RU2367027C1 - Manned spacecraft simulator - Google Patents

Abstract

FIELD: physics; simulation.

SUBSTANCE: invention relates to making spacecraft simulators and is meant for effective training of astronauts to control spacecraft on the orbital flight phase when approaching, berthing and docking with an orbital space station. The simulator consists of a training monitoring and control panel, command radio link simulator, sensor simulator, linear acceleration measuring device simulator, spacecraft motion simulator, integrated propulsion system actuators simulator, onboard digital computer system simulator, onboard control system simulator, first format forming unit and crew panel. The simulator additionally contains a space station motion simulator, mutual measurements system simulator, first, second and third visual environment generators, local vertical plotter simulator, second format forming unit, device for interfacing with an object, object movement control unit simulator, acoustic environment generator, crew station, consisting of a mockup cabin of the landing module of the manned spacecraft and including a video camera, device for simulating air-to-ground communication, handle for controlling sighting device of the astronaut, handle for controlling orientation, acoustic system, first and second visual illuminators, flight engineer's seat, captain's seat and mission specialist's seat.

EFFECT: wider functional capabilities, higher level and quality of training astronauts.

2 cl, 3 dwg

Description

The invention relates to the field of manned astronautics - space simulator, in particular to ground-based technical equipment intended for training astronauts in the management of spacecraft.

A known system for simulating the flight of a spacecraft (United States Patent No. 5,435,725 SYSTEM FOR SIMULATING A FLYING VEHICLE, Current International Class: G09B 9/30; G09B 9/52; G09B 9/02; G09B 9/00; G09B 9/20; G09B 009/08, Date: June 17, 1993, Assignee: Kabushiki Kaisha Toshiba (Kawasaki, JP), containing an integrated control module, an input / output process module, an environment generation module, a database of modeling variables, simulation tools, including a display terminal, a unit initial conditions, block of output parameters and information blocks.

The disadvantage of this system is that it relates to purely virtual automated training systems designed primarily for theoretical and initial practical training (the so-called pre-training preparation: familiarity with the device of the spacecraft and the principles of its control, instilling the initial skills in controlling the spacecraft), the composition of which there are no regular governing bodies and means of information display (or governing bodies and means of display information in the simulator version, outwardly completely identical to the regular one) and, accordingly, the trainees are not provided with the acquisition of stable sensory-motor skills for performing dynamic operations to control the spacecraft.

A known system and method for autonomous training of astronauts (international patent WO / 2004/109623 SYSTEM AND METHOD FOR AUTONOMOUS TRAINING, Int. Class .: A63B 24/00, G09B 9/00, G09B 9/52, Priority Data: 16.12.2004, Applicants: CANADIAN SPACE AGENCY [CA]), containing a modeling computer, a motion control knob, an angular position control knob, a database: with the parameters of the motion of a real object and simulated motion parameters of an object, with basic (reference) and current levels of astronaut training, graphic computer with three graphic accelerators and three video displays Her.

The disadvantage of this system is that it relates to automated training systems in which only a few standard components (a motion control knob and an angular position control knob) are used to create a learner’s workplace without reproducing the interior or even without simulating the working area of the cockpit model of a real spaceship (real module of the orbiting space station), which significantly reduces the effectiveness of the preparation.

The closest to the performance analogue, adopted as a prototype of the invention, is a training device (patent for a utility model of the Russian Federation No. 61053 TRAINING DEVICE, IPC 8 G09B 9/52) containing an astronaut’s remote control, model of the onboard complex control system, model of sensors, control stick , model of a motion control system, model of executive bodies, a control and management board for training, a linear acceleration meter model, a spacecraft motion prediction model, a digital computer ohm, formatting unit, spacecraft motion model, the second output of which is connected to the first input of the sensor model, the third output of which is connected to the first input of the motion control system model, the second input of which is connected to the control handle, and the third output of the motion control system model the first input of the executive body model, the second output of which is connected to the third input of the spacecraft’s motion model, the first output of which is connected to the model of the linear acceleration meter, the output is The input is connected to the second input of the digital calculator model by descent, the first input of which is connected to the output of the spacecraft motion prediction model, the input of which is connected to the fourth output of the control and training control panel, and the fourth output of the digital computer model by descent is connected to the first input of the formatting unit, the third the output of which is connected to the first input of the astronaut’s panel, the third output of which is connected to the first input of the control and training control panel, and the second output of the astronaut’s panel dinan with the first input of the onboard complex control system model, the second output of which is connected in parallel with the second input of the sensor model, with the fourth input of the motion control system model and with the third input of the executive engine system model, and the third input of the onboard complex control system model is connected to the second output of the console control and management of training, the third output of which is connected to the fourth input of the model of motion of the spacecraft, the fourth output of the model of the control system on-board complex the som is connected to the third input of the digital computer model by descent, the model of the central on-board computer complex, the model of the manual data input unit and the command radio line model, the input of which is connected to the fifth output of the control and training control panel, and the output of the command radio model is connected to the input of the central on-board computer model complex, the output of which is connected in parallel with the second input of the formatting unit and with the input of the model of the manual information input unit, the output of which is connected n to the fifth entry model digital computer descent.

The prototype training device provides, mainly, the possibility of manual training in performing pilot operations such as separating a spacecraft from an orbiting space station and launching. The training prototype device has several disadvantages: firstly, to create an astronaut’s workplace, the prototype teaching device uses only two components of the astronaut’s working area: the astronaut’s remote control and the descent control knob, without creating an enclosed volume and reproducing the interior of the cockpit of a real spacecraft spacecraft (that is, without a full simulation of working areas for crew members of a transport spacecraft and proximity to the actual conditions of piloting), and secondly, it provides the ability to visualize the external environment (the outside space) and simulate the communication “Bort-Zemlya” between the trained astronaut and the instructor, and there is also no simulation of the acoustic environment at the astronaut’s workplace, which reduces the amount and quality of information received by the astronaut in the learning process through the senses and, accordingly, significantly reduces the effectiveness of cosmonaut training in general.

The aim of the invention is to provide a simulator that provides training for all crew members of a spacecraft to perform the most demanding dynamic piloting operations (approaching, approaching and docking with a long-term orbital space station of the International Space Station type) of a Soyuz-TMA spacecraft in orbit flight section.

The technical result of the invention is expressed in expanding the functionality of the simulator to increase the level and quality of training of astronauts, which consists in the fact that the proposed simulator increases the completeness of the complex of sensory effects on almost all the senses of the students.

