CN105109711A - Simulation system for rendezvous and docking of spacecraft - Google Patents
Simulation system for rendezvous and docking of spacecraft Download PDFInfo
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Abstract
A simulation system for rendezvous and docking of a spacecraft comprises a horizontal support module, a target six-degree-of-freedom air bearing table, a tracking six-degree-of-freedom air bearing table, a master control module, and a monitor and display module. Actual features of weight and quality of a rendezvous and docking spacecraft can be simulated by six-degree-of-freedom air bearing tables, a six-degree-of-freedom test on a last translation closing stage can be carried out depending on actual rendezvous and docking spacecraft-mounted devices such as a docking mechanism. Compared with the prior art, in the simulation system, an indoor GPS unit module can measure positions and attitudes and transmit to the master control module and the monitor and display module in real time, the rendezvous and docking process of a spacecraft can be visually, accurately and real controlled and simulated, and the success rate of a simulation test can be raised. In addition, the simulation system can verify the rationality of a work sequence during the rendezvous and docking process of the spacecraft, the reliability and validity of the rendezvous and docking process of the spacecraft can be improved.
Description
Technical field
The present invention relates to Spacecraft Rendezvous docking field, particularly a kind of Spacecraft Rendezvous Docking simulation system.
Background technology
Spacecraft orbit spacecrafts rendezvous and sample transfer are the important steps of detection planet, and sample transfer is just based on spacecrafts rendezvous, therefore before Spacecraft Launch, need simulating, verifying spacecraft being carried out in space real simulation environment to spacecrafts rendezvous, there is following problem in existing Rendezvous and Docking Simulation System in real simulation Technique in Rendezvous and Docking actual condition:
(1) existing Rendezvous and Docking Simulation System is to the measurement of relative distance between test facility, often by tested spacecraft self self the measuring of measurement with sensor or multifreedom motion device, Dynamic High-accuracy measurement means is lacked in spacecrafts rendezvous test whole process, be unfavorable for the performance evaluating docking operation, lack a kind of accurate external measurement means, can assess simulation result;
(2) in analogue system to the monitoring of process of the test often local, lack monitoring display system, can not show in real time emulation test system overall condition, be unfavorable for intuitively confirming l-G simulation test process.
Summary of the invention
The technical matters that the present invention solves is: overcome prior art deficiency, provides the Spacecraft Rendezvous Docking simulation system that a kind of more accurate, real Simulated Spacecraft carries out spacecrafts rendezvous in space.
Technical solution of the present invention is: a kind of Spacecraft Rendezvous Docking simulation system, comprises horizontal support module, target six degree of freedom air floating table, follows the trail of six degree of freedom air floating table, main control module, monitoring and display module, wherein
Horizontal support module, comprises table top, initiatively support, levelness step difference measuring unit; Levelness step difference measuring unit, measure the levelness of table top, step difference judging, if levelness is greater than 2 " or step difference is greater than 10 μm, then transmission adjustment table top instruction extremely active support, otherwise control active support transmission table top regulates complete instruction to main control module; Initiatively supporting, when receiving the adjustment table top instruction that levelness step difference measuring unit sends, regulating table top until levelness is less than or equal to 2 that " and step difference is less than or equal to 10 μm, and sends table top and regulate complete instruction to main control module; Table top, is spliced by least two pieces of granite surface plate and obtains, carrying target six degree of freedom air floating table, tracking six degree of freedom air floating table;
Target six degree of freedom air floating table comprises GPS unit in target translation unit, targeted attitude unit, measured target spacecraft, target chamber; Target translation unit, the close instruction that real-time reception main control module sends also regulates measured target spacecraft to tested pursuit spacecraft three-dimensional translating according near instruction; Targeted attitude unit, the close instruction that real-time reception main control module sends also regulates measured target spacecraft relative to tested pursuit spacecraft Three dimensional rotation according near instruction; Measured target spacecraft is planform and the identical spacecraft model of true spacecraft, and measured target spacecraft is provided with can be arrested and the Passive part of locking by tested pursuit spacecraft; GPS unit in target chamber, measures the position and attitude of measured target spacecraft in real time and delivers to main control module, monitoring and display module;
