CN105966644B - Analog service star for in-orbit service technical identification - Google Patents

Abstract

A simulated service star for on-orbit service technology verification, including a communication subsystem, an attitude control subsystem, an operating mechanism subsystem, a propulsion subsystem, and a power supply subsystem. The communication subsystem uses a wireless communication module to achieve attitude control through a wireless router. The communication between the orbit control subsystem and the ground control station is used to simulate the on-orbit space-ground wireless communication link; the operating mechanism subsystem is used to complete the simulated on-orbit operation task under the control of the central processing unit; the propulsion subsystem is processed in the central Under the control of the unit, the horizontal movement and rotational movement of the simulated service star can be controlled, so that the simulated service star can complete the rendezvous and docking with the target spacecraft according to the expected movement; the power supply subsystem provides working power for each electrical equipment of the simulated service star; The rail control subsystem includes a relative pose measurement unit and a central processing unit. The invention more realistically simulates the dynamic characteristics of the service spacecraft in the orbital environment.

Description

Simulated service satellite for technical verification of in-orbit service

technical field

The invention relates to the field of space robots, in particular to a simulated service star used for on-orbit service technology verification.

Background technique

Space on-orbit service technology is a research hotspot in space technology in the world today, and it is also one of the top 100 national strategic projects during the "13th Five-Year Plan". Fully carry out space on-orbit service ground simulation experiments. The design of simulated service satellite is an important link to realize the technical simulation of ground on-orbit service.

At present, the ground simulation used for on-orbit service technology can be divided into microgravity simulation system based on free fall motion, microgravity simulation system based on parabolic flight, water floating experiment system, hanging wire counterweight experiment system and plane according to different microgravity simulation methods. There are several types of air flotation experimental systems. Among them, the planar air-floating experimental system has unlimited experimental time, high reliability and robustness, and does not have too many restrictions on the structure of the experimental piece. It is currently the most widely used ground simulation method for space operations.

Some of the planar air-floating simulation service satellites reported publicly at present do not have integrated manipulators, and cannot simulate the on-orbit operation of space manipulators; some only eliminate the gravity of the manipulators, and the satellite body is still fixed, so it cannot simulate satellites and manipulators. Coupling movement between robotic arms; some simulated service stars integrate mechanical arms but require external power supply cables, which will seriously interfere with the movement of simulated service stars and affect the experimental results.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention proposes a simulated service star for on-orbit service technology verification.

Technical scheme of the present invention is:

A simulated service satellite for on-orbit service technology verification includes a communication subsystem, an attitude control subsystem, an operating mechanism subsystem, a propulsion subsystem, and a power supply subsystem.

The communication subsystem uses the wireless communication module to realize the communication between the attitude control subsystem and the ground control station through a wireless router, which is used to simulate the on-orbit space-ground wireless communication link.

The operating mechanism subsystem is used to complete simulated on-orbit operation tasks under the control of the central processing unit.

Under the control of the central processing unit, the propulsion subsystem controls the horizontal and rotational movements of the simulated service star, so that the simulated service star can complete the rendezvous and docking with the target spacecraft according to the expected movement.

The power supply subsystem provides working power for each electric device of the simulated service star.

The attitude control subsystem includes a relative attitude measurement unit and a central processing unit. During the process of simulating the service star approaching the target spacecraft, the relative attitude measurement unit detects the target of the target spacecraft, and the detected image is output to The central processing unit, and then the central processing unit processes the detected image and calculates the relative pose. The central processing unit generates the control command of the propulsion subsystem through the control algorithm, and controls the simulated service star to complete the desired movement with the target spacecraft. Rendezvous and docking: After the rendezvous and docking between the simulated service star and the target spacecraft, the central processing unit controls the operating mechanism subsystem to independently simulate the on-orbit operation of the target spacecraft; during the rendezvous, docking and operation process, the status information of the simulated service star is transmitted through wireless communication The module is sent to the ground control station for display; the ground control station can send control commands in real time, control the movement of the simulated service star and the movement of the operating mechanism subsystem to complete the simulated on-orbit operation task. The status information of the simulated service star includes the position, velocity, attitude, angular velocity of the simulated service star relative to the target star, and the joint angle of the manipulator, etc.