This goal is achieved by the fact that in the simulator of a manned spacecraft, consisting of a control panel for training, a command radio line model, a model of sensors, a model of a linear acceleration meter, a model of a spacecraft’s motion, a model of executive bodies of a combined propulsion system, a model of an onboard digital computer complex, models of the onboard complex control system, the first unit for the formation of formats and the astronaut’s console; the second output of the on-board digital computer complex model, the input of which is connected to the first output of the command radio line model, is connected to the first input of the astronaut’s console through the first block of formation of formats; the third output of the training control and management panel is connected to the second input of the command radio line model, the fourth output is to the first input of the spacecraft’s motion model, and the fifth output is connected to the second input of the airborne control system model, the second output of which is connected to the second input of the combined executive model propulsion system; the first output of the model of executive bodies of the combined propulsion system is connected to the second input of the spacecraft’s motion model, the second output of which is connected to the input of the linear acceleration meter model, and the third output is connected to the input of the sensor’s model, the space station’s motion model, the mutual measurement system model are introduced, the first the second and third shapers of the visual environment, the model of the local vertical builder, the second block of the formation of formats, the device for interfacing with the object, the model of the control unit the movement of the object, the shaper of the acoustic environment, the first and second output visualization devices, the crew’s workplace, which is a model of the cockpit of the manned spacecraft descent vehicle and includes a surveillance camera, communication simulators "Bort-Zemlya", a motion control handle, a special astronaut’s sight, a handle orientation control, acoustic system, first and second visual windows, flight engineer’s chair, ship’s commander’s chair and explorer’s astronaut’s chair (space private tourist); the first output of the training control and management panel through the first imaging unit is connected to the first output visualization device, the second output - through the second imaging unit is connected to the special astronaut's sight, the sixth output - through the acoustic conditioner is connected to the speaker system, the seventh output - through the third a visual conditioner is connected to a second output visualization device, the first and second output visualization device optically linked with the first and second visual portholes; a surveillance camera is connected to the first input of the control and training control panel, to the second input is the second output of the command radio line model, to the third input is the fifth output of the spacecraft’s motion model, to the fourth input is the third output of the airborne control system model, and the first input is the output the control and training control panel is connected to the fifth input-output of the on-board digital computer complex model, the second input-output is to the input-output of the space station's motion model, the third input-output is to go-go means of simulating communication "Board-Earth"; the output of the motion model of the space station is connected to the first input of the model of the mutual measurement system; the first output of the onboard digital computer complex model is connected to the first input of the command radio line model, the third output is through the second formatting unit to the second input of the astronaut’s panel, and the first input and output of the onboard digital computer complex model is connected to the input / output of the sensor model, the second input is output - to the input-output of the linear acceleration meter model, the third input-output - to the input-output of the model of the mutual measurement system, the fourth input-output - to the first input-output of the system model I'm onboard complex, the sixth input-output - to an input-output model builder to the local vertical; the first output of the motion model of the transport spacecraft is connected to the second input of the model of the mutual measurement system, the fourth output is to the input of the model of the local vertical builder; the first output of the onboard complex control system model is connected to the third input of the spacecraft's motion model, the first input of the onboard complex control system model is connected to the second output of the executive body model of the combined propulsion system, and the second input-output of the onboard complex control system model is connected to the first input-output devices for interfacing with the object, the third input-output - to the input-output of the model of the unit for controlling the movement of the object; the input-output of the astronaut’s console is connected to the second input-output of the devices for interfacing with the object, the output of which is connected to the first input of the model of the unit for controlling the movement of the object; the output of the sensor model is connected to the second input of the unit for controlling the movement of the object, the output of which is connected to the first input of the model of the executive bodies of the combined propulsion system, and the motion control handle is connected to the third input of the astronaut’s console, and the orientation control handle is connected to the fourth input.

The essence of the invention lies in the fact that in the proposed simulator, the completeness of the effects on all the main sensory systems of a person (trained astronauts) - visual, kinesthetic (tactile), audio (speech, acoustic) - is as close as possible to a real space flight of a manned spacecraft on all of it stages, and the emphasis is on improving the quality of training when performing the most critical operations of piloting a spacecraft in the near orbital section in manual mode (approach, mooring and docking).

The invention is illustrated by drawings, where figure 1 shows the functional structural diagram of the simulator of a manned spacecraft, figure 2 is a General view of the workplace of the crew of a specialized simulator "Don-Soyuz-TMA" in RGNIITSPK them. Yu. A. Gagarin, and Fig. 3 is a general view of the space simulator-attraction of the Soyuz-TMA transport manned spacecraft in the Donskoy branch of the Simulator Center in Novocherkassk as part of the ASTRON youth educational and cognitive entertainment center named after astronaut G.S.Shonin.

According to figure 1, the simulator includes a training control and management panel 1, a command radio link model 2, a space station motion model 3, a sensor model 4, a linear acceleration meter model 5, a mutual measurement system model 6, a spacecraft motion model 7, a combined actuator model propulsion system 8, model of the on-board digital computer complex 9, model of the control system for the on-board complex 10, first 11, second 12 and third 19 shapers of the visual environment, model of the builder local vertical 13, first 14 and second 15 format formation units, an object interface device 16, an object movement control unit model 17, an acoustic conditioner 18, a crew workstation 20, which is a model of a descent vehicle cockpit and which contains a surveillance camera 21, a remote control cosmonauts 22, communication simulators "Bort-Zemlya" 23, the manual control unit for lighting and ventilation equipment of the cockpit model of the descent module of the transport manned spacecraft 24, the manual block rotary valves for equalizing the pressure between the descent vehicle cabin and the household compartment of the spacecraft 25, the motion control knob 26, the special astronaut’s visor 27, the orientation control knob 28, the speaker system 29, the first 30 and second 36 output imaging devices, the first 31 and second 35 visual portholes, flight engineer’s chair 32, ship’s commander’s chair 33 and astronaut-explorer (space tourist )’s chair 34. The first input of the astronaut’s console 22 is connected to the first input of the formats 14 the second output of the on-board digital computer complex model 9, the input of which is connected to the first output of the command radio line model 2; the third output of the training control and management console 1 is connected to the second input of the command radio line model 2, the fourth output is to the first input of the spacecraft 7 motion model, and the fifth output is to the second input of the airborne complex control system 10, the second output of which is connected to the second input Executive models of the combined propulsion system 8; the first output of the model of the executive bodies of the combined propulsion system 8 is connected to the second input of the motion model of the spacecraft 7, the second output of which is connected to the input of the model of the linear acceleration meter 5, and the third output is connected to the input of the model of sensors 4; the first output of the control and training control panel 1 through the first imaging unit 11 is connected to the first output visualization device 30, the second output is connected to the special cosmonaut 27 through the second imaging unit 12, the sixth output is connected to the speaker system through the acoustic conditioner 18 29, seventh output - through the third imaging unit 19 is connected to the second output visualization device 36, the first 30 and second 36 output device visualization systems are optically connected respectively with the first 31 and second 35 visual windows; a surveillance camera 20 is connected to the first input of the training control and management console 1, the second output of the command radio line model 2 is connected to the second input, the fifth output of the spacecraft 7 motion model is connected to the third input, and the third output of the onboard complex control system 10 is connected to the fourth input. The first input-output of the control and training control panel 1 is connected to the fifth input-output of the model of the on-board digital computer complex 9, the second input-output is connected to the input-output of the motion model of the space station 3, and the third input -output - to the input-output of the Bort-Earth communication simulation equipment 23. The output of the motion model of the space station 3 is connected to the first input of the model of the mutual measurement system 6, and the first output of the model of the on-board digital computer complex 9 is connected to the first input of the model of the command radio line 2 , the third output is through the second block of the formation of formats 15 to the second input of the astronaut’s panel 22, and the first input-output of the on-board digital computer complex 9 is connected to the input-output of the sensor model 4, the second input-output to the input-output m divide the linear acceleration meter 5, and the third input-output - to the input-output of the model of the mutual measurement system 6, the fourth input-output - to the first input-output of the model of the onboard complex control system 10, the sixth input-output - to the input-output of the builder model local vertical 13. The first output of the motion model of the spacecraft 7 is connected to the second input of the model of the mutual measurement system 6, the fourth output is to the input of the model of the builder of the local vertical 13. The first output of the model of the onboard complex control system 10 is connected to the third the input of the motion model of the spacecraft 7, the first input of the model of the onboard complex control system 10 is connected to the second output of the executive bodies model of the combined propulsion system 8, and the second input-output of the model of the onboard complex control system 10 is connected to the first input-output of the interface devices 16, the third input-output - to the input-output of the model of the unit for controlling the movement of the object 17. The input-output of the astronauts panel 22 is connected to the second input-output of the devices for interfacing with the object 16, the output of which connected to the first input of the model of the unit for controlling the movement of the object 17. The output of the model of sensors 4 is connected to the second input of the unit for controlling the movement of the object 17, the output of which is connected to the first input of the model of the executive bodies of the combined propulsion system 8. A control handle 26 is connected to the third input of the astronaut’s console 22 , to the fourth input - orientation control knob 28.