Follow the trail of six degree of freedom air floating table to comprise tracking translation unit, follow the tracks of attitude unit, tested pursuit spacecraft, tracking indoor GPS unit; Follow the tracks of translation unit, the close instruction that real-time reception main control module sends also controls tested pursuit spacecraft to measured target spacecraft three-dimensional translating according near instruction, follow the tracks of attitude unit, the close instruction that real-time reception control module sends also controls tested pursuit spacecraft relative to measured target spacecraft Three dimensional rotation according near instruction; Tested pursuit spacecraft, for planform and the identical spacecraft model of true spacecraft, tested pursuit spacecraft is provided with holding claw mechanism, after the docking instruction receiving main control module transmission, uses holding claw mechanism arrest and lock the Passive part of measured target spacecraft; Follow the trail of indoor GPS unit, measure the position and attitude following the trail of six degree of freedom air floating table in real time and deliver to main control module, monitoring and display module;
Main control module, after the table top that in reception horizontal support module, initiatively support sends regulates complete instruction, receive the tested pursuit spacecraft position and attitude followed the trail of indoor GPS unit and send, the measured target Space Vehicle position attitude that in target chamber, GPS unit sends, alternate position spike between real-time calculating measured target spacecraft and tested tracking spacecraft and attitude difference and judge, if the attitude difference that the alternate position spike of measured target spacecraft and tested tracking spacecraft is greater than 1m or measured target spacecraft and tested tracking spacecraft is greater than 5 °, then produces close instruction according to the alternate position spike of measured target spacecraft and tested tracking spacecraft and attitude difference, and deliver to tracking translation unit, follow the trail of attitude unit, target translation unit and targeted attitude unit, if the alternate position spike of measured target spacecraft and tested tracking spacecraft is positioned between [0m-1m] and target six degree of freedom air floating table and the attitude difference of following the tracks of six degree of freedom air floating table are positioned between [0 °-5 °], then send docking instruction to measured target spacecraft, tested pursuit spacecraft,
Monitoring and display module, comprise monitoring means, display unit; Monitor unit, Real-Time Monitoring table top, initiatively support, the operative scenario of levelness step difference measuring unit deliver to display unit; Display unit, the table top that the position and attitude of the tested tracking spacecraft that the position and attitude of the measured target spacecraft that receiving target indoor GPS module sends, tracking indoor GPS module send, monitoring means send, active support, the operative scenario also display in real time of levelness step difference measuring unit.
The present invention's advantage is compared with prior art:
(1) analogue system of the present invention overcomes existing Spacecraft Rendezvous Docking simulation system and obtains spacecraft path of motion and attitude and the not high defect of precision by the feedback mechanism of the measurement sensor of spacecraft itself or six degree of freedom machinery turntable, carry out measuring position and attitude measurement by introducing indoor GPS unit module and be passed to main control module, monitoring display module in real time, can more directly perceived, precisely, to control and Simulated Spacecraft spacecrafts rendezvous process really;
(2) analogue system of the present invention compared with prior art, overcome in l-G simulation test process and ignore supporting bable tops real-time change and may cause levelness and the overproof problem of step difference, the path of motion attitude not only using indoor GPS module to send judges support platform levelness and step difference information, also the operative scenario of Real-Time Monitoring reveal competence degree, step difference and six degree of freedom air floating table, improves the success ratio of l-G simulation test;
(3) analogue system of the present invention achieves the real simulation docked in space environment centre-exchange-meeting spacecraft, demonstrates the reasonableness of Spacecraft Rendezvous mating operation sequential, improves reliability and the validity of Spacecraft Rendezvous docking.
Accompanying drawing explanation
Fig. 1 is a kind of Spacecraft Rendezvous Docking simulation of the present invention system construction drawing.
