CN107244430A - Magnetic hangs across the yardstick checking device of the free pedestal space tasks of comprehensive compensation - Google Patents

Abstract

Magnetic proposed by the present invention, which hangs across the yardstick checking device of the free pedestal space tasks of comprehensive compensation, includes free base systems, hang spring integrated machine electronic compensating system, magnetic suspension system, experiment Space Vehicle System, coordinated control system, communication system and control centre, the track motion of extraterrestrial target is transformed into the desired similar movement of ground free radicals seat using across yardstick equivalent theory and the theory of similarity, further by the free desired similar movement of pedestal accurate tracking, so as to realize that kinematics is equivalent；Realize that space microgravity movement environment reproduces with the gravitational compensation method that mixes that magnetic suspension is combined using hang spring suspention compensation, and then realize that the ground of space tasks reproduces, the complete procedure for completing space tasks ground is verified.

Description

Cross-scale verification device for free base space task with comprehensive compensation of magnetic suspension

Technical field

The invention belongs to the technical field of ground verification of spacecraft navigation, guidance and control systems, and in particular relates to a cross-scale verification platform for space task ground motion reproduction.

Background technique

The degree of development of aerospace engineering determines whether it can seize the high-tech commanding heights and maximize the use of space resources. my country is actively carrying out aerospace technology research. In order to successfully complete space missions in extremely harsh space environments, sufficient experimental verification must be carried out on the ground. Reproducing the movement of the spacecraft in space on the ground can fully verify all aspects of the spacecraft in the space mission and ensure the smooth completion of the space mission. The most obvious feature of spacecraft movement in the space environment is the orbital movement in the microgravity environment, while the ground laboratory has a gravity environment. In order to reproduce the real movement of the spacecraft in the space microgravity environment on the ground, it is necessary to improve the ground verification navigation and guidance. Confidence with the control system experiment requires establishing an unconstrained microgravity environment on the ground for the six-degree-of-freedom movement of the spacecraft that is close to the real situation in space and simulating its orbital movement. Existing methods for realizing the goal of microgravity include liquid flotation, weightlessness, air flotation, and suspension. The common methods of weightlessness are parabolic flight and free fall. The disadvantages of this method are that the time is short, the space occupied is large, the space that can be provided is limited, and the cost is high; the liquid float method has large damping, high maintenance cost and is only suitable for low-speed motion. Moreover, none of the above methods consider the orbital motion of the spacecraft. The system structures of the air flotation method and the suspension method are relatively simple, and it is easy to establish an unconstrained microgravity environment in the laboratory. However, the air flotation method can generally only achieve five degrees of freedom. Vertical movement is limited. The suspension method occupies a small space and is not restricted by time and space. It is a commonly used method for gravity compensation and is easy to implement. The suspension method can generally be divided into active gravity compensation and passive gravity compensation. The compensation accuracy of passive gravity compensation is low, which has a great impact on the test results; active gravity compensation can improve the compensation accuracy, but the current active gravity compensation method generally uses single-point suspension Provide three-degree-of-freedom motion space or multi-point suspension to provide six-degree-of-freedom motion space. To achieve the goal of spacecraft motion reproduction, the three-degree-of-freedom motion space is obviously not enough. The six-degree-of-freedom space provided by multi-point suspension will be due to complex structures and Difficult control leads to poor test results. Most of the existing ground experiment systems for verifying space missions cannot simulate the orbital motion of the spacecraft: one type is built on a fixed orbit and cannot simulate the maneuvering orbital movement of the spacecraft, and the other type only considers the relative orbital motion of the spacecraft , ignoring absolute orbital motion. Therefore, it is urgent to develop a space mission verification system that can not only simulate the orbital motion of the spacecraft, but also simulate the space microgravity environment.

Contents of the invention

The cross-scale verification device for the space task of the magnetic suspension comprehensive compensation free base proposed by the present invention uses the cross-scale equivalent theory and similarity theory to transform the orbital motion of the space object into the expected similar motion of the free base on the ground, and further accurately track through the free base Expected similar movement, so as to achieve kinematic equivalent; use the hybrid gravity compensation method combining hanging wire suspension compensation and magnetic levitation to realize the reproduction of space microgravity movement environment, and then realize the ground reproduction of space missions, and complete the complete process of space mission ground verify.