The training control and management console 1 is designed to set the “flight scenario” and the initial training conditions, launch and operational control of the training course, enter failures, stop and end the training.

The command radio line 2 model provides automated input from the control and training control panel 1 (simulating the “Mission Control Center (MCC)”) into the model of the on-board digital computer complex of 9 control commands of the executive bodies model of the combined propulsion system 8 for working out acceleration and brake pulses.

The motion model of the space station 3 provides the calculation of the current state vector of the center of mass of the space station, as well as the orientation parameters of the space station in outer space.

The motion model of space station 3 is described by the following system of equations:

1. The equations of orbital motion in vector form:

- оператор локальной производной;Where

- local derivative operator;

r is the radius vector of the center of mass;

e _r = r / r is the unit vector of the radius vector;

V is the speed of translational motion;

Ω is the absolute angular velocity of the orbital coordinate system;

C is the specific kinetic moment in orbital motion;

a = (a ₀ , a ₁ , a ₂ , a ₃ ) - quaternion of transformation of coordinate systems (inertial to orbital);

a · Ω - quaternion multiplication;

g is the acceleration from the second harmonic of the geopotential;

f _a - acceleration from aerodynamic force;

µ = 398601.3 km ³ · s ^-2 - gravitational parameter of the Earth;

J ₂ = 1.802628 · 10 ^-3 is the coefficient at the second zonal harmonic in the expansion of the geopotential.

2. The equations of rotation relative to the center of mass (orientation) in vector form:

2.1 Dynamic equations of Euler

2.2 Kinematic equations for quaternion

where ω is the absolute angular velocity of the space station;

b = (b ₀ , b ₁ , b ₂ , b ₃ ) is the quaternion of the transformation of coordinate systems (inertial into a connected space station);

J ^с · ω is matrix multiplication;

M ^with - the main moment of external forces relative to the center of mass of the space station;

- главный вектор внешних сил;

- the main vector of external forces;

J ^C is the inertia tensor of a space station defined at its center of mass.

The sensor model 4 provides the calculation of the values of the projections of the absolute angular velocity of the spacecraft on the associated coordinate axes.

The description of the function modeling the sensors has the following mathematical expression:

(I _dus , U _dus , F _dus ) = BDUS (K _dus , ω).

1. Input variables:

(Признаки команд на включение комплекта датчиков угловых скоростей 1 (2, 3))Logical:

(Signs of commands to turn on the set of angular velocity sensors 1 (2, 3))

Real: ω = (ω ₁ , ω ₂ , ω ₃ ); (The absolute angular velocity of the spacecraft in projections on its associated coordinate axes)

2. Output variables:

(Квитанции в модель системы управления бортовым комплексом 10 об исполнении команд включения комплекта датчиков угловых скоростей 1 (2, 3))Logical:

(Receipts to the model of the onboard complex control system 10 on the execution of commands for including a set of angular velocity sensors 1 (2, 3))

(Аналоговые выходные сигналы, характеризующие проекции абсолютной угловой скорости космического корабля в проекциях на его связанные оси координат, - для модели блока управления перемещением объекта 17)Real:

(Analog output signals characterizing the projections of the absolute angular velocity of the spacecraft in the projections on its associated coordinate axes, for the model of the unit for controlling the movement of the object 17)

(Дискретные выходные сигналы, характеризующие проекции абсолютной угловой скорости космического корабля на его связанные оси координат, - для модели бортового цифрового вычислительного комплекса 9).

(Discrete output signals characterizing the projections of the absolute angular velocity of the spacecraft on its associated coordinate axes are for the model of the onboard digital computer complex 9).

The model of the linear acceleration meter 5 provides the calculation of the values of the projections of the acceleration of the center of mass of the spacecraft on the associated coordinate axes.

The description of the function modeling the linear acceleration meter has the following mathematical expression:

1. Input variables:

(Признаки команд на включение выбранного комплекта измерителя линейного ускорения 1 (2, 3))Logical:

(Signs of commands to turn on the selected linear acceleration meter kit 1 (2, 3))

(Производные правых частей уравнений орбитального движения космического корабля, в проекциях на его связанные оси)Real:

(Derivatives of the right-hand sides of the equations of the orbital motion of a spacecraft, in projections on its connected axes)

2. Output variables:

(Квитанции в модель системы управления бортовым комплексом 10 об исполнении команд на включение выбранного комплекта измерителя линейного ускорения 1 (2, 3))Logical:

(Receipts to the model of the on-board complex control system 10 on the execution of commands to include the selected set of the linear acceleration meter 1 (2, 3))

(Значения частот, характеризующих проекции на связанные оси космического корабля «видимого ускорения» его центра масс)Real:

(The values of the frequencies characterizing the projection onto the connected axis of the spacecraft of "visible acceleration" of its center of mass)

The mutual measurement system model 6 provides the calculation of the parameters of the relative motion of the spacecraft and the space station at all stages of convergence, as well as the development of signs of the state of the radio channels of communication between the spacecraft and the space station.