Further, the present invention also includes a simulated service star cabin body, which is used for installing and carrying each component equipment of the simulated service star. The interior of the simulated service cabin adopts a two-layer frame structure, which can make full use of the internal space. A gas storage device is arranged in the simulated service cabin body. The gas storage device in the present invention is a plurality of connected gas storage tanks for storing air. The gas storage device is connected with two pipelines with a pressure reducing valve and a shut-off valve, one of which is used to eject the compressed air in the gas storage device through the gas foot 34, and then suspend the simulated service star on the air floating platform, simulating microgravity environment. Docking rods and electromagnetic units are installed on the simulated service star cabin. During the rendezvous and docking process between the simulated service star and the target spacecraft, the docking rod is inserted into the docking cone of the target spacecraft, and then the electromagnetic unit generates suction and the suction device of the target spacecraft Lock to realize the effective connection between the simulated service star and the target spacecraft.

Further, the propulsion subsystem of the present invention includes a flywheel, a solenoid valve, a solenoid valve controller, a gas storage device and a nozzle, the flywheel can provide torque for controlling the rotational movement of the simulated service star; the gas storage device The other pipeline connected above is connected to the nozzle, and a solenoid valve is connected to the pipeline between the gas storage device and the nozzle. Horizontal movement, the electromagnetic valve controller is used to control the opening and closing of the electromagnetic valve, and the nozzle and flywheel cooperate to complete the motion control of the simulated service star.

Define a body coordinate system fixed on the simulated service star, where the +X direction points to the forward direction of the simulated service star, the +Z direction is vertically upward, and the +Y direction satisfies the right-hand rule. Further, the pipeline for connecting the nozzle on the gas storage device of the present invention is divided into 6 branches, and the 6 branches are connected with solenoid valves and nozzle combinations, that is, the present invention has a total of 6 solenoid valves and nozzles. tube combination. There are two solenoid valves and nozzle combinations in the +/-X direction, and one solenoid valve and nozzle combination in the +/-Y direction. This layout can provide thrust and torque with the least combination of solenoid valves and nozzles.

Further, the operating mechanism subsystem of the present invention includes a manipulator controller, a manipulator, a manipulator controller and a manipulator, the manipulator controller controls the action of the manipulator, and the manipulator controller performs information interaction with the central processing unit through the network port; The manipulator controller controls the action of the manipulator, and the manipulator controller communicates with the central processing unit through RS232.

Further, the mechanical arm controller of the present invention adopts 220V AC power supply, and the internal motion control card of the mechanical arm controller adopts DMC2143 multi-axis independent controller, which can support 8 AC servo motors at the same time; the mechanical arm has four joints, each joint There is an independent absolute encoder to measure the current position and two limit functions of hardware and software to ensure safety; the manipulator controller adopts 12V DC power supply; the manipulator is a single-degree-of-freedom hand gripper, and the opening and closing movement of the gripper is controlled by the steering gear , used to complete the simulated on-orbit operation task.

Further, the power supply subsystem of the present invention includes a multifunctional structure battery, a power converter and an inverter, the multifunctional structure battery provides 28V power, and the power converter converts the 28V power provided by the multifunctional structure battery into 24V, 12V and 5V The voltage is used to provide power to the electrical equipment of the simulated service star; the inverter is to convert the 28V power provided by the multi-functional structure battery into 220V AC to provide power for the robotic arm. Wherein: the multi-functional structural battery is a cabin plate embedded with a lithium battery that simulates the service star cabin body.

