CN114625027A - Multi-spacecraft attitude and orbit control ground full-physical simulation system based on multi-degree-of-freedom motion simulator - Google Patents
Multi-spacecraft attitude and orbit control ground full-physical simulation system based on multi-degree-of-freedom motion simulator Download PDFInfo
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Abstract
本发明提供了一种基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统，属于飞行器地面仿真试验领域。本发明多自由度双星伴飞模拟器模拟追踪星和目标星的伴飞运动。台上姿轨控制系统控制追踪星和目标星按指令达到预期的运行状态。动力学仿真机实时模拟两星在轨轨道/姿态动力学。相对导航系统感知两星相对运动状态，并对感知结果进行导航解算。无线数据传输系统实现台上台下系统间的数据交互。视景演示系统通过专业软件模拟运动模拟器的实时工况。本发明采用两台哑铃型气浮台模拟追踪星和目标星的姿态运动，从而实现平面两个自由度和姿态三个自由度的运动模拟，能够达到高精度仿真的目的，为小卫星伴飞控制方案验证提供了可靠的平台。
The invention provides a multi-spacecraft attitude and orbit control ground full physical simulation system based on a multi-degree-of-freedom motion simulator, which belongs to the field of aircraft ground simulation test. The multi-degree-of-freedom double-star accompanying flight simulator of the present invention simulates the accompanying flight motion of the tracking star and the target star. The on-stage attitude and orbit control system controls the tracking star and the target star to reach the expected running state according to the instructions. The dynamics simulator simulates the orbit/attitude dynamics of the two satellites in real time. The relative navigation system senses the relative motion state of the two stars, and performs navigation calculation on the sensing result. The wireless data transmission system realizes the data interaction between the systems on and off the stage. The visual demonstration system simulates the real-time working conditions of the motion simulator through professional software. The present invention adopts two dumbbell-shaped air flotation platforms to simulate the attitude movement of the tracking star and the target star, so as to realize the motion simulation of two degrees of freedom in the plane and three degrees of freedom in the attitude, which can achieve the purpose of high-precision simulation and accompany small satellites in flight. Control scheme validation provides a reliable platform.
Description
技术领域technical field
本发明涉及一种基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统，属于飞行器地面仿真试验领域。The invention relates to a multi-spacecraft attitude and orbit control ground full physical simulation system based on a multi-degree-of-freedom motion simulator, and belongs to the field of aircraft ground simulation tests.
背景技术Background technique
论文“面向卫星姿控算法快速验证的全物理仿真平台构建”(2017年空间机电与空间光学学术研讨会论文集，周美丽，常琳，范国伟等，2017年9月)针对卫星姿态控制算法的地面验证问题，设计了以哑铃型三轴气浮台为核心的全物理仿真系统，并进行了以控制力矩陀螺群为执行机构的三轴稳定卫星动力学仿真实验研究。该系统能够实现满足多约束条件下的规划姿态轨迹的快速跟踪。论文“面向卫星姿控算法快速验证的全物理仿真平台构建”虽然采用了旋转角度范围更大的哑铃型转台，但该系统针对的是单星姿控算法的验证问题，缺乏轨控算法的验证手段，无法对双星伴飞控制问题进行地面模拟，局限性较大。The paper "Construction of a full-physics simulation platform for rapid verification of satellite attitude control algorithms" (Proceedings of the 2017 Space Electromechanical and Space Optics Symposium, Zhou Meili, Chang Lin, Fan Guowei, etc., September 2017) for the satellite attitude control algorithm. To solve the problem of ground verification, a full-physics simulation system with a dumbbell-shaped three-axis air flotation platform as the core was designed, and a three-axis stabilized satellite dynamics simulation experiment with a control moment gyro group as the actuator was carried out. The system can realize the fast tracking of the planned attitude trajectory under multiple constraints. The paper "Construction of a full-physics simulation platform for rapid verification of satellite attitude control algorithms" Although a dumbbell-shaped turntable with a wider range of rotation angles is used, this system is aimed at the verification of single-satellite attitude control algorithms and lacks verification of orbit control algorithms. It is impossible to carry out ground simulation on the control problem of double-star companion flight, and the limitations are relatively large.