The description of the function modeling the system of mutual measurements has the following mathematical expression:

1. Input variables:

(Признаки команд на включение выбранного комплекта системы взаимных измерений 1 (2))Logical:

(Signs of commands to enable the selected set of mutual measurement system 1 (2))

Test, (A sign of the command to enable the selected set of the mutual measurement system in the test control mode)

KrugP, (Indication of the command to enable the selected set of the mutual measurement system in the circular search mode)

SectP, (Indication of the command to enable the selected set of the mutual measurement system in the sector search mode)

RO (A sign of the command to enable the selected set of the system of mutual measurements in orientation mode)

Real: ρ, (The relative range of the centers of mass of the spacecraft and station)

(Относительная скорость центров масс космических корабля и станции)

(The relative velocity of the centers of mass of the spacecraft and station)

(Абсолютная угловая скорость линии визирования, проходящей через центры масс космических корабля и станции в проекциях на визирные оси координат)

(The absolute angular velocity of the line of sight passing through the centers of mass of the spacecraft and station in projections onto the coordinate axis of sight)

ω = (ω ₁ , ω ₂ , ω ₃ ); (The absolute angular velocity of the spacecraft in projections on its associated coordinate axes)

2. Output variables:

(Квитанции в модель системы управления бортовым комплексом 10 об исполнении команд на включение выбранного комплекта системы взаимных измерений 1 (2))Logical:

(Receipts to the model of the on-board complex control system 10 on the execution of commands to include the selected set of the mutual measurement system 1 (2))

RTK, (A sign in the model of the on-board digital computer complex 9 about the transition of the mutual measurement system to the test control mode)

RF, (A sign in the model of the on-board digital computer complex 9 about the transition of the mutual measurement system to the operating mode)

SNC, (Signal of the “Target Presence” signal in the model of the on-board digital computer complex 9)

AO, (A sign in the model of the on-board digital computer complex 9 about the end of transients in the orientation channel)

Zahvat, (A sign of the formation of the range channel in the model of the on-board digital computer complex 9)

AS, (A sign in the model of the on-board digital computer complex 9 about the end of transients in the auto-tracking channel)

BazaAO, BazaAR, (Signs of measuring the mutual roll of the spacecraft and the station at the bases of AO and AR)

Pr, (A sign in the model of the on-board digital computer complex 9 about the transition of the mutual measurement system to the mooring mode)

Real: ρ _sνi , (The distance between the range channel antennas of the sets of the system of mutual measurements of the spacecraft and the station)

(Относительная скорость антенн канала дальности комплектов системы взаимных измерений космических корабля и станции)

(The relative speed of the range channel antennas sets of the spacecraft and station mutual measurement system)

(Абсолютная угловая скорость линии визирования, проходящей через антенны канала дальности комплектов системы взаимных измерений космических корабля и станции)

(Absolute angular velocity of the line of sight passing through the range channel antennas of the spacecraft and station mutual measurement systems)

ψ _sνi , θ _sνi , (Angles of the bearing of the line of sight passing through the antennas of the docking nodes of the spacecraft and station)

γ _r ; (The angle of mutual roll of the spacecraft and the station)

The motion model of the spacecraft 7 provides the calculation of the current state vector of the center of mass of the spacecraft, as well as the orientation parameters of the spacecraft in outer space.

The motion model of the spacecraft 7 is described by the following system of equations:

1. The equations of orbital motion in vector form:

- оператор локальной производной;Where

- local derivative operator;

r is the radius vector of the center of mass;

e _r = r / r is the unit vector of the radius vector;

V is the speed of translational motion;

Ω is the absolute angular velocity of the orbital coordinate system;

C is the specific kinetic moment in orbital motion;

a = (a ₀ , a ₁ , a ₂ , a ₃ ) - quaternion of transformation of coordinate systems (inertial to orbital);

a · Ω - quaternion multiplication;

g is the acceleration from the second harmonic of the geopotential;

f _a - acceleration from aerodynamic force;

u - control acceleration from a combined propulsion system;

µ = 398601.3 km ³ · s ^-2 - gravitational parameter of the Earth;

J ₂ = 1.802628 · 10 ^-3 is the coefficient at the second zonal harmonic in the expansion of the geopotential.

2. The equations of rotation relative to the center of mass (orientation) in vector form:

2.1 Dynamic equations of Euler

2.2 Kinematic equations for quaternion

where ω is the absolute angular velocity of the spacecraft;

b = (b ₀ , b ₁ , b ₂ , b ₃ ) is the quaternion of the transformation of coordinate systems (inertial into the bound spacecraft);

J ^c · ω is matrix multiplication;

M ^c - the main moment of external forces relative to the center of mass of the spacecraft;

- главный вектор внешних сил;

- the main vector of external forces;

J ^c is the inertia tensor of the spacecraft defined in its center of mass.

2.3 Calculation of relative motion parameters

2.3.1 Relative range vector ρ:

ρ = r _s -r _k ,

where r _s , r _k are the radius vectors of the space station and the spacecraft.

2.3.2 Relative velocity vector ν _r

calculation:

ν _r = V _s -V _k ,

differential equation (definition):

where V _s , V _k are the speeds of the space station and the spacecraft.

Ω _lv is the absolute angular velocity of the line of sight.

2.3.3 Calculation of radial velocity (approach velocity)

V _rl = (ρ, ν _r ) / ρ

2.3.4 Calculation of the absolute angular velocity of the line of sight Ω _lv = [ρ, ν _r ] / ρ ²

2.3.5 Determination of the unit vectors of the bases of the sighting (beam) coordinate system

l ₁ = ρ / ρ, l ₂ = Ω _lv / Ω _lv , l ₃ = [l ₁ , l ₂ ]

The model of the executive bodies of the combined propulsion system 8 provides at all stages of convergence the calculation of the linear acceleration control and the moment, respectively, in the translational and rotational movements of the spacecraft.

The description of the function modeling the actuators of the combined propulsion system has the following mathematical expression:

(I _kdu , u, M ^c ) = KDU (K _kdu , T, τ)

1. Input variables:

(Признаки включения каналов Х (Y, Z) комбинированной двигательной установки)Logical:

(Signs of the inclusion of channels X (Y, Z) of the combined propulsion system)

Real: T = (T ₁ , T ₂ , T ₃ ), (Periods of operation of the engines of the combined propulsion system in the channels X (Y, Z))

τ = (τ ₁ , τ ₂ , τ ₃ ); (The operating times of the engines of the combined propulsion system in the channels X (Y, Z))

2. Output variables:

(Признаки работы составных частей комбинированной двигательной установки: сближающее-корректирующий двигатель, двигатели причаливания-ориентации (большие и малые), выдаваемое в модель системы управления бортовым комплексом 10)Logical:

(Signs of operation of the components of a combined propulsion system: converging-correcting engine, mooring-orientation engines (large and small), issued in the model of the onboard complex control system 10)

Real: u = (u ₁ , u ₂ , u ₃ ), (Control acceleration of the center of mass of the spacecraft in the projections on its coordinate axis)

(Управляющий момент относительно центра масс космического корабля в проекциях на его оси координат)

(Control moment relative to the center of mass of the spacecraft in projections on its coordinate axis)

The on-board digital computer complex 9 model imitates the simulator in the automatic mode of functioning of the equipment and systems of the spacecraft at all stages of the flight: when starting and putting the spacecraft into waiting orbit, when issuing a command to form an accelerating pulse, which transfers to the orbit of the space station, issuing a command to generate a braking impulse when the spacecraft approaches the space station, when the spacecraft freezes to build I am the plane of the space station’s flyby, during automatic flyby of the space station, when it hangs to coordinate the coordinate system of the spacecraft and the coordinate system of the docking station of the space station, followed by the mooring and docking of the spacecraft with the space station, when the spacecraft is separated from the space station, when flying and reconfiguration of the spacecraft to the space station, during the descent and landing of the spacecraft.

