamics of the gravitational wave satellite on the ground is realized. The visual measurement system is adopted to measure the position and posture information of the satellite simulation floating body, so that the position and posture information of the satellite in the measurement space of the global navigation satellite system and the star sensor are simulated more truly; meanwhile, the cold air thrusters are tangentially distributed along the rotation axis line of the satellite simulator, and the combination can not only generate force but also generate moment, so that the movement of the satellite simulator on the marble platform with three degrees of freedom is satisfied. The air suspension system of each satellite simulator is provided with four air suspension thrust bearings, so that the load carrying capacity can be improved, and the requirement that other loads to be physically verified are additionally arranged on the satellite simulator for subsequent tasks is met.
The physical simulation verification device for space gravitational wave detection satellite formation provided by the application can improve and optimize the control algorithm and ranging performance of inter-satellite laser capturing, tracking and pointing according to experimental results.
It should be noted that, when the gravitational wave detection space satellite is disturbed by the external environment, the detection result will be affected, so that the influence of the disturbance of the external environment needs to be overcome in the aspects of pose control and algorithm calculation of the device. According to the method, the external environment disturbance is scaled on the ground in equal proportion, the pose of a space satellite is simulated, and the problems of physical simulation and verification on the inter-satellite laser capturing, tracking and pointing control and ranging performance of a gravitational wave detection satellite with a laser interferometer are solved under the ground environment. The system can effectively simulate a plurality of random challenges such as disturbance of a space environment, control coupling of each satellite orbit and attitude, control coupling of satellite attitude and inter-satellite laser tracking, and the like, has a very strong simulation demonstration verification effect, and has important significance and wide application prospect.
It is to be understood that the terms such as "comprises" and "comprising," when used in this application, specify the presence of stated features, operations, or components, and are not to be limited to one or more additional features, operations, or components. In this application, terms such as "comprising" and/or "having" are to be construed to mean that a particular feature, number, operation, constituent element, component, or combination thereof is specified, but is not to be construed to exclude the presence or addition of one or more other features, numbers, operations, constituent elements, components, or combination thereof.
Furthermore, in this application, the expression "and/or" includes any and all combinations of the words listed in association. For example, the expression "a and/or B" may include a, may include B, or may include both a and B.
In the description of the embodiments of the present application, it should be noted that, unless explicitly specified and limited otherwise, the term "connected" is to be interpreted broadly, and for example, "connected" may be either detachably connected or non-detachably connected; may be directly connected or indirectly connected through an intermediate medium. Wherein, "fixedly connected" means that the relative positional relationship is unchanged after being connected with each other. "rotationally coupled" means coupled to each other and capable of relative rotation after coupling. "slidingly coupled" means coupled to each other and capable of sliding relative to each other after being coupled. References to directional terms in the embodiments of the present application, such as "top", "bottom", "inner", "outer", "left", "right", etc., are merely with reference to the directions of the drawings, and thus, the directional terms are used in order to better and more clearly describe and understand the embodiments of the present application, rather than to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present application.
In addition, in the embodiments of the present application, the mathematical concepts mentioned are symmetrical, equal, parallel, perpendicular, etc. These definitions are all for the state of the art and not strictly defined in a mathematical sense, allowing for minor deviations, approximately symmetrical, approximately equal, approximately parallel, approximately perpendicular, etc. For example, a is parallel to B, meaning that a is parallel or approximately parallel to B, and the angle between a and B may be between 0 degrees and 10 degrees. A and B are perpendicular, which means that the angle between A and B is between 80 degrees and 100 degrees.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a space gravitational wave detection satellite formation physical simulation verifying device which characterized in that includes: the system comprises a digital simulation system, a ground console, three satellite simulators, a vision measurement system and an air suspension system;
the digital simulation system is used for simulating and calculating the position and posture of three space satellites for detecting the gravitational wave and the disturbance information of the external environment, and sending the information to the ground console;
the ground console is used for receiving the information sent by the digital simulation system, scaling the received information in equal proportion and then sending corresponding control instructions to the three satellite simulators;
the three satellite simulators are used for simulating the position and the posture of the three space satellites and the disturbance of the external environment according to the received control instruction of the ground console so as to simulate the detection performance of the three gravitational wave detection satellites when the three gravitational wave detection satellites are disturbed by the external environment;
the air suspension system is used for bearing the three satellite simulators and providing a space-simulating micro-low damping motion environment for the three satellite simulators.
2. The apparatus as recited in claim 1, further comprising: and the vision measurement system is used for measuring the positions and the postures of the three satellite simulators, realizing real-time tracking and positioning of the movements of the satellite simulators and feeding back the tracking and positioning results to the ground console.