The beneficial effects of the present invention are:

One is to integrate the operating mechanism subsystem on the basis of the microgravity simulation satellite platform, and simulate the coupling motion between the satellite body and the robotic arm on a plane, which can be used to verify the on-orbit service technology in the microgravity environment;

Second, the multi-functional structure technology was designed and used on the microgravity simulation satellite platform for the first time, and the multi-functional structure battery is used for independent power supply, which overcomes the interference of the traditional external power supply cable on the movement of the simulated service star, and more realistically simulates the on-orbit environment The dynamic characteristics of the serving spacecraft.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

In Figure 1: 11. Simulated service star cabin body; 12. Air floating platform; 13. Electromagnetic unit; 14. Docking rod; 15. Mechanical arm; 16. Manipulator; ; 19. Multifunctional structural battery;

Figure 2 is a schematic diagram of the internal structure of the cabin.

In Fig. 2: 21, central processing unit; 22, power converter; 23, inverter;

Fig. 3 is a schematic diagram of the structure of the air flotation device.

Among Fig. 3: 31, solenoid valve; 32, nozzle; 33, gas storage tank; 34, gas foot

Fig. 4 is a schematic diagram of the workflow of the present invention.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1, it is a simulated service star for on-orbit service technology verification of the present invention, including structure and mechanism subsystem, propulsion subsystem, attitude control subsystem, communication subsystem, operating mechanism subsystem and power supply subsystem ; It is used for ground simulation and verification of on-orbit service operation related technologies. It realizes ground simulation autonomous approach and rendezvous and docking by measuring the relative pose between the simulated target spacecraft, and can control the mechanical arm to complete the fault autonomously or remotely. On-orbit servicing tasks such as decommissioning and module replacement.

The structural and mechanism subsystem includes a simulated service module 11 , an air bearing platform 12 , an electromagnetic unit 13 and a docking rod 14 . As shown in Figure 2, the simulated service star cabin 11 is used to install and carry various components and equipment of the simulated service star. The simulated service star cabin adopts a two-layer frame structure to make full use of the internal space. As shown in FIG. 3 , there are two intercommunicated air storage tanks 33 inside the simulated service cabin body 11 for storing air. The two gas storage tanks 33 are connected with two pipelines, one of which is to inject the compressed air in the two gas storage tanks 33 through the gas foot 34 to suspend the simulation service star simulation satellite on the air floating platform 12 to simulate the microgravity environment. The docking rod 14 and the electromagnetic unit 13 are arranged on the simulated service star cabin body 11. During the rendezvous and docking process between the simulated service star and the target spacecraft, the docking rod 14 is inserted into the docking cone of the target spacecraft, and then the electromagnetic unit 13 generates suction and the target spacecraft The suction device of the device is locked to ensure the effective connection between the simulated service star and the target spacecraft.

The propulsion subsystem includes a flywheel 25, a solenoid valve 31, a solenoid valve controller 24 and a nozzle 32; the flywheel 25 can provide torque for controlling the rotational movement of the service star. Another pipeline connected by two gas storage tanks 33 passes the gas in the gas storage tank 33 through the solenoid valve 31, and ejects from the nozzle 32 to generate thrust. The nozzle 32 is directly installed on the solenoid valve 31, and the solenoid valve controller 24 The opening and closing of the solenoid valve can be controlled. Define a body coordinate system fixed on the simulated service star, where the +X direction points to the forward direction of the simulated service star, the +Z direction is vertically upward, and the +Y direction satisfies the right-hand rule. The pipeline for connecting the nozzle 32 on the gas storage tank 33 is divided into 6 branches, and the 6 branches are connected with solenoid valves and nozzle combinations, that is, the present invention has 6 solenoid valves and nozzle combinations in total. Two in each of the +/-X directions and one in each of the +/-Y directions, this layout can provide thrust and torque with a minimum combination of solenoid valves and nozzles to control the horizontal and rotational motion of the simulated service star, the nozzles Cooperate with the flywheel to complete the motion control of the simulated service star.

The attitude control subsystem includes a relative attitude measurement unit 17 and a central processing unit 21. The relative attitude measurement unit adopts a monocular industrial camera to detect the target of the target spacecraft, and the detected image is output to the central processing unit 21, and then The central processing unit 21 processes the image and calculates the relative pose.