The model of the onboard complex control system 10 at all operating modes in the simulator provides simulation of the onboard systems and equipment of the spacecraft.

The model of the local vertical builder 13 provides an automatic simulation of the alignment of the ordinate axis of the spacecraft with the local vertical.

The description of the function modeling the local vertical builder has the following mathematical expression (see Spacecraft orientation control. B.V. Raushenbakh, E.N. Tokar. M.: Nauka, 1974. - 600 pp.):

1. Input variables:

(Признаки команд на включение выбранного комплекта построителя местной вертикали 1 (2, 3))Logical:

(Signs of teams to enable the selected set of local vertical builder 1 (2, 3))

Real: A_, ₂ = (A ₁₂ , A ₂₂ , A ₃₂ ), (Projections of the local vertical unit vector on the associated coordinate axes of the spacecraft)

2. Output variables:

, (Квитанции в модель системы управления бортовым комплексом 10 об исполнении команд на включение выбранного комплекта построителя местной вертикали 1 (2,3))Logical:

, (Receipts to the model of the on-board complex control system 10 on the execution of commands to include the selected set of the local vertical builder 1 (2,3))

SNP, (“Field presence” signal - the sign “Earth in the field of view of the local vertical builder”)

Real: u _t , u _k , (The values of the pitch and roll channel signals, depending on the magnitude of the mismatch of the local vertical and the Y axis of the associated coordinate system of the spacecraft)

The model of the control unit for the movement of the object 17 provides a manual simulation of linear and angular movements of the spacecraft.

The description of the function that simulates the object's motion control unit has the following mathematical expression (K _bupo , Т, τ) = BUPO (I _ruo , I _rud , U, U _dus )

1. Input variables:

Logical: I _ruo , I _rud , (Signs of the selection of control knobs)

Real: U = (U ₁ , U ₂ , U ₃ ), (Projections of the setpoint vector depending on the value of the deviation of the CBR from the neutral)

(Аналоговые выходные сигналы, характеризующие проекции абсолютной угловой скорости космического корабля на его связанные оси координат)

(Analog output signals characterizing the projections of the absolute angular velocity of the spacecraft on its associated coordinate axes)

2. Output variables:

(Признаки включения каналов комбинированной двигательной установки в каналах Х (Y, Z))Logical:

(Signs of inclusion of the channels of the combined propulsion system in the channels X (Y, Z))

Real: T = (T ₁ , T ₂ , T ₃ ), (Periods of operation of the engines of the combined propulsion system in the channels X (Y, Z))

τ = (τ ₁ , τ ₂ , τ ₃ ), (Operating times of the engines of the combined propulsion system in the channels X (Y, Z))

To implement the models (command radio link model 2, space station motion model 3, sensors model 4, linear acceleration meter model 5, reciprocal measurement system model 6, spacecraft motion model 7, executive engine model of the combined propulsion system 8, on-board digital computer complex model 9, the model of the onboard complex control system 10, the model of the local vertical builder 13 and the model of the object movement control block 17) computing tools can be used of the necessary technical equipment (finite state machine, programmable logic matrix, microcontroller, industrial computer or personal computer) in which the corresponding mathematical and program modules are implemented (installed and executed on this computer tool). To reduce the amount of computing equipment, all of the above models (or part of these models) can be installed and run on one computer with a sufficiently large computing power (modern personal computer, powerful workstation or high-performance server, etc.).

The first 14 and second 15 format formation blocks provide computer-assisted image synthesis for the on-screen indicators included in the astronaut’s console 22 (the on-screen indicators are not shown in FIG. 1). For the implementation of the first and second block of the formation of formats can be used personal computers with a graphic accelerator.

The device for interfacing with the object 16 provides electrical pairing and two-way information exchange between the means of information display (SDI) and the controls (OS) that are part of the astronaut’s remote control 22 (SDI and OU of the astronaut’s remote control 22 are not shown in FIG. 1), as well as with a pen motion control 26 and an orientation control knob 28 connected to the astronaut’s remote control 22, and an aircraft control system model 10.

The crew’s workstation 20 is designed to create an enclosed space and reproduce the interior with the most complete possible simulation of the astronaut’s working areas in the mock-up of the cockpit of the simulator’s manned spacecraft. The workplace of the crew 20 in the proposed simulator can be implemented in one of the following two options:

- on the basis of a copy of a real sample of the object (descent vehicle), finalized for training purposes in the training model of the cockpit of the descent module of the Soyuz-TMA transport manned spacecraft;

- on the basis of a full-scale mock-up of the cockpit of the descent vehicle of the Soyuz-TMA transportable spacecraft of a collapsible design made using the frame-modular technology of the pilot production of the Simulator and Personnel Training Center.

The surveillance camera 21 is designed for remote monitoring of the instructor's actions by the crew.

The astronauts panel 22 in the simulator is designed to simulate the control of crew members by the onboard complex and equipment of the spacecraft. The astronaut’s console 22 contains information display facilities (SOI): on-screen indicators, signal boards, banners, etc. and controls (OS): keys, toggle switches, etc. (SOI and OU of the cosmonaut’s remote control 22 are not shown in FIG. 1) and in the proposed simulator can be implemented in one of the following two options:

- made on the basis of a standard sample of the astronaut’s console of the Neptun-ME-B type descent vehicle, if necessary, finalized for training purposes;

- as the astronaut’s remote control 22, the current training model of the astronaut’s remote control was used in the simulator version (outwardly completely identical to the standard one, as a rule, having full-time controls), and the standard logic of work of which is provided by program-mathematical modules specially implemented for this in the simulator. In the proposed simulator, the regular logic of the operating training model of the astronaut’s console in the simulator version is provided by the model of the onboard complex control system 10.

Means of communication simulation "Board-Earth" 23 are intended for the implementation of a speech exchange of astronauts with an instructor. Means of communication simulation "Board-Earth" 23 in the proposed simulator can be implemented in one of the following two options:

- standard headset type GSh-A-18 was used;

- as a means of simulating the communication "Bort-Zemlya" used multimedia microtelephone headsets.