论文“多模式混合推进悬停控制与半物理仿真系统”(中国惯性技术学报，任家栋，张大力，夏红伟等，2019年8月)针对静止轨道卫星悬停控制的需求，提出了一种多模式混合推进模式下的面内悬停两参数设计方法，并设计了一套基于12自由度双星模拟系统的通用空间运动仿真验证系统。该试验系统和验证方法具有通用性，可推广应用于其他相对运动控制技术的地面验证。论文“多模式混合推进悬停控制与半物理仿真系统”的半物理仿真基于十二自由度运动模拟系统缩比模拟追踪星和目标星的相对运动，虽然具有大尺度、多维度和高精度的优点，但该系统受到直线导轨机械结构的限制，无法实现对追踪星与目标星在轨绕飞接近过程中两星之间横向相对位置运动的模拟，限制了系统的推广应用。The paper "Multi-mode Hybrid Propulsion Hover Control and Semi-Physical Simulation System" (Chinese Journal of Inertial Technology, Ren Jiadong, Zhang Dali, Xia Hongwei, et al., August 2019) proposes a multi-mode system for the hover control requirements of geostationary satellites A two-parameter design method for in-plane hovering in the hybrid propulsion mode is proposed, and a general space motion simulation verification system based on a 12-DOF dual-star simulation system is designed. The test system and verification method are universal and can be applied to the ground verification of other relative motion control technologies. The semi-physical simulation of the paper "Multi-mode Hybrid Propulsion Hover Control and Semi-Physical Simulation System" is based on a twelve-degree-of-freedom motion simulation system to scale down to simulate the relative motion of the tracking star and the target star, although it has large-scale, multi-dimensional and high-precision However, the system is limited by the mechanical structure of the linear guide, and cannot simulate the lateral relative position movement between the tracking star and the target star during the orbital approach of the two stars, which limits the popularization and application of the system.
专利“一种空间飞行器绕飞接近运动模拟器”(专利，北京控制工程研究所，CN104200715A，20141210)提供了一种空间飞行器绕飞接近运动模拟器，包括试验平台、目标飞行器运动模拟装置和追踪飞行器模拟装置，可以实现对追踪飞行器与目标飞行器在轨绕飞接近过程中各自绝对姿态运动和相对位置运动的逼真模拟，具有操作简单、抗环境干扰能力强、模拟时间可控和模拟过程可精确复现等优点。专利“一种空间飞行器绕飞接近运动模拟器”利用三轴机械转台和试验平台搭建了一套绕飞接近运动模拟器，但该系统的目标模拟器固定安装在平台中央，缺乏对其主动运动的模拟，追踪模拟器的位置变化通过竖向位置和水平位置模拟机构完成，适用范围有限，无法满足地面高精度仿真的需求。The patent "A Spacecraft Approaching Motion Simulator" (patent, Beijing Institute of Control Engineering, CN104200715A, 20141210) provides a spacecraft orbiting and approaching motion simulator, including a test platform, a target aircraft motion simulation device and a tracking device The aircraft simulation device can realize the realistic simulation of the absolute attitude movement and relative position movement of the tracking aircraft and the target aircraft during the orbital approach. advantages of recurrence. The patent "A Space Vehicle Orbiting Approach Motion Simulator" uses a three-axis mechanical turntable and a test platform to build a set of orbiting approach motion simulators, but the target simulator of the system is fixedly installed in the center of the platform, lacking active motion to it The position change of the tracking simulator is completed by the vertical position and horizontal position simulation mechanism, and the scope of application is limited, which cannot meet the needs of high-precision simulation on the ground.
专利“一种航天器自主绕飞交会控制系统地面验证装置的验证方法”(专利，北京航空航天大学，CN105974822A，20160928)由中心固定台、三轴转台目标模拟器、三轴转台追踪姿态模拟器、三向运动模块、九自由度运动测控系统等组成，采用缩比仿真的方式，实现航天器自主绕飞交会运动地面仿真。该系统和方法简单易行，拓宽了现有地面验证能力。专利“一种航天器自主绕飞交会控制系统地面验证装置的验证方法”将追踪星直角坐标系下的三自由度平动转化为地面试验装置中追踪星柱坐标系下的三自由度位置运动，实现了追踪星对目标星的绕飞。但该系统采用齿轮传动机构实现周向运动，精度受限。The patent "A verification method for the ground verification device of the spacecraft autonomous rendezvous control system" (patent, Beihang University, CN105974822A, 20160928) consists of a central fixed platform, a three-axis turntable target simulator, and a three-axis turntable tracking attitude simulator It is composed of a three-way motion module, a nine-degree-of-freedom motion measurement and control system, etc., and the method of scaling simulation is used to realize the ground simulation of the spacecraft's autonomous orbiting and rendezvous motion. The system and method are simple and easy to implement, and broaden the existing ground verification capabilities. The patent "A verification method for the ground verification device of the spacecraft autonomous rendezvous and rendezvous control system" converts the three-degree-of-freedom translation in the tracking star Cartesian coordinate system into the three-degree-of-freedom positional motion in the tracking star cylindrical coordinate system in the ground test device , to achieve the orbiting flight of the tracking star to the target star. However, the system uses a gear transmission mechanism to achieve circumferential motion, and the accuracy is limited.