Technical scheme of the present invention:

The cross-scale verification device for the free base space task with comprehensive compensation of the magnetic suspension includes the free base system, the integrated electromechanical compensation system for the hanging wire, the magnetic levitation system, the experimental spacecraft system, the coordinated control system, the communication system and the control center.

The free base system includes a base body, an omnidirectional wheel, a drive motor, a camera, a laser rangefinder, a distance sensor, a multi-objective task communication module, and a data acquisition control module. A set of omnidirectional wheels and drive motors are installed on both sides of the base body. The laser rangefinder and camera are installed on the same side of the base body. The distance sensors are distributed around the base body. The data acquisition control module processes the free base body. The information obtained by the sensors in the system is used to locate the free base and send out control information. The acquisition control module of the free base system, the acquisition control module of the hanging wire integrated electromechanical compensation system, the signal generator of the magnetic levitation system, the data communication module and the data acquisition control module of the acquisition control module and the experimental spacecraft system are fixed inside the main body of the base with the coordination control module.

The hanging wire comprehensive electromechanical compensation system includes an inverted L-shaped support frame, an X-direction servo motor, a horizontal X-direction mechanism, a Y-direction servo motor, a horizontal Y-direction mechanism, a vertical cylinder mechanism, a hanging wire, an unconstrained suspension mechanism, a S Type tension sensor, two-dimensional inclination sensor and data acquisition control module. The hanging wire integrated electromechanical compensation system is installed on the free base system, and the remaining structures of the hanging wire integrated electromechanical compensation system are installed on the inverted L-shaped support frame. The horizontal X-direction mechanism is in direct contact with it and connected with the X-direction servo motor. Driven, it can move along the horizontal X direction; the horizontal Y-direction mechanism is installed on the horizontal X-direction mechanism and connected with the Y-direction servo motor, and can move along the horizontal Y-direction under the drive of the motor; the vertical direction cylinder mechanism is installed on the horizontal Y-direction To the mechanism, its lower end is connected with the unconstrained suspension mechanism through the hanging wire, and the cylinder transposed piston rod can move in the vertical direction under the control of the cylinder air pressure, thereby driving the unconstrained suspension mechanism installed at its lower end to move; The dimensional inclination sensor is installed on the hanging wire, and the S-type tension sensor is installed between the hanging wire and the piston rod.

The magnetic levitation system includes a coil, a coil fixing block, a multilayer circuit board, a permanent magnetic array, a signal generator, a magnetic field measuring instrument and a data acquisition control module. The coil fixing block is installed on the free base system to fix the coil and multilayer circuit board, and the built-in permanent magnet array is installed inside the spacecraft body.

The experimental aerospace system includes a spacecraft body, a spacecraft pose measurement module, a data communication module, and a data acquisition and storage module.

The coordinated control system includes a coordinated control module to realize the coordination and optimization of the multi-objective control tasks of the three systems of the free base, the comprehensive electromechanical compensation of the hanging wire and the magnetic levitation.

The communication system shown in the communication system includes a data communication module, which is used for the mutual communication of the measurement information and control information of the free base system, the hanging wire integrated electromechanical compensation system, the magnetic levitation system and the coordinated control system, as well as the measurement information and control information of each system. Information transfer from monitoring center.

The control center includes a monitoring module of each system, a platform emergency stop module and a multi-objective task expansion module.

According to the above-mentioned mechanical structure and control system, the working principle of the magnetic suspension comprehensive compensation free base space mission cross-scale verification device proposed by the present invention is to simulate the spacecraft being fixed on the unconstrained suspension mechanism of the comprehensive electromechanical compensation system, and the hanging wire integrated electromechanical The two-dimensional inclination sensor and tension sensor of the compensation system measure the movement information of the suspension point in real time, and its acquisition control module controls the motor in the horizontal direction and the cylinder in the vertical direction according to the movement information to realize the following movement of the suspension point in three-dimensional space and compensate the object Most of the gravity. The residual gravity is compensated by the magnetic levitation system, so as to realize the reproduction of the microgravity movement environment. A permanent magnet array is built inside the simulated spacecraft, making it controlled by magnetic force. The pose measurement module of the simulated spacecraft provides real-time pose information of the simulated spacecraft through multi-sensor information fusion. The pose information and magnetic field strength measurement information are used as the input of the magnetic levitation controller, and the simulated spacecraft is driven by controlling the current of the magnetic levitation system. The three-degree-of-freedom rotation around the center of mass and the three-degree-of-freedom translation relative to the free base realize the motion reproduction of the spacecraft. The data acquisition control module of the free base provides real-time position information for the free base through filtering and fusing the image information collected by the camera, the information of the laser range finder and the information of the distance sensor. Calculate the expected orbital position in real time, use the cross-scale equivalent principle and similarity theory to calculate the expected position of the free base on the ground, calculate the expected input from the expected position information and the actual position information obtained by measurement processing, and drive the free base to achieve the expected Similar movement, so as to realize the orbital motion reproduction of the spacecraft. The coordinated control main control module of the experimental aerospace system coordinates and controls the work of the free base system, the hanging wire integrated electromechanical compensation system, the magnetic levitation system and the experimental aerospace system by integrating the information of the data communication module and the data storage module, so as to fully reproduce the execution space of the spacecraft the entire process of the task.