The manual control unit for lighting and ventilation equipment of the cockpit model of the descent vehicle of the spacecraft 24 is designed to recreate the interior elements of the real spacecraft in the simulator cockpit model and provides control of the lighting and ventilation equipment of the cockpit layout (lighting and ventilation equipment of the cockpit layout is not shown in Fig. 1).

A block of manual rotary valves for equalizing the pressure between the cabin of the descent vehicle and the household compartment of the transport manned spacecraft 25 is designed to recreate the interior elements of a real spacecraft in the simulator cabin model.

The motion control knob 26 is designed to set the linear movements of the spacecraft during the piloting process. The motion control handle 26 in the proposed simulator can be implemented in one of the following three options:

- A standard control stick for the movement of a manned spacecraft was used;

- used the current layout, having an appearance similar to the standard handle for controlling the movement of a manned spacecraft, and identical kinematic scheme and reactive forces;

- the corresponding game joystick is used as a motion control handle.

The target of the special cosmonaut 27 provides manual alignment of the associated coordinate system of the spacecraft in the far section with the orbital coordinate system, and in the near - with the coordinate system of the docking station of the space station. The visor of a special astronaut 27 in the proposed simulator can be implemented in one of the following two options:

- a monitor based on a cathode ray tube with a collimation optical device was used as a visor for special cosmonaut 27;

- a monitor based on a liquid crystal indicator was used as the sight of a special cosmonaut 27.

The orientation control knob 28 is designed to set the angular displacements of the spacecraft during the piloting process. The orientation control handle 28 in the proposed simulator can be implemented in one of the following three options:

- the standard orientation control knob of the manned spacecraft was used;

- used the current layout, having an appearance similar to the standard handle for controlling the orientation of a manned spacecraft, and identical kinematic scheme and reactive forces;

- the corresponding game joystick is used as an orientation control handle.

The first 11, second 12, and third 19 imaging equipment provide computer-aided image synthesis for the first output imaging device 30, the special astronaut’s visor 27, and the second imaging output device 36. For implementing the first 11, 12, and third 19 imaging equipment, personal computers with graphic accelerator. The first 30 and second 36 output imaging devices provide output images that simulate the external visual environment in the cockpit space of the cockpit model of the lander. The first 31 and second 35 visual portholes are designed to provide the ability to simulate the external visual environment in the cockpit space for trained crew members in the cockpit layout. The first 30 and second 36 output visualization devices in the proposed simulator can be implemented in one of the following six options:

- a monitor based on a cathode ray tube with a collimation optical device was used;

- a monitor based on a liquid crystal indicator with a collimation optical device was used;

- used a monitor based on a liquid crystal indicator;

- used a transparent screen with a projector;

- used a reflective screen with a projector;

- used plasma panel.

The acoustic system 29 provides reproduction of acoustic noise and sound effects accompanying the operation of the onboard systems of the spacecraft, combined propulsion system, etc. The acoustic conditioner 18 provides computer synthesis (or computer reproduction from the audio file base) for the acoustic system 29 installed in the crew’s workplace in the cockpit model of the descent vehicle of the transported manned spacecraft 20. A personal computer with a sound card can be used to implement the acoustic conditioner 18 .

The seat of the flight engineer 32, the seat of the commander of the ship 33, and the seat of the astronaut-researcher (space tourist) 34 are designed to accommodate trained crew members in the cockpit layout in the standard positions relative to the controls and means of information display identical to the location in a real spaceship. The seat of the flight engineer 32, the seat of the commander of the ship 33 and the seat of the astronaut-researcher (space tourist) 34 in the proposed simulator can be implemented in one of two of the following options:

- used standard depreciation chairs of the Kazbek-UM type;

- as the seat of the flight engineer, the seat of the commander of the ship and the seat of the astronaut-explorer (space tourist), dimensional models of the standard seat were used.

The proposed simulator works as follows.

Before the training begins, trained crew members take their places in the flight engineer 32 seat, the ship’s commander’s chair 33 and the research astronaut’s (space tourist )’s chair 34 in the crew’s workplace 20, and the instructor behind the training control and monitoring console 1.

Entering initial conditions and starting a workout

The instructor, choosing the “flight scenario” provided for by the training plan and the corresponding initial training conditions (the starting positions and orientations of the spacecraft and the space station, as well as the configuration of the simulator hardware and the composition of the simulated spacecraft hardware), starts the training. At the same time, with the help of the control and training control panel 1, the initial training conditions through the command radio line model 2 enter the model of the on-board digital computer complex 9, where the acceleration and brake pulses are calculated and the on-board systems necessary for the flight are turned on. The model of the on-board digital computer complex 9 imitates the corresponding functioning of the standard on-board digital computer complex, equipment and systems of the spacecraft.

The trained cosmonauts, being in the workplace of the crew 20, include, using the op-amp of the astronaut's remote control 22, through the device for interfacing with the object 16, a model of the onboard complex control system 10, which simulates the corresponding control of the onboard systems and equipment of the spacecraft.

Having obtained from the control and training control panel 1 the values of the initial training conditions, the motion model of the spacecraft 7 and the space station 3, the motion parameters of the spacecraft and the space station at the initial moment (hereinafter and during the training) are determined.

The results of the motion model of the spacecraft 7 go to the sensor model 4, which calculates the projections of the absolute angular velocity of the spacecraft on the connected coordinate axes, and to the model of the linear acceleration meter 5, which calculates the projections of the acceleration projections of the center of mass of the spacecraft on the connected coordinate axes. The values of the parameters of the angular velocities and accelerations of the spacecraft, calculated by the sensor model 4 and the model of the linear acceleration meter 5, go to the on-board digital computer complex model 9 and then through the first 14 and second 15 format formation blocks to the on-screen indicators of the astronaut’s console 22. The results of the onboard control system model complex 10 through the device for interfacing with the object 16 also go to the SDI of the astronaut’s panel 22. Moreover, depending on the received from the control and monitoring panel by training 1 of the values of the initial training conditions, the model of the on-board digital computer complex 9 imitates automatically the functioning of the equipment and systems of the spacecraft at launch and when the spacecraft is put into orbit.

The motion parameters of the spacecraft and the space station enter the model of the mutual measurement system 6 to calculate the parameters of their relative motion at all stages of convergence, and from the model of the system of mutual measurements 6 through the model of the on-board digital computer complex 9 and then through the first 14 and second 15 format formation blocks on the screen indicators of the astronaut remote control 22.

Obtaining from the control and monitoring board of training 1 at the beginning and in the training process, the parameters of the spacecraft's position relative to the pit space: the first 11 and third 19 imaging units produce computer-based image synthesis for the first 30 and second 36 output imaging devices, which are supplied respectively through the first 30 and second 36 output visualization devices in the first 31 and second 35 visual portholes, and the second imaging unit 12 produces computer-aided image synthesis, which is received by a special astronaut’s visor 27. Obtaining the state parameters of equipment and on-board systems from the monitoring and control training session 1 at the beginning and during the training process, the acoustic conditioner 18 performs computer synthesis (or computer reproduction from the audio file database) of acoustic noise and sound effects accompanying the operation of onboard systems and equipment of the spacecraft, combined propulsion system, etc. for speaker system 29.