专利“空间在轨故障解除操作地面模拟实验系统”(专利，国防科学技术大学，CN106081171A，20161109)公开了一种空间在轨故障解除操作地面模拟实验系统，模拟服务航天器和模拟目标航天器运行在微重力模拟气浮平台上，能够模拟在轨逼近和在轨抓捕，具有自动和人在回路等多种控制模式，可用于验证微重力环境下在轨服务技术。专利“空间在轨故障解除操作地面模拟实验系统”能够以自主或遥控操作追踪星模拟器的方式对目标星模拟器实施故障解除，但该系统无法模拟两星俯仰角的姿态变化，与实际在轨任务场景差距较大，无法满足伴飞控制算法的验证需求。The patent "Space On-orbit Fault Removal Operation Ground Simulation Experiment System" (patent, National University of Defense Technology, CN106081171A, 20161109) discloses a space on-orbit fault removal operation ground simulation experiment system, simulating the operation of the service spacecraft and the simulated target spacecraft On the microgravity simulated air flotation platform, it can simulate on-orbit approach and on-orbit capture, with multiple control modes such as automatic and human-in-the-loop, which can be used to verify the on-orbit service technology in the microgravity environment. The patented "Space On-orbit Fault Removal Operation Ground Simulation Experiment System" can perform fault removal on the target star simulator by operating the tracking star simulator autonomously or remotely. There is a large gap between orbital mission scenarios, which cannot meet the verification requirements of the accompanying flight control algorithm.
现有技术受平台运动范围、机械结构和性能的影响，对两星相对运动模拟精度不足，适用场景有限，无法有效的复现实际伴飞控制任务场景。Influenced by the range of motion, mechanical structure and performance of the platform, the existing technology has insufficient simulation accuracy for the relative motion of the two satellites, limited applicable scenarios, and cannot effectively reproduce the actual accompanying flight control task scenarios.
为了解决上述技术问题，本专利提出一种基于多自由度运动模拟器的小卫星伴飞控制地面仿真验证技术。该技术充分考虑实际任务场景，采用两台哑铃型气浮台模拟追踪星和目标星的姿态运动，哑铃型气浮台运行于微重力模拟气浮平台上，从而实现平面两个自由度和姿态三个自由度的运动模拟，最大程度的复现伴飞任务实际场景，能够达到高精度仿真的目的，为小卫星伴飞控制方案验证提供了可靠的平台。In order to solve the above technical problems, this patent proposes a ground simulation verification technology for small satellite accompanying flight control based on a multi-degree-of-freedom motion simulator. The technology fully considers the actual task scenario, and uses two dumbbell-shaped air flotation tables to simulate the attitude motion of the tracking star and the target star. The dumbbell-shaped air flotation table runs on the microgravity simulated air flotation platform, thereby realizing two degrees of freedom in the plane and attitude. The motion simulation of three degrees of freedom can reproduce the actual scene of the accompanying flight mission to the greatest extent, can achieve the purpose of high-precision simulation, and provide a reliable platform for the verification of the small satellite accompanying flight control scheme.
发明内容SUMMARY OF THE INVENTION
本发明的目的是为了解决上述现有技术存在的问题，进而提供一种基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统。The purpose of the present invention is to solve the problems existing in the above-mentioned prior art, and further provide a multi-spacecraft attitude and orbit control ground full-physics simulation system based on a multi-degree-of-freedom motion simulator.