Compared with the prior art method, the present invention has the following characteristics:

1. The free base system adopts omnidirectional wheels, which is flexible and maneuverable, and can turn in situ and turn stably during fast travel, and can position itself in real time.

2. The multi-objective task communication module is installed in the free base system, which can expand the single-objective task without changing the platform structure. The platform is not only universal for single-objective tasks, but also for multi-objective tasks.

3. The hanging wire integrated electromechanical compensation system has low cost, low production difficulty and can bear large loads.

4. The magnetic levitation system adopts the Halbach array, which reduces the complexity of the magnetic levitation structure, simplifies the control, and can realize the high-precision control of the six-degree-of-freedom movement of the target.

5. The method of combining hanging wire and magnetic levitation is used to compensate the gravity of the spacecraft, which can not only avoid the system overheating problem caused by excessive system current in the magnetic levitation, but also improve the compensation accuracy of the platform.

6. The experimental spacecraft system monitors the motion status of the spacecraft in real time and provides feed-forward information for the next step of the platform, greatly reducing the impact of the platform's time lag on the confidence of the program verification.

7. The present invention can completely reproduce the space mission process, can verify the execution of each link of the plan, and greatly improve the credibility of the space mission ground reproduction.

8. Versatility. The present invention can be verified for different schemes of the same task, and can also be verified for different tasks. It is not only suitable for single-objective verification, but also suitable for verification of multi-objective tasks, and has strong versatility.

Description of drawings

Fig. 1 is the general figure of the present invention:

Fig. 2 is the front view of the present invention:

Labels in the figure:

1: Hanging wire integrated electromechanical compensation system; 2: Experimental spacecraft system; 3: Magnetic levitation system; 4: Free base system.

Fig. 3 is an overall view of the free base system of the present invention.

Labels in the figure:

1: distance sensor; 2: laser range finder; 3: omnidirectional wheel and drive motor; 4: base body; 5: multi-target task communication module; 6: camera.

Fig. 4 is an overall diagram of the comprehensive electromechanical compensation system of the present invention.

Labels in the figure:

1: Inverted L-shaped support frame; 2: Unconstrained suspension mechanism; 3: Y-direction servo motor; 4: Horizontal X-direction mechanism; 5: X-direction servo motor; 6: Vertical cylinder mechanism; 7: Horizontal Y-direction mechanism .

Fig. 5 is a front view of the comprehensive electromechanical compensation system of the present invention.

Label in the figure

8: Two-dimensional inclination sensor; 9: S-type tension sensor; 10: Hanging wire.

Fig. 6 is an overall view of the magnetic levitation system and the experimental aerospace system of the present invention.

Labels in the figure:

1: multi-layer circuit board; 2: coil fixing block; 3: coil; 4: permanent magnet array; 5: spacecraft body; 6: magnetic field measuring instrument; 7: spacecraft pose measurement module.

Fig. 7 is a schematic diagram of the working principle of the magnetic levitation system of the present invention.

Fig. 8 is a working flow diagram of the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings: the magnetic suspension comprehensive compensation free base space mission cross-scale verification device proposed by the present invention realizes the orbital motion reproduction of the spacecraft through data fusion and processing, and the hanging wire installed on the free base system The integrated electromechanical compensation system and the magnetic levitation system cooperate to realize the reproduction of the microgravity environment. The magnetic levitation system controls the Halbach array built inside the spacecraft body to be controlled by magnetic force, thereby driving the spacecraft body to rotate around the center of mass in three degrees of freedom and relatively free base The three-degree-of-freedom translation realizes the reproduction of the pose and motion of the spacecraft, and fully reproduces the entire process of the spacecraft performing space missions.