The communication subsystem uses the wireless communication module 18 to communicate with the ground monitoring equipment through a wireless router, and is used to simulate the on-orbit space-ground wireless communication link.

The operating mechanism subsystem includes the manipulator controller 27, the manipulator 15, the manipulator controller 26 and the manipulator 16; the manipulator controller adopts 220V AC power supply, and the internal motion control card of the manipulator controller adopts DMC2143 multi-axis independent controller, which can simultaneously Support 8 AC servo motors, and exchange information with the central processing unit 21 through the network port; the robotic arm has four joints, each joint has an independent absolute encoder to measure the current position, and there are two limit functions of hardware and software to ensure Safety; the manipulator controller adopts 12V DC power supply, and communicates with the central processing unit 21 through RS232; the manipulator is a single-degree-of-freedom hand gripper, and the opening and closing movement of the gripper is controlled by the steering gear to complete the simulated on-orbit operation task .

The power supply subsystem includes a multifunctional structural battery 19, a power converter 22 and an inverter 23. The multifunctional structural battery 19 is a cabin board embedded with a lithium battery in an analog service star cabin, and the embedded lithium battery can provide 28V Power supply (the voltage varies between 26V and 30V according to different electric quantities), the power converter 22 converts the 28V lithium battery into 24V, 12V and 5V voltages, and provides power for different types of equipment, and the inverter converts the 28V lithium battery Provide 220V power supply to the manipulator to avoid affecting the experimental results due to the external connection of the manipulator to the mains cable.

As shown in 4, the working process of the simulation service star used for on-orbit service technology verification in the present invention is as follows:

During the process of the simulated service star approaching the operating object, that is, the target spacecraft, the image of the target is obtained through the relative pose measurement unit 17, and then the central processing unit 21 obtains the relative position between the simulated service star and the operating object through calculation, and then the central The processing unit 21 generates flywheel and solenoid valve control commands through the control algorithm, and controls the simulated service star to complete the rendezvous and docking with the target spacecraft according to the expected movement.

After the rendezvous and docking between the simulated service star and the target spacecraft is completed, the central processing unit 21 controls the robotic arm and manipulator to independently simulate the on-orbit operation of the target spacecraft.

During rendezvous, docking and operation, the status information can be sent to the ground control station for display through the wireless communication module; the ground control station can also send control commands in real time, control the movement of the simulated service star, and control the movement of the robotic arm and manipulator to complete Simulate on-orbit operational missions.

The above descriptions are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention should also be regarded as the protection scope of the present invention.

Claims (10)

1. a kind of analog service star for in-orbit service technical identification, it is characterised in that including communication subsystem, rail control system Subsystem, operating mechanism subsystem, subsystem and power subsystem are promoted,

The communication subsystem realizes that rail control subsystem and ground control using wireless communication module by wireless router Communication between standing, for simulating the world wireless communication link of actual satellite in orbit system；

The operating mechanism subsystem is used to complete to simulate in-orbit operation task under the control of the central processing unit；

It is described to promote subsystem to realize that the horizontal movement of control analog service star and rotation are transported under the control of the central processing unit It is dynamic, analog service star is completed and passive space vehicle spacecrafts rendezvous by desired motion；

The power subsystem provides working power for each electrical equipment of analog service star；

The rail control subsystem includes relative pose measuring unit and CPU, and target is approached in analog service star During spacecraft, relative pose measuring unit is detected to the target of passive space vehicle, and the image for detecting to obtain is defeated by CPU, the image that then CPU obtains to detection is handled, and is resolved and obtained relative pose, center Processing unit generates the control instruction for promoting subsystem by control algolithm, and control analog service star is completed by desired motion and mesh Mark Spacecraft Rendezvous docking；After analog service star completes spacecrafts rendezvous with passive space vehicle, central processing unit controls operation machine Structure subsystem is to the in-orbit operation of the autonomous simulation of passive space vehicle；In spacecrafts rendezvous and operating process, the state of analog service star Information is sent to ground control station by wireless communication module and shown；Ground control station can send control instruction in real time, control The motion of analog service star processed and the motion of control operation mechanism subsystem complete to simulate in-orbit operation task.