本发明的目的是通过以下技术方案实现的：The purpose of this invention is to realize through the following technical solutions:
一种基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统，所述基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统包括多自由度双星伴飞模拟器、台上姿轨控制系统、相对导航系统、无线数据通信系统、视景演示系统和地面综合监控系统；A multi-spacecraft attitude and orbit control ground full physics simulation system based on a multi-degree-of-freedom motion simulator, the multi-spacecraft attitude and orbit control ground full-physics simulation system based on the multi-degree-of-freedom motion simulator includes a multi-degree-of-freedom double star companion flight Simulator, on-stage attitude and orbit control system, relative navigation system, wireless data communication system, visual demonstration system and ground integrated monitoring system;
多自由度双星伴飞模拟器包括追踪星模拟器、目标星模拟器和气浮平台，追踪星模拟器和目标星模拟器设置在气浮平台上；追踪星模拟器和目标星模拟器均包括气足、竖直方向重力补偿装置和气浮台体，气足喷气与气浮平台之间形成气膜，气浮台体漂浮在气浮平台上，使得模拟器在气浮平台平面上任意移动；竖直方向重力补偿装置使气足下表面始终与气浮平台上表面保持平行，同时保证气浮台体的稳定；气浮台体模拟小卫星本体，实现偏航轴和滚转轴方向的全方位旋转，以及俯仰轴±30°范围以内的旋转能力；The multi-DOF dual-star companion flight simulator includes a tracking star simulator, a target star simulator and an air floating platform. The tracking star simulator and the target star simulator are set on the air floating platform; both the tracking star simulator and the target star simulator include air floating platform. Foot and vertical gravity compensation device and air flotation platform, an air film is formed between the air foot jet and the air flotation platform, and the air flotation platform floats on the air flotation platform, so that the simulator can move arbitrarily on the plane of the air flotation platform; vertical The vertical gravity compensation device keeps the lower surface of the air foot parallel to the upper surface of the air flotation platform, and at the same time ensures the stability of the air flotation platform; the air flotation platform simulates the body of a small satellite to realize omnidirectional rotation in the direction of the yaw axis and the roll axis. and the ability to rotate within ±30° of the pitch axis;
台上姿轨控制系统包括处理器、台上供电系统、陀螺仪、加速度计、执行机构，台上供电系统为用电设备供电，陀螺仪、加速度计作为姿态和速度敏感器，获取追踪星模拟器和目标星模拟器的角速度和速度，为模拟器的控制提供必要的反馈信息，执行机构由反作用轮和小型风扇组成，控制姿态和轨道；On-stage attitude and orbit control system includes processor, on-stage power supply system, gyroscope, accelerometer, and actuator. The angular velocity and velocity of the simulator and the target star simulator provide necessary feedback information for the control of the simulator. The actuator is composed of a reaction wheel and a small fan to control the attitude and orbit;
相对导航系统包括微波雷达、雷达目标模拟器和导航计算机，微波雷达安装在追踪星模拟气浮台体的台面上，测量相对距离、相对俯仰角和相对偏航角，并通过无线通信将信息传输给导航计算机，雷达目标模拟器安装在目标星模拟气浮台体的台面上，模拟目标星匹配特征信号，导航计算机系统根据采集的测量信息，利用相对导航算法进行导航解算，将导航结果发送给控制器；The relative navigation system includes microwave radar, radar target simulator and navigation computer. The microwave radar is installed on the platform of the tracking star to simulate the air-floating platform to measure the relative distance, relative pitch angle and relative yaw angle, and transmit the information through wireless communication. For the navigation computer, the radar target simulator is installed on the table of the target star to simulate the air-floating platform, and the characteristic signal of the target star is simulated. to the controller;
无线数据通信系统包括无线路由和无线网卡，无线路由安装在追踪星模拟器和目标星模拟器上，将台上信息向台下传递，并接收台下上传的指令信号，无线网卡连接地面综合监控系统的计算机，接收台上信息并上传指令信号；The wireless data communication system includes a wireless router and a wireless network card. The wireless router is installed on the tracking star simulator and the target star simulator, which transmits the information on the stage to the off-stage, and receives the command signal uploaded from the off-stage. The wireless network card is connected to the ground for comprehensive monitoring. The computer of the system receives the information on the stage and uploads the command signal;
视景演示系统模拟运动模拟器的实时工况，直观演示在轨任务场景；地面综合监控系统负责各子系统间的协调、数据检测与处理任务。The visual demonstration system simulates the real-time working conditions of the motion simulator, and visually demonstrates the on-orbit mission scene; the ground comprehensive monitoring system is responsible for the coordination, data detection and processing tasks among various subsystems.
本发明基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统，所述目标星运动模拟器和追踪星运动模拟器均为哑铃型气浮台，模拟目标星和追踪星的三维转动和二维平动。The present invention is based on a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator. The target star motion simulator and the tracking star motion simulator are both dumbbell-shaped air flotation platforms, which simulate the motion of the target star and the tracking star. 3D rotation and 2D translation.
本发明基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统，所述追踪星模拟器和目标星模拟器的气体浮台上分别装有六个反作用轮，沿三轴方向正交安装，通过角动量交换来实现姿态控制；模拟器的轨道控制通过4台用于推进器的小型风扇安装在气足气瓶的外侧实现追踪星模拟器和目标星模拟器的在气浮平台平面上任意移动，4台小型风扇采用正交安装方式。The present invention is based on a multi-spacecraft attitude and orbit control ground full-physical simulation system based on a multi-degree-of-freedom motion simulator. The gas buoys of the tracking star simulator and the target star simulator are respectively equipped with six reaction wheels, which are arranged along the three-axis direction. Orthogonal installation, attitude control is achieved through angular momentum exchange; orbit control of the simulator is installed on the outside of the gas cylinder through 4 small fans for thrusters to achieve the tracking star simulator and the target star simulator. The platform can move arbitrarily on the plane, and the 4 small fans are installed orthogonally.