The instructor, being at the control and training control panel 1, is able to carry out remote monitoring of the crew’s actions using the surveillance camera 21 (installed in the crew’s workplace 20), in addition, using the Bort-Zemlya communications simulation equipment 23 (also installed in the crew workplace 20) conduct a speech exchange with trained cosmonauts.

The trained cosmonauts, being at the workplace of the crew 20, have the ability to control the onboard systems and equipment of the spacecraft, acting on the op-amps of the astronaut's console 22 and to monitor all changes in the state of systems and equipment of the spacecraft, as well as the condition of the spacecraft as a whole:

- using the SOI of the astronauts panel 22;

- observing the external visual situation in the cockpit space of the spacecraft in the first 31 and second 35 visual windows and in the sight of a special astronaut 27;

- listening to acoustic noises and sound effects accompanying the operation of onboard systems and equipment of the spacecraft, combined propulsion system, etc. from the speaker system 29.

The control actions from the op-amp of the astronaut’s remote control 22, formed by trained cosmonauts, through the interface with the object 16 enter the model of the control system of the airborne complex 10. In the model of the control system of the airborne complex 10, the corresponding processing of these control actions is performed, which then enter the model of the onboard digital computer complex 9, as well as in the control panel for training 1 (closing the control circuit between the instructor behind the control panel for training 1 and trained astronauts in the crew workplace 20).

Far Orb Training

After putting the spacecraft into orbit of an artificial Earth satellite (for the spacecraft, the so-called waiting orbit) for working out at certain time points previously calculated acceleration and braking pulses according to the commands of the on-board digital computer complex model 9 using the sensors model 4 and the local vertical builder model 13 simulates the combination of the bound and orbital coordinate systems of a spacecraft.

The model of the on-board digital computer complex 9, through the model of the on-board complex control system 10, sends commands to the executive bodies of the combined propulsion system 8 to work out the acceleration and brake pulses. The model of the executive bodies of the combined propulsion system 8 forms the corresponding parameters for the motion model of the spacecraft 7, which, after being worked out in the motion model of the spacecraft 7, go to the control and management panel of training 1 (to close the control feedback).

Testing the boost pulse, transfers the spacecraft to the orbit of the transition to the space station. After practicing the braking impulse, the spacecraft enters the orbit of the space station. After that, the model of the on-board digital computer complex 9 automatically provides access to the near section of the approach.

Near Orbital Training

In the near orbital segment, the model of the onboard digital computer complex 9 provides the following operations: hovering of a spacecraft, flyby, re-hovering, mooring, docking. The hovering of the spacecraft ends with the construction of a plane around the space station. After that, the spacecraft flies around the space station, ending with the spacecraft entering the axis of the selected docking station of the space station, with subsequent hovering. This hovering ends with the coordination of the associated coordinate system of the spacecraft and the coordinate system of the docking station of the space station, followed by the mooring and docking of the spacecraft with the space station. Further, during the training, in accordance with the “flight scenario” chosen by the instructor, the model of the on-board digital computer complex 9 in automatic mode can also ensure separation of the spacecraft from the space station, circling and reconnecting the spacecraft to another docking station of the space station. In addition, the model of the on-board digital computer complex 9 in automatic mode can ensure the separation of the spacecraft from the space station, the subsequent descent and landing of the spacecraft.

In addition to the automatic mode, in the simulator in the near section of the orbital flight, it is possible to manually control the spacecraft using the motion control knob 26 and the orientation control knob 28 (installed in the crew workstation 20). Acting on these handles, the crew member located in the seat of the ship’s commander 33 has the ability to hover, fly around, moor and dock the spacecraft with the space station while piloting the task of linear and angular movements of the spacecraft. In this case, the control signals from the motion control knob 26 and the orientation control knob 28 through the astronaut’s remote control 22 enter the interface with the object 16 and then into the model of the object’s motion control unit 17. The model of the object’s motion control unit 17, processing the control signals from the motion control knob 26 and orientation control knobs 28 and the parameters coming from the model of sensors 4, through the model of executive bodies of the combined propulsion system 8, forms for the model of motion of the spacecraft Rabla 7 corresponding parameters that change the position in space of the spacecraft. Thus, when performing mooring and docking operations in manual mode, a crew member located in the seat of the commander of the ship 33, manipulating the motion control knob 26 and the orientation control knob 28, uses the sight of a special cosmonaut 27 to combine the associated coordinate system of the spacecraft with the coordinate system Docking Station Space Station.

To create normal living conditions during the training, a crew member located in the board of the flight engineer 32, using the manual control unit for lighting and ventilation equipment of the cockpit of the descent module of the spacecraft 24, turns on (off) and selects the operating modes of the lighting and ventilation equipment in the internal crew workplace volume 20.

Failure Entry

In the process of training from the remote control and management training 1 for the instructor provides the ability to enter the following main failures:

- failure of any of the components of the on-board systems and on-board equipment presented in the simulator by the corresponding model (command radio link model 2, space station motion model 3, sensors model 4, linear acceleration meter model 5, mutual measurement system model 6, transport spacecraft motion model 7 , model of executive bodies of the combined propulsion system 8, model of the onboard digital computer complex 9, model of the control system for the onboard complex 10, model of the builder m natural vertical 13 and the model of the control unit for moving the object 17) to choose from or in the desired combination;

- failure of individual SOI (on-screen indicators, signal boards, banners, etc.) of the astronaut’s remote control 22 to choose from or in the required combination;

- failure of individual op-amps (keys, toggle switches, etc.) of the astronaut’s remote control 22 to choose from or in the required combination;

- failure of the motion control knob 26 and the orientation control knob 28.

Depending on the performed “flight scenario”, the instructor “blocks” the work of the required model or to simulate the failures of the OS and SDI - “blocks” the necessary information input / output channels in the interface devices 16.

Stop and end a workout

The instructor, having completed the required “flight scenario,” makes a stop and issues a command to complete the training.