2. the analog service star according to claim 1 for in-orbit service technical identification, it is characterised in that also including mould Intend service star nacelle, analog service star nacelle is used for each component devices for installing and carrying analog service star, analog service star cabin Caisson is provided with vivo, caisson is multiple air accumulators for stored air being connected, and caisson is connected with Two pipelines with pressure-reducing valve and stop valve, wherein a pipeline by gas foot by the compressed air in caisson spray into And analog service star is suspended on air floating platform, stimulated microgravity.

3. the analog service star according to claim 2 for in-orbit service technical identification, it is characterised in that the simulation Two story frame structures are used inside service star nacelle.

4. the analog service star according to claim 2 for in-orbit service technical identification, it is characterised in that the simulation It is provided with service star nacelle to extension bar and electromagnetic unit, analog service star is with during passive space vehicle spacecrafts rendezvous, docking In the docking cone of bar insertion passive space vehicle, then electromagnetic unit produces the attracting device locking of suction and passive space vehicle, real Existing analog service star and passive space vehicle effectively connect.

5. the analog service star according to claim 4 for in-orbit service technical identification, it is characterised in that the propulsion Subsystem includes flywheel, magnetic valve, solenoid valve controller, caisson and jet pipe, and the flywheel can provide torque, for controlling The rotary motion of analog service star processed；Another pipeline connecting spray nozzle and caisson and jet pipe connected on the caisson Between pipeline on be connected with magnetic valve, the gas in caisson is sprayed by magnetic valve from jet pipe produces thrust so as to control The horizontal movement of analog service star, the solenoid valve controller are used for the opening and closing for controlling magnetic valve, jet pipe and flywheel association Make the motion control of completion analog service star.

6. the analog service star according to claim 5 for in-orbit service technical identification, it is characterised in that caisson The upper pipeline for connecting spray nozzle is divided into 6 branch roads, and magnetic valve and jet pipe combination are respectively connected with 6 branch roads；Define one admittedly The body coordinate system being connected on analog service star, wherein +X direction point to analog service star direction of advance, +Z direction vertically to On, +Y direction meets right-hand rule；Two magnetic valves are respectively distributed with +/- X-direction and jet pipe combines, each one in +/- Y-direction Magnetic valve and jet pipe combination.

7. the analog service star according to claim 4 for in-orbit service technical identification, it is characterised in that operating mechanism Subsystem includes mechanical arm controller, mechanical arm, Manipulator Controller and manipulator, and mechanical arm controller control machinery arm moves Make, mechanical arm controller carries out information exchange by network interface and CPU；Manipulator Controller control machinery hand is moved Make, Manipulator Controller carries out information exchange by RS232 and CPU.

8. the analog service star according to claim 7 for in-orbit service technical identification, it is characterised in that mechanical arm control Device processed uses 220V Alternating Current Power Supplies, and mechanical arm controller internal motion control card uses DMC2143 multiaxis independent controls；Machinery Arm has four joints, and there is independent absolute encoder measurement current location in each joint and has two kinds of hardware and software spacing Function ensures safety；Manipulator Controller is powered using 12V DC；Manipulator is single-degree-of-freedom paw, passes through servos control hand The opening and closing campaign of pawl, for completing to simulate in-orbit operation task.

9. the analog service star according to claim 4 for in-orbit service technical identification, it is characterised in that power supply subsystem System includes multifunction structure battery, supply convertor and inverter, and multifunction structure battery provides 28V power supplys, supply convertor The 28V power conversions that multifunction structure battery is provided is 24V, 12V and 5V voltages, each electrical equipment to analog service star Power supply is provided；Inverter is that the 28V Power converts that multifunction structure battery provides are supplied electricity into mechanical arm for 220V exchanges to provide electricity Source.

10. the analog service star according to claim 9 for in-orbit service technical identification, it is characterised in that described more The deck board for being embedded with lithium battery that it is analog service star nacelle that functional structure battery, which is,.