本发明基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统，所述竖直方向重力补偿装置为刚性结构，与气足的链接为刚性连接，实现无摩擦、无振动的上升和下降运动，除了运动方向的一个自由度外，其余方向的自由度均由结构所束缚。The present invention is based on a multi-spacecraft attitude and orbit control ground full physical simulation system based on a multi-degree-of-freedom motion simulator. The vertical gravity compensation device is a rigid structure, and the link with the air foot is a rigid connection, so as to realize friction-free and vibration-free operation. For ascending and descending motion, except for one degree of freedom in the direction of motion, all other degrees of freedom are bounded by the structure.
本发明一种基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统，采用哑铃型气浮台模拟追踪星和目标星的姿态运动，在滚转轴和偏航轴能够360°全回转，可以更大程度的贴近真实伴飞场景，能够有效的对小卫星伴飞控制方案进行高精度地面验证，提高了系统的可信度。视景演示系统为科研人员提供了更加直观的视角，提高了验证技术的灵活性，弥补了难以进行在轨验证的缺憾。The present invention is a multi-spacecraft attitude and orbit control ground full-physics simulation system based on a multi-degree-of-freedom motion simulator. A dumbbell-shaped air flotation table is used to simulate the attitude movement of the tracking star and the target star, and the roll axis and the yaw axis can be 360° The full rotation can be closer to the real accompanying flight scene to a greater extent, and can effectively carry out high-precision ground verification of the small satellite accompanying flight control scheme, which improves the reliability of the system. The visual demonstration system provides researchers with a more intuitive perspective, improves the flexibility of verification technology, and makes up for the difficulty of on-orbit verification.
附图说明Description of drawings
图1为本发明基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统的结构框图。FIG. 1 is a structural block diagram of a ground full physics simulation system for multi-spacecraft attitude and orbit control based on a multi-degree-of-freedom motion simulator of the present invention.
图2为本发明中多自由度双星伴飞模拟器的结构示意图。FIG. 2 is a schematic structural diagram of a multi-degree-of-freedom dual-star companion flight simulator in the present invention.
图3为本发明中哑铃型气浮台的结构示意图。FIG. 3 is a schematic structural diagram of the dumbbell-shaped air flotation table in the present invention.
图4为本发明中哑铃型气浮台体三轴示意图。FIG. 4 is a three-axis schematic diagram of the dumbbell-shaped air flotation table body in the present invention.
图5为本发明中台上姿轨控系统硬件示意图。FIG. 5 is a hardware schematic diagram of the on-stage attitude and orbit control system of the present invention.
图6为本发明中气浮台姿轨控制系统结构图。FIG. 6 is a structural diagram of the attitude-track control system of the air-floating platform in the present invention.
图7为本发明中相对导航系统示意图。FIG. 7 is a schematic diagram of the relative navigation system in the present invention.
图8为本发明中系统工作流程示意图。FIG. 8 is a schematic diagram of the system work flow in the present invention.
具体实施方式Detailed ways
下面将结合附图对本发明做进一步的详细说明：本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式，但本发明的保护范围不限于下述实施例。The present invention will be further described in detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner, but the protection scope of the present invention is not limited to the following embodiments.
实施例一：如图1-7所示，本实施例所涉及的一种基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统，包括多自由度双星伴飞模拟器、台上姿轨控制系统、相对导航系统、无线数据通信系统(遥测系统)、视景演示系统和地面综合监控系统组成，如图1所示。Embodiment 1: As shown in Figures 1-7, a multi-spacecraft attitude and orbit control ground full-physics simulation system based on a multi-degree-of-freedom motion simulator involved in this embodiment includes a multi-degree-of-freedom dual-star flight simulator, The on-stage attitude and orbit control system, relative navigation system, wireless data communication system (telemetry system), visual demonstration system and ground integrated monitoring system are composed, as shown in Figure 1.