Detailed description of the invention
The invention provides a kind of Spacecraft Rendezvous Docking simulation system, by adopting actual weight and the mass property of six degree of freedom air floating table simulation spacecrafts rendezvous spacecraft, according on spacecrafts rendezvous spacecraft, equipment on the devices such as real docking mechanism is installed, carry out the 6DOF spacecrafts rendezvous test of the last translation section of drawing close, wherein, each six degree of freedom air floating table comprises 3DOF translation and 3DOF rotates, and is divided into Degree Platform peace moving platform two parts, is connected by liftable pillar.Translation platform is supported by 3 air cushions, floats in large-scale super flat support platform, can freely drift about; Degree Platform adopts ball-bearing casing desktop configuration, carries participate in the experiment sensor, installed thrust device assembly and corresponding gas circuit.Upper table surface and remainder are isolated by air-floating ball bearing, realize three degree of freedom and rotate the isolation with translation, avoid coupling.Liftable mechanism analog face foreign minister's positional change even.Air floating table design adopts geometric ratio analog system.
The equipment that analogue system of the present invention is relied on, comprises horizontal support module (comprising table top, initiatively support, levelness step difference measuring unit), target six degree of freedom air floating table (comprising GPS unit in target translation unit, targeted attitude unit, measured target spacecraft, target chamber) as shown in Figure 1, follows the trail of six degree of freedom air floating table (follow the tracks of translation unit, follow the tracks of attitude unit, tested pursuit spacecraft, tracking indoor GPS unit), main control module, monitoring and display module (comprising monitoring means, display unit) etc.Target six degree of freedom air floating table in horizontal support module simulates actual weight and the mass property of spacecrafts rendezvous passive space vehicle, installs equipment on the devices such as real Passive part according to the state on passive space vehicle; Tracking six degree of freedom air floating table in horizontal support module simulates actual weight and the mass property of spacecrafts rendezvous pursuit spacecraft, installs equipment on the devices such as real holding claw mechanism according to the state on pursuit spacecraft.The Rendezvous and Docking Simulation System of such structure just can carry out the 6DOF spacecrafts rendezvous test of the last translation section of drawing close.
Below in conjunction with accompanying drawing, analogue system of the present invention is described in detail, as shown in Figure 1:
Levelness step difference measuring unit (comprising level indicator and micro-caliper), measure the levelness of table top, step difference judging, if levelness is greater than 2 " or step difference is greater than 10 μm; then transmission adjustment table top instruction extremely active support, otherwise control active support transmission table top regulates complete instruction to main control module; Initiatively supporting, when receiving the adjustment table top instruction that levelness step difference measuring unit sends, regulating table top until levelness is less than or equal to 2 that " and step difference is less than or equal to 10 μm, and sends table top and regulate complete instruction to main control module; Table top, for the platform that at least two pieces of granite surface plate are spliced to form, be used for carrying target six degree of freedom air floating table, following the trail of six degree of freedom air floating table, target six degree of freedom air floating table is placed on a right angle of table top in horizontal support module, then diagonally length direction arranges tracking six degree of freedom air floating table, both are at a distance of 35m, wherein, initiatively support application number can be adopted to be mesa supports device in the patent " a kind of mesa supports device for super-large spliced platform " of " 2013104574068 ".
9 indoor GPS system projectors (reducing mutually blocking of two six degree of freedom air floating tables) are installed at the top of the test cell of the top of large-scale super flat support platform, two six degree of freedom air floating tables install 4 indoor GPS system receptors respectively, ensure to carry out tracking measurement to two six degree of freedom air floating tables of movement.Target translation unit, the close instruction that real-time reception main control module sends also regulates measured target spacecraft to tested pursuit spacecraft three-dimensional translating according near instruction; Targeted attitude unit, the close instruction that real-time reception main control module sends also regulates measured target spacecraft to tested pursuit spacecraft Three dimensional rotation according near instruction; Measured target spacecraft, comprises and can be arrested and the Passive part of locking by tested pursuit spacecraft holding claw mechanism, GPS unit in target chamber, measures the position and attitude of measured target spacecraft in real time and delivers to main control module, monitoring and display module; Follow the tracks of translation unit, the close instruction that real-time reception main control module sends also controls tested pursuit spacecraft to measured target spacecraft three-dimensional translating according near instruction, follow the tracks of attitude unit, the close instruction that real-time reception control module sends also controls tested pursuit spacecraft to measured target spacecraft Three dimensional rotation according near instruction; Tested pursuit spacecraft, after receiving the docking instruction of main control module transmission, use holding claw mechanism arrest and lock the Passive part of measured target spacecraft, follow the trail of indoor GPS unit, the position and attitude of real-time tested pursuit spacecraft also delivers to main control module, monitoring and display module.