3. The apparatus of claim 1, wherein the digital simulation system comprises:
the space environment disturbance simulation module is used for simulating and calculating external environment disturbance parameters of three space satellites;
the attitude and orbit simulation module is used for realizing orbit and attitude recursion of three space satellites by using an integrator;
the attitude and orbit measurement error and noise simulation module is used for simulating the orbit positions of the three space satellites and the measurement errors of the satellite attitudes;
the gesture and drag-free controller simulation module is used for controlling the position and gesture of the three space satellites and realizing drag-free control in a given direction;
and the micro-bovine thruster simulation module is used for carrying out drag-free control on three space satellites under the condition of considering the actual working resolution of the thruster.
4. The apparatus of claim 2, wherein each satellite simulator comprises: a satellite platform and a laser interferometer platform;
the satellite platform is used for simulating the position and the posture of a space satellite and the disturbance of the external environment;
the laser interferometer platform comprises two laser interferometers, and the laser emergent directions of the two laser interferometers are at preset angles;
the laser interferometer platform is used for measuring the distance change between the satellite simulators for the other two satellite simulators in a laser interferometry mode so as to simulate gravitational wave detection.
5. The apparatus of claim 4, wherein the satellite platform comprises: the air source assembly, the inertia measurement assembly, the cold air propulsion assembly and the control calculation assembly;
the air source assembly is used for storing and releasing compressed air in the cold air propulsion assembly;
the cold air propulsion components are distributed around the satellite simulator to control the satellite simulator to move in two translational degrees of freedom and one rotational degree of freedom according to storage and release of compressed air, so that the three degrees of freedom are moved in a plane where the three satellite simulators are located, the posture of the satellite simulator is controlled, and external environment disturbance suffered by the satellite simulator is simulated;
the inertial measurement component is used for measuring inertial information of the satellite simulator; the inertial information includes: linear acceleration and angular velocity information;
the control calculation component is used for receiving the pose information of the satellite simulator measured by the vision measurement system and the inertial information of the satellite simulator measured by the inertial measurement component, calculating the driving information of the pose of the satellite and sending a control command to the cold air propulsion component.
6. The apparatus of claim 4, wherein the laser interferometer stage comprises: a responsive laser interferometry system and a beam capturing tracking and pointing system;
the response type laser interferometry system is used for measuring the distance change between the two satellite simulators through response type laser interferometry technology based on the laser interference link;
the beam capturing tracking and pointing system is used for measuring the angle difference between the emitted light and the incident light based on the wavefront differential sensing technology of the emitted light and the incident light of the laser interferometer, and the angle of the emitted light is adjusted through the rapid deflection mirror of the flexible hinge mechanical structure so as to be overlapped with the incident laser, so that a laser interference link is established.
7. The apparatus of claim 1, wherein the gas suspension system comprises: a plurality of air bearing thrust bearings and a fixed platform;
the plurality of air-float thrust bearings are arranged on each satellite simulator, and the bottom of each air-float thrust bearing is provided with a plurality of air holes;
compressed gas in the gas source component in the satellite platform is released from the gas hole at the bottom of the air-float thrust bearing through the pressure reducing valve, so that a gas film is formed at the bottom of the air-float thrust bearing and the surface of the fixed platform, and the satellite simulator is suspended on the surface of the fixed platform.
8. The apparatus of claim 5, wherein the gas source assembly comprises: a plurality of high-pressure gas cylinders, inflation valves, switching valves, pressure reducing valves, electromagnetic valves, air pressure sensors and gas pipelines;
the plurality of high-pressure gas cylinders are uniformly distributed at the middle lower part of the satellite simulator;
the high-pressure gas cylinders are connected in parallel to form a high-pressure gas path, and the high-pressure gas path is connected with the inflation valve through the switching valve and is used for inflating the high-pressure gas cylinders by the external inflation device; the high-pressure air path is connected with the electromagnetic valve through the pressure reducing valve and is used for generating continuous controllable reaction thrust to the cold air propeller; the high-pressure gas path is connected with an air floatation thrust bearing of the air suspension system through a pressure reducing valve and is used for generating a high-rigidity gas film;
each gas pipeline is provided with a pressure sensor for pressure monitoring.
9. The apparatus of claim 5, wherein the inertial measurement assembly comprises: acceleration sensor and gyroscope.
10. The apparatus according to any one of claims 1 to 9, wherein the satellite simulator performs three degrees of freedom of movement on a fixed platform of the air levitation system according to control instructions of a ground console;
after the satellite simulators are adjusted to have three degrees of freedom, the laser interferometer platform on the satellite simulators is used for carrying out capturing, tracking and pointing control on laser, and laser interferometry is carried out on the other two satellite simulators;
the satellite simulator sends the laser interferometry result to a ground console;
the ground control console optimizes and improves attitude and orbit control of the satellite simulator, laser capturing, tracking and pointing control of the laser interferometer platform and ranging performance of the laser interferometer platform according to laser interferometry results and tracking and positioning results of the three satellite simulators.
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