其中，多自由度双星伴飞模拟器由追踪星模拟器、目标星模拟器和气浮平台组成，位于设备室(或微波暗室)中，用于模拟追踪星和目标星的伴飞运动。台上姿轨控制系统用于控制追踪星和目标星按指令达到预期的运行状态。动力学仿真机用于实时模拟两星在轨轨道/姿态动力学。相对导航系统用于感知两星相对运动状态，并对感知结果进行导航解算。无线数据传输系统实现台上台下系统间的数据交互。视景演示系统通过专业软件模拟运动模拟器的实时工况，直观演示在轨任务场景。地面综合监控系统负责各子系统间的协调、数据检测与处理等任务。Among them, the multi-DOF double-star companion flight simulator consists of a tracking star simulator, a target star simulator and an air-floating platform, which is located in the equipment room (or microwave anechoic chamber), and is used to simulate the accompanying flight motion of the tracking star and the target star. The on-stage attitude and orbit control system is used to control the tracking star and the target star to reach the expected running state according to the command. The dynamics simulator is used to simulate the orbit/attitude dynamics of the two satellites in real time. The relative navigation system is used to perceive the relative motion state of the two stars, and perform navigation calculation on the perception results. The wireless data transmission system realizes the data interaction between the systems on and off the stage. The visual demonstration system simulates the real-time working conditions of the motion simulator through professional software, and visually demonstrates the on-orbit mission scene. The ground integrated monitoring system is responsible for tasks such as coordination among subsystems, data detection and processing.
多自由度双星伴飞模拟器由气浮平台、追踪星模拟器、目标星模拟器组成，如图2所示。The multi-DOF dual-star companion flight simulator consists of an air-floating platform, a tracking star simulator, and a target star simulator, as shown in Figure 2.
气浮平台①采用精磨大理石平台，刚度高，变形小，环境影响小，长时间使用基本无变化，提供了一个微干扰力矩的动力学环境，能够实现XY平面两自由度高精度大范围运动，达到高精度仿真的目的。The air flotation platform ① adopts the finely ground marble platform, which has high rigidity, small deformation, small environmental impact, and basically no change after long-term use. It provides a dynamic environment with micro-interference torque, and can realize high-precision and large-scale motion in the XY plane with two degrees of freedom. , to achieve the purpose of high-precision simulation.
目标星运动模拟系统②和追踪星运动模拟系统③均为哑铃型气浮台，用于模拟目标星和追踪星的三维转动和二维平动，如图3所示。The target star motion simulation system ② and the tracking star motion simulation system ③ are both dumbbell-type air flotation platforms, which are used to simulate the three-dimensional rotation and two-dimensional translation of the target star and the tracking star, as shown in Figure 3.
平动部分由气足实现，台体下方的气足④由气瓶⑦供气，通过喷气与大理石台面之间形成气膜，使得气浮台漂浮在气浮平台上，使得模拟器能够在平台平面上任意移动。竖直方向重力补偿装置⑤能使气足下表面始终与大理石台上表面保持平行，同时保证气浮台体的稳定。竖直方向重力补偿装置为刚性结构，与气足的链接为刚性连接，使气足下表面始终与气浮平台上表面保持平行，同时保证气浮台体的稳定。该装置实际上是一套气浮导轨，能够实现无摩擦、无振动的上升和下降运动，除了运动方向的一个自由度外，其余方向的自由度均由导轨结构所束缚。图2中左右两侧展示的是补偿装置的初始和上升状态。哑铃构型气浮台体⑥模拟小卫星本体，能够实现偏航轴和滚转轴方向的全方位旋转，同时能够提供俯仰轴±30°范围以内的旋转能力，能够完成对小卫星姿态的高精度模拟，如图4所示。The translational part is realized by the air foot. The
台上姿轨控制系统硬件部分由PC/104、台上供电系统、陀螺仪、加速度计、执行机构组成，如图5所示。The hardware part of the on-stage attitude and orbit control system consists of PC/104, on-stage power supply system, gyroscope, accelerometer, and actuator, as shown in Figure 5.