Specifically, in combination with Fig. 1 and Fig. 2, the cross-scale verification device of the magnetic suspension comprehensive compensation free base space task of the present invention can be divided into the suspension wire comprehensive electromechanical compensation system 1, the experimental spacecraft system 2, the magnetic levitation system 3 and the free base System 4. The hanging wire integrated electromechanical compensation system 1 and the magnetic levitation system 3 are installed on the free base system 4, and orbital motion is driven by the free base system 4, and the experimental spacecraft system 2 is fixed on the hanging wire integrated electromechanical compensation system 1.

Referring to Figure 3, the distance sensor 1 is distributed around the base body 4 to measure the distance to the surrounding objects for auxiliary positioning, and the laser range finder 2 is installed on both sides of the base body 2 to accurately measure the surrounding objects Together with the camera 6 installed on the front end of the base body 4 and the distance sensor 1, it constitutes the global positioning unit of the base.

Combining Figure 4 and Figure 5, the inverted L-shaped support frame 1 is fixedly connected with the free base system to support the rest of the structure of the integrated electromechanical compensation system for hanging wires. Ribs are installed to ensure its stability, and the X-direction servo motor 5 is connected to the horizontal X-axis. Connected to the mechanism 4, it can drive the horizontal X-direction mechanism 4 to move along the horizontal X direction. The horizontal Y-direction mechanism 7 is installed on the horizontal X-direction mechanism 4 and can move in the horizontal X direction accordingly. The Y-direction servo motor 3 and the horizontal Y-direction Connect to the mechanism 7, drive the horizontal Y-direction mechanism 7 to move along the horizontal Y-direction, the vertical direction cylinder mechanism 6 is installed on the horizontal Y-direction mechanism 7, and then move in the horizontal Y-direction, the vertical direction cylinder mechanism 6 can move in the vertical direction Moving in a straight direction, the lower end of the hanging wire 10 is connected with an S-shaped tension sensor 9 , and a two-dimensional inclination sensor 8 is installed on the hanging wire 10 . The S-type tension sensor 9 and the two-dimensional inclination sensor 8 form a hanging wire displacement tension measurement unit. When the information of the two-dimensional inclination sensor 8 changes, the servo motors in the X and Y directions control the movement of its corresponding horizontal X and Y direction devices, so that the hanging wire 10 remains in the vertical direction. When the S-type tension sensor 9 information occurs When changing, the vertical direction cylinder device 6 and the magnetic levitation system work together, so that the value of the S-type tension sensor 9 does not change, thereby compensating the gravity suffered by the experimental spacecraft system.

Combining Figures 6 and 7, the multilayer circuit board 1 and the coil 3 are fixed on the coil fixing block 2, and the permanent magnetic array 4 is built into the spacecraft body 5 according to the Halbach array arrangement, so that the six magnetic levitation systems are used to control the spacecraft body. For the movement of degrees of freedom, the magnetic field measuring instrument 6 is installed inside the spacecraft body 5 as the magnetic field strength measurement unit, and the spacecraft pose measurement module 7 is installed on the spacecraft body 5 as the spacecraft pose measurement unit, which measures the state of the spacecraft in real time information.

Combined with Figure 8,

Working steps of the present invention are:

(1) Inside the spacecraft body where the built-in permanent magnet block array is fixed;

(2) Fix the experimental spacecraft on the unconstrained suspension device of the integrated electromechanical compensation system;

(3) According to the specific requirements of the verification task plan, adjust the vertical cylinder device to the position where the verification time of the plan lasts the longest;

(4) Same as (3) adjust the horizontal X-direction device and horizontal Y-direction device to the corresponding positions;

(5) Power on the hanging wire integrated gravity compensation system, record the value of the S-type tension sensor at this time, and power on the rest of the platform system;

(6) Start the verification work of the mission. The data acquisition control module of the magnetic levitation system obtains the current attitude information of the spaceflight according to the needs of the mission and the spacecraft pose measurement module, and determines the pose adjustment increment of the spacecraft body. At the same time, according to the magnetic field measuring instrument Real-time adjustment of the pose and posture feedback from the spacecraft to meet the needs of the mission and reproduce the pose movement of the experimental spacecraft;