The technical results obtained as a result of expanding the functionality of the simulator include the following:

- providing the trainees with the opportunity to acquire stable sensory-motor skills in controlling a manned spacecraft in the orbital portion of the flight, at the near stage of which, in the event of automation failure, flight control should be performed exclusively in manual mode, that is, astronauts need to fully take control of the spacecraft "on yourself ”during the operations of approaching, approaching and docking with the space station;

- creating an enclosed volume and reproducing the interior with a complete simulation of the working areas of the astronauts in the cockpit model of the simulator descent apparatus, which are necessary for the approximation, landing and docking tasks that are identical to the interior and working areas in a real spaceship;

- providing the possibility of placing all trained crew members in the mock-up of the cabin in regular astronaut seats (in the so-called lodges) or in the mock-ups of these regular seats in regular positions relative to the controls and means of displaying information of the spacecraft descent module (i.e., it is absolutely identical to the location in real spaceship);

- providing the ability to visualize the external environment in the outside space in the windows of the cockpit model of the simulator lander;

- providing the ability to simulate the communication "Board-Earth" in the simulator;

- providing the ability to simulate the acoustic environment in the layout of the cockpit of the simulator lander;

- providing simulator mobility (efficiency of assembly-disassembling of simulator equipment, including a full-scale frame-modular model of the cockpit of the simulator's spacecraft descent vehicle);

- the use of the simulator in various fields, such as the training of domestic and international crews of transport manned spaceships "Soyuz-TMA" on the basis of RGNIITsPK them. Yu.A. Gagarina, the final consolidation of the skills of crews to control a spacecraft in manual mode immediately before launch at spaceports, as well as a comprehensive solution of educational, cognitive and educational-entertaining tasks related to space topics for students.

Industrial applicability of the invention is determined by the fact that the proposed simulator can be made on the basis of well-known components and technological equipment.

The proposed technical solution is practically implemented in a specialized simulator "Don-Soyuz-TMA" in RGNIITsPK them. Yu.A. Gagarina (see Specialized simulators of approach and docking of a transport ship, http://gctc.ru/facility/default.htm and Fig.2), as well as in the space simulator-attraction of a transport manned spacecraft (TPKK) " Soyuz-TMA ”in the Donskoy branch of the Center for simulator building in Novocherkassk as part of the youth educational and cognitive entertainment Cosmocenter“ ASTRON ”named after astronaut G.S.Shonin (see Space simulator, http://www.asrdc.tpark.ru/June/TMA html and figure 3).

In addition, the proposed technical solution is supposed to be implemented in the Soyuz-TMA transport vehicle’s approach, docking and docking simulator, which is quickly deployed before launch at the Baikonur cosmodrome for the final crew training: performing the most critical operations of piloting the spacecraft and in space simulators attractions of the Soyuz-TMA TPKK, created by the Center for Simulator Engineering and Personnel Training, for the Memorial Museum of Cosmonautics, Moscow and for Nizhny Novgorod about the planetarium.

Thus, the proposed simulator of a manned spacecraft is a dual-purpose conversion development, has very broad functional capabilities and diverse fields of application, providing both professional training for spacecraft crews at RGNIIITsPK them. Yu.A. Gagarina, as well as the final preparation of the astronauts for the most critical operations in piloting the spacecraft (reinforcing the skills of controlling a spacecraft during the approach, landing and docking with the ISS) immediately before the launch at the cosmodromes, as well as a comprehensive solution of educational, cognitive and educational entertaining tasks for studying youth (schoolchildren, students, cadets) in youth leisure centers.

Based on the foregoing and the results of the patent information search, we believe that the proposed simulator of a manned spacecraft meets the criteria of "Novelty", "Inventive step" and can be protected by a patent for an invention.

Claims (2)

1. The simulator of a manned spacecraft, consisting of a control and training control panel, a command radio line model, a model of sensors, a linear acceleration meter model, a model of a spacecraft’s motion, an executive body model of a combined propulsion system, an onboard digital computer complex model, an onboard complex control system model , the first unit for the formation of formats and the astronaut’s console; the second output of the on-board digital computer complex model, the input of which is connected to the first output of the command radio line model, is connected to the first input of the astronaut’s console through the first block of formation of formats; the third output of the training control and management panel is connected to the second input of the command radio line model, the fourth output is to the first input of the spacecraft’s motion model, and the fifth output is connected to the second input of the airborne control system model, the second output of which is connected to the second input of the combined executive model propulsion system; the first output of the model of the executive bodies of the combined propulsion system is connected to the second input of the spacecraft’s motion model, the second output of which is connected to the input of the linear acceleration meter model, and the third output is connected to the input of the sensor model, characterized in that the space station’s motion model is introduced into it, model mutual measurement systems, the first, second and third shapers of the visual environment, the model of the builder of the local vertical, the second block of the formation of formats, devices for interfacing with the volume volume, model of the object’s movement control unit, acoustic conditioner, first and second output visualization devices, crew workplace, which is a model of the cockpit of the manned spacecraft descent vehicle and includes a surveillance camera, communication simulators “Board-Earth”, a motion control knob, special astronaut’s sight, orientation control knob, speaker system, first and second visual portholes, flight engineer’s chair, ship’s commander’s chair and monavta explorer (space tourist); the first output of the control and training panel through the first imaging unit is connected to the first output visualization device, the second output through the second imaging unit is connected to the special astronaut’s visor, the sixth output through the acoustic conditioner is connected to the speaker system, the seventh output is through the third imaging unit connected to a second output visualization device, the first and second output visualization device op they are connected respectively with the first and second visual windows;
a surveillance camera is connected to the first input of the training control and management panel, the second output of the command radio line model is connected to the second input, the fifth output of the spacecraft’s motion model is connected to the third input, the third output of the airborne control system model is connected to the fourth input, and the first input is the output the control and training control panel is connected to the fifth input-output of the on-board digital computer complex model, the second input-output is to the input-output of the space station's motion model, the third input-output is to go-output connection tools simulation "Downlink"; the output of the motion model of the space station is connected to the first input of the model of the mutual measurement system; the first output of the on-board digital computer complex model is connected to the first input of the command radio line model, the third output is through the second formatting unit to the second input of the astronaut’s panel, and the first input-output of the on-board digital computer complex model is connected to the input / output of the sensor model, the second input is output - to the input-output of the linear acceleration meter model, the third input-output - to the input-output of the model of the mutual measurement system, the fourth input-output - to the first input-output of the system model I'm onboard complex, the sixth input-output - to an input-output model builder to the local vertical; the first output of the spacecraft’s motion model is connected to the second input of the model of the mutual measurement system, the fourth output is connected to the input of the model of the local vertical builder; the first output of the onboard complex control system model is connected to the third input of the spacecraft's motion model, the first input of the onboard complex control system model is connected to the second output of the executive bodies model of the combined propulsion system, and the second input-output of the onboard complex control system model is connected to the first input-output devices for interfacing with the object, the third input-output - to the input-output of the model of the unit for controlling the movement of the object; the input-output of the astronaut’s console is connected to the second input-output of the devices for interfacing with the object, the output of which is connected to the first input of the model of the unit for controlling the movement of the object; the output of the sensor model is connected to the second input of the unit for controlling the movement of the object, the output of which is connected to the first input of the model of the executive bodies of the combined propulsion system; moreover, a motion control knob is connected to the third input of the astronaut’s console, and an orientation control knob is connected to the fourth input. 2. The simulator according to claim 1, characterized in that the astronaut’s console is part of the crew’s workplace and is placed in the internal volume of the cockpit of the descent vehicle.

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