PC/104是一种专为嵌入式控制而定义的工业计算机总线标准，采用堆栈式连接，具有结构小巧紧凑、抗震性好、功耗低、应用灵活等优点，为后续的维护和升级提供了便利。台上的一系列软件均运行于PC/104上。台上供电系统由一组锂电池组成，能够满足台上一系列用电设备的用电需求。陀螺仪、加速度计作为姿态和速度敏感器，用于获取追踪星模拟器和目标星模拟器的角速度和速度，为模拟器的控制提供必要的反馈信息。执行机构由反作用轮和小型风扇组成，用于姿态和轨道控制。追踪星模拟器和目标星模拟器上分别装有六个定制反作用轮(动量轮)，沿三轴方向正交安装，通过角动量交换来实现姿态控制。轨道控制通过4台用于推进器的小型风扇安装在气瓶的外侧实现，小型风扇采用正交安装方式。PC/104 is an industrial computer bus standard specially defined for embedded control. It adopts stack connection and has the advantages of small and compact structure, good shock resistance, low power consumption and flexible application. convenient. A range of software on the stage runs on the PC/104. The power supply system on the stage is composed of a set of lithium batteries, which can meet the power demand of a series of electrical equipment on the stage. The gyroscope and accelerometer are used as attitude and velocity sensors to obtain the angular velocity and velocity of the tracking star simulator and the target star simulator, and provide necessary feedback information for the control of the simulator. The actuator consists of reaction wheels and small fans for attitude and orbit control. The tracking star simulator and the target star simulator are respectively equipped with six customized reaction wheels (momentum wheels), which are installed orthogonally along the three-axis direction, and the attitude control is realized through the exchange of angular momentum. Orbital control is achieved by 4 small fans for propellers mounted on the outside of the gas cylinder, and the small fans are installed orthogonally.
台上姿轨控制系统软件部分采用XPC Target实时控制系统开发，该系统是MathWorks公司提供的基于RTW体系的附加产品，可将Intel 80x86/Pentium计算机或者PC兼容机转变为高稳定性的实时系统，可实现控制系统或者DSP系统的快速原型化、硬件在回路测试及配备实时系统功能。XPCTarget采用了宿主机-目标机的“双机”模式，目标机为PC/104，宿主机为普通计算机。宿主机用于运行Simulink，目标PC/104机用于执行生成的代码。The software part of the on-stage attitude and orbit control system is developed using the XPC Target real-time control system, which is an additional product based on RTW system provided by MathWorks, which can transform Intel 80x86/Pentium computer or PC compatible machine into a high-stability real-time system. It can realize rapid prototyping of control system or DSP system, hardware in-loop testing and equipped with real-time system functions. XPCTarget adopts the "dual-computer" mode of the host computer and the target computer, the target computer is PC/104, and the host computer is an ordinary computer. The host machine is used to run Simulink, and the target PC/104 machine is used to execute the generated code.
气浮台台体基于PID的飞轮风扇姿轨控制系统结构如图6所示。首先给定参考位姿信息，并上传至追踪星模拟器和目标星模拟器上；信息经PID位姿控制器形成控制指令，并将指令发送至飞轮和风扇；执行机构输出力矩和速率，与外界干扰一同，经过姿态轨道动力学和运动学模型，构成了实际的控制效果；位姿敏感器实时测量模拟器的位置和姿态信息，这些信息与参考位姿输入的差值形成闭环，达成了气浮台的姿轨控制。Figure 6 shows the structure of the flywheel fan attitude-track control system based on PID for the air flotation platform. First, the reference pose information is given and uploaded to the tracking star simulator and the target star simulator; the information is formed into a control command by the PID pose controller, and the command is sent to the flywheel and fan; the output torque and speed of the actuator are related to Together with external interference, the actual control effect is formed through the attitude orbital dynamics and kinematics model; the position and attitude information of the simulator is measured by the attitude sensor in real time, and the difference between these information and the reference attitude input forms a closed loop, achieving Attitude-orbit control of the air flotation table.
相对导航系统由微波雷达、雷达目标模拟器和导航计算机系统组成，如图3所示。其中，微波雷达安装在追踪星模拟气浮台台面上，用于测量相对距离、相对俯仰角和相对偏航角，并通过无线通信将信息传输给导航计算机系统。雷达目标模拟器安装在目标星模拟气浮台台面上，用于模拟目标星匹配特征信号。导航计算机系统根据采集的测量信息，利用相对导航算法进行导航解算，将导航结果发送给控制器。The relative navigation system consists of microwave radar, radar target simulator and navigation computer system, as shown in Figure 3. Among them, the microwave radar is installed on the surface of the tracking star simulation air flotation platform to measure the relative distance, relative pitch angle and relative yaw angle, and transmit the information to the navigation computer system through wireless communication. The radar target simulator is installed on the target star simulation air flotation platform to simulate the matching characteristic signal of the target star. The navigation computer system uses the relative navigation algorithm to solve the navigation according to the collected measurement information, and sends the navigation results to the controller.
无线数据通信系统由无线路由、无线网卡组成。无线路由安装在追踪星模拟器和目标星模拟器上，将台上信息下台下传递，并接收台下上传的指令信号。无线网卡连接地面综合监控系统的计算机，接收台上信息并上传指令信号。采用无线数据通信的形式避免了线材对模拟器的限制。The wireless data communication system consists of wireless routers and wireless network cards. The wireless routing is installed on the tracking star simulator and the target star simulator, which transmits the information on and off stage, and receives the instruction signal uploaded from the stage. The wireless network card is connected to the computer of the ground integrated monitoring system, receives the information on the platform and uploads the command signal. Using the form of wireless data communication avoids the limitation of the wire to the simulator.