(7) and (6) are carried out synchronously. When the position of the spacecraft changes, the horizontal X-direction device, horizontal Y-direction device and vertical cylinder device of the comprehensive electromechanical compensation system follow the changes of the spacecraft in real time to ensure that the hanging wire is in the vertical position. Straight state, and the value of the S-type tension sensor remains the same as the preset value;

(8) is carried out simultaneously with (6) and (7). The free base system uses the cross-scale equivalent principle and similarity theory to calculate the expected position of the free base on the ground, and the actual position information obtained from the expected position information and measurement processing Calculate the expected input and drive the free base to achieve the expected similar motion, so as to realize the orbital motion reproduction of the spacecraft;

(9) After the mission plan test is completed, turn off the power of the platform, unload the spacecraft, and analyze the feasibility of the mission plan according to the information recorded during the mission.

Claims (7)

1. The cross-scale verification device for the free base space task with comprehensive compensation of the magnetic suspension is characterized in that the verification device includes a free base system, a hanging wire integrated electromechanical compensation system, a magnetic levitation system, an experimental spacecraft system, a coordinated control system, a communication system and control center; The experimental aerospace system includes a spacecraft body, a spacecraft pose measurement module, a data communication module, and a data acquisition and storage module; The device of the present invention uses the cross-scale equivalent theory and similarity theory to transform the orbital motion of the space object into the expected similar motion of the ground free base, and further accurately tracks the expected similar motion through the free base, thereby realizing kinematic equivalence; The hybrid gravity compensation method combining wire suspension compensation and magnetic levitation realizes the reproduction of space microgravity motion environment, and then realizes the ground reproduction of space missions, and completes the complete process verification of the space mission ground. 2. The cross-scale verification device for magnetic suspension comprehensive compensation free base space tasks according to claim 1, characterized in that: the free base system includes a base main body, omnidirectional wheels and drive motors, a camera, and a laser ranging Meter, distance sensor, multi-target task communication module and data acquisition control module; a set of omnidirectional wheels and drive motors are installed on both sides of the base body, the laser range finder and camera are installed on the same side of the base body, and the distance sensor Distributed around the main body of the base, the data acquisition control module processes the information obtained by the sensors in the free base system, positions the free base and sends out control information; the acquisition control module of the free base system, The collection and control module of the integrated electromechanical compensation system for hanging wires, the signal generator of the magnetic levitation system, the data communication module between the collection and control module and the experimental spacecraft system, the data collection and control module and the coordination control module. 3. The cross-scale verification device for magnetic suspension comprehensive compensation free base space tasks according to claim 1, characterized in that: the hanging wire comprehensive electromechanical compensation system includes an inverted L-shaped support frame, an X-direction servo motor, and a horizontal X-direction Mechanism, Y-direction servo motor, horizontal Y-direction mechanism, vertical cylinder mechanism, hanging wire, unconstrained suspension mechanism, S-type tension sensor, two-dimensional inclination sensor and data acquisition control module. The hanging wire integrated electromechanical compensation system is installed on the free base system, and the remaining structures of the hanging wire integrated electromechanical compensation system are installed on the inverted L-shaped support frame. The horizontal X-direction mechanism is in direct contact with it and connected with the X-direction servo motor. Driven, it can move along the horizontal X direction; the horizontal Y-direction mechanism is installed on the horizontal X-direction mechanism and connected with the Y-direction servo motor, and can move along the horizontal Y-direction under the drive of the motor; the vertical direction cylinder mechanism is installed on the horizontal Y-direction To the mechanism, its lower end is connected with the unconstrained suspension mechanism through the hanging wire, and the cylinder transposed piston rod can move in the vertical direction under the control of the cylinder air pressure, thereby driving the unconstrained suspension mechanism installed at its lower end to move; The dimensional inclination sensor is installed on the hanging wire, and the S-type tension sensor is installed between the hanging wire and the piston rod. 4. The cross-scale verification device for magnetic suspension comprehensive compensation free base space tasks according to claim 1, characterized in that: the magnetic levitation system includes coils, coil fixing blocks, multilayer circuit boards, permanent magnet arrays, and signal generators , Magnetic field measuring instrument and data acquisition control module. The coil fixing block is installed on the free base system to fix the coil and multilayer circuit board, and the built-in permanent magnet array is installed inside the spacecraft body. 5. The cross-scale verification device for magnetic suspension comprehensive compensation free base space tasks according to claim 1, characterized in that: the coordinated control system includes a coordinated control module to realize the free base, hanging wire comprehensive electromechanical compensation and magnetic levitation three-dimensional Coordination and optimization of multi-objective control tasks of a system; The communication system shown in the communication system includes a data communication module, which is used for the mutual communication of the measurement information and control information of the free base system, the hanging wire integrated electromechanical compensation system, the magnetic levitation system and the coordinated control system, as well as the measurement information and control information of each system. Information transmission from the monitoring center; The control center includes a monitoring module of each system, a platform emergency stop module and a multi-objective task expansion module. 6. According to claim 1 or 2, 3, 4, 5, the magnetic suspension comprehensive compensation free base space task cross-scale verification device is characterized in that: the simulated spacecraft is fixed on the unconstrained suspension mechanism of the comprehensive electromechanical compensation system The two-dimensional inclination sensor and the tension sensor of the hanging wire integrated electromechanical compensation system measure the motion information of the suspension point in real time, and its acquisition control module controls the motor in the horizontal direction and the cylinder in the vertical direction according to the motion information to realize the three-dimensional space of the suspension point. Following the movement, most of the gravity of the object is compensated; the residual gravity is compensated by the magnetic levitation system, so as to realize the reproduction of the microgravity movement environment; a permanent magnetic array is built inside the simulated spacecraft, so that it is controlled by magnetic force; the position and attitude measurement module of the simulated spacecraft passes through multiple sensors Information fusion provides real-time pose information of the simulated spacecraft. The pose information and magnetic field strength measurement information are used as the input of the magnetic levitation controller. By controlling the current of the magnetic levitation system, the simulated spacecraft is driven to rotate around the center of mass in three degrees of freedom and relative free radicals The three-degree-of-freedom translation of the base realizes the reproduction of the pose motion of the spacecraft; the data acquisition control module of the free base provides real-time At the same time, the data acquisition control module calculates the expected orbital position in real time based on the orbital dynamics equation of the space target, and calculates the expected position of the free base on the ground by using the cross-scale equivalent principle and similarity theory. The expected position information and the measurement The processed actual position information calculates the expected input, and drives the free base to realize the expected similar motion, so as to realize the orbital motion reproduction of the spacecraft; the coordination control main control module of the experimental aerospace system integrates the information coordination of the data communication module and the data storage module Control the work of the free base system, the integrated electromechanical compensation system of the hanging wire, the magnetic levitation system and the experimental aerospace system, so as to fully reproduce the entire process of the spacecraft performing space missions. 7. The magnetic suspension comprehensive compensation free base space task cross-scale verification device according to claim 1, characterized in that: the working steps of the present invention are: (1) Inside the spacecraft body where the built-in permanent magnet block array is fixed; (2) Fix the experimental spacecraft on the unconstrained suspension device of the integrated electromechanical compensation system; (3) According to the specific requirements of the verification task plan, adjust the vertical cylinder device to the position where the verification time of the plan lasts the longest; (4) Same as (3) adjust the horizontal X-direction device and horizontal Y-direction device to the corresponding positions; (5) Power on the hanging wire integrated gravity compensation system, record the value of the S-type tension sensor at this time, and power on the rest of the platform system; (6) Start the verification work of the mission. The data acquisition control module of the magnetic levitation system obtains the current attitude information of the spaceflight according to the needs of the mission and the spacecraft pose measurement module, and determines the pose adjustment increment of the spacecraft body. At the same time, according to the magnetic field measuring instrument Real-time adjustment of the pose and posture feedback from the spacecraft to meet the needs of the mission and reproduce the pose movement of the experimental spacecraft; (7) and (6) are carried out synchronously. When the position of the spacecraft changes, the horizontal X-direction device, horizontal Y-direction device and vertical cylinder device of the comprehensive electromechanical compensation system follow the changes of the spacecraft in real time to ensure that the hanging wire is in the vertical position. Straight state, and the value of the S-type tension sensor remains the same as the preset value; (8) is carried out simultaneously with (6) and (7). The free base system uses the cross-scale equivalent principle and similarity theory to calculate the expected position of the free base on the ground, and the actual position information obtained from the expected position information and measurement processing Calculate the expected input and drive the free base to achieve the expected similar motion, so as to realize the orbital motion reproduction of the spacecraft; (9) After the mission plan test is completed, turn off the power of the platform, unload the spacecraft, and analyze the feasibility of the mission plan according to the information recorded during the mission.