综合监控系统包括硬件和软件两部分，主要负责获取多自由度双星模拟器、相对导航系统、台上姿轨控制系统等系统的试验数据、参数，对各系统设备进行控制管理，并提供台下人机交互界面，状态、数据显示和处理等任务。The integrated monitoring system includes hardware and software. It is mainly responsible for acquiring the test data and parameters of the multi-DOF dual-star simulator, relative navigation system, on-stage attitude and orbit control system, etc. Human-computer interface, status, data display and processing tasks.
视景演示系统由演示计算机、模拟软件组成，视景演示系统模拟基于STK平台开发。该软件是美国AGI公司开发的一套航天分析软件，嵌入了丰富的模型资源，功能强大，有外部接口，支持C语言和Matlab联合开发。从数据传输系统接收到追踪星、目标星位姿信息后，STK能够通过其集成的动力学模块对相对运动进行仿真，并在显示屏上显示二维和三维的虚拟场景。The visual demonstration system consists of a demonstration computer and simulation software. The simulation of the visual demonstration system is developed based on the STK platform. The software is a set of aerospace analysis software developed by American AGI Company, embedded with rich model resources, powerful functions, external interfaces, and supports joint development of C language and Matlab. After receiving the tracking star and target star position and attitude information from the data transmission system, STK can simulate the relative motion through its integrated dynamics module, and display two-dimensional and three-dimensional virtual scenes on the display screen.
实施例二：如图8所示，本实施例所涉及的一种基于多自由度运动模拟器的多航天器姿轨控地面全物理仿真系统的工作流程如图8所示，系统通过地面综合监控系统发布指令，令多自由度双星伴飞模拟器处于标称位置。接到综合监控系统发布的开始指令后，控制系统根据嵌入的卫星动力学和控制模型，将实时仿真出的相对距离、相对角度等信息发送给执行机构。执行机构根据指令驱动多自由度双星伴飞模拟器模拟追踪星和目标星的伴飞运动。与此同时，微波雷达对目标星模拟器上雷达目标模拟器的进行感知，捕获到的信息发送给相对导航计算机进行处理。将导航结果发送给控制系统，作为下一步运动控制的依据。在地面综合监控系统中将伴飞控制结果与真值比较，作为评价待验证控制方案的依据。实时工况传输给视景演示系统，在屏幕上更加直观的展示在轨任务场景。Embodiment 2: As shown in FIG. 8 , the workflow of a multi-spacecraft attitude and orbit control ground full-physics simulation system based on a multi-degree-of-freedom motion simulator involved in this embodiment is shown in FIG. 8 . The monitoring system issues an instruction to keep the multi-DOF dual-star companion flight simulator at the nominal position. After receiving the start command issued by the integrated monitoring system, the control system sends the relative distance, relative angle and other information simulated in real time to the actuator according to the embedded satellite dynamics and control model. The actuator drives the multi-degree-of-freedom dual-star companion flight simulator according to the instructions to simulate the companion flight movement of the tracking star and the target star. At the same time, the microwave radar perceives the radar target simulator on the target star simulator, and the captured information is sent to the relative navigation computer for processing. The navigation result is sent to the control system as the basis for the next motion control. In the ground integrated monitoring system, the accompanying flight control results are compared with the true value as the basis for evaluating the control scheme to be verified. The real-time working conditions are transmitted to the visual demonstration system, and the on-orbit mission scene is more intuitively displayed on the screen.
以上所述，仅为本发明较佳的具体实施方式，这些具体实施方式都是基于本发明整体构思下的不同实现方式，而且本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above are only preferred specific embodiments of the present invention, and these specific embodiments are based on different implementations under the overall concept of the present invention, and the protection scope of the present invention is not limited to this. Anyone familiar with the technical field Changes or substitutions that can be easily conceived by a skilled person within the technical scope disclosed by the present invention shall be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
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| CN116610044A (en) * | 2023-07-21 | 2023-08-18 | 哈尔滨工业大学 | Satellite full physics simulation device and method based on gas-liquid suspension technology |
| CN116610044B (en) * | 2023-07-21 | 2023-09-19 | 哈尔滨工业大学 | Satellite full-physical simulation device and method based on gas-liquid suspension technology |
| CN117584139A (en) * | 2024-01-19 | 2024-02-23 | 北京控制工程研究所 | A full gravity unloading test system and method for space robots |
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