Main control module, after the table top that in reception horizontal support module, initiatively support sends regulates complete instruction, receive the tracking six degree of freedom air floating table position and attitude followed the trail of in six degree of freedom air floating table and follow the trail of indoor GPS unit and send, the target six degree of freedom air floating table position and attitude that in target six degree of freedom air floating table, in target chamber, GPS unit sends, alternate position spike between real-time calculating measured target spacecraft and tested tracking spacecraft and attitude difference and judge, if the attitude difference that the alternate position spike of measured target spacecraft and tested tracking spacecraft is greater than 1m or measured target spacecraft and tested tracking spacecraft is greater than 5 °, then produces close instruction according to the alternate position spike of measured target spacecraft and tested tracking spacecraft and attitude difference, and deliver to tracking translation unit, follow the trail of attitude unit, target translation unit and targeted attitude unit, if the alternate position spike of measured target spacecraft and tested tracking spacecraft is positioned between [0m-1m] and target six degree of freedom air floating table and the attitude difference of following the tracks of six degree of freedom air floating table are positioned between [0 °-5 °], then send docking instruction to measured target spacecraft, tested pursuit spacecraft, , wherein, in two six degree of freedom air floating table approach process, whether main control module meets docking condition according to both indoor GPS module auxiliary judgment, if meet docking condition, then control to follow the trail of the Passive part on the active holding claw capture target six degree of freedom air floating table on six degree of freedom air floating table, if do not meet butt strap part, then control two six degree of freedom air floating tables separately, get back to the distance at a distance of 35m, restart test, until meet docking condition to complete initiatively holding claw arresting Passive part.
Display unit, the position and attitude of the target six degree of freedom air floating table that receiving target indoor GPS module sends, follow the tracks of the position and attitude of the tracking six degree of freedom air floating table that indoor GPS module sends, the levelness step difference information that monitoring means sends, and follow the trail of the operative scenario of six degree of freedom air floating table and show in real time, wherein, monitor unit (the high-definition network video watch-dog arranged in testing ground), the realtime graphic at scene is passed back realize testing ground and process of the test carries out whole process supervision, high definition wired network camera has automatically track target function, automatically image trace is carried out enter into the guarded region of camera at air floating table after, to real time monitoring test progress, warranty test serves key role safely.
The correctness of analogue system of the present invention by test high precision 16 degree of freedom control program in the translation section of drawing close and the reasonableness of correlation parameter design, demonstrate the processing capacity of spacecraft fault in spacecrafts rendezvous process, work schedule reasonableness in spacecrafts rendezvous process, improve the reliability of space spacecrafts rendezvous, have a good application prospect.
The content be not described in detail in specification sheets of the present invention belongs to the known technology of those skilled in the art.
Claims (1)
1. a Spacecraft Rendezvous Docking simulation system, is characterized in that comprising horizontal support module, target six degree of freedom air floating table, following the trail of six degree of freedom air floating table, main control module, monitoring and display module, wherein
Horizontal support module, comprises table top, initiatively support, levelness step difference measuring unit; Levelness step difference measuring unit, measure the levelness of table top, step difference judging, if levelness is greater than 2 " or step difference is greater than 10 μm, then transmission adjustment table top instruction extremely active support, otherwise control active support transmission table top regulates complete instruction to main control module; Initiatively supporting, when receiving the adjustment table top instruction that levelness step difference measuring unit sends, regulating table top until levelness is less than or equal to 2 that " and step difference is less than or equal to 10 μm, and sends table top and regulate complete instruction to main control module; Table top, is spliced by least two pieces of granite surface plate and obtains, carrying target six degree of freedom air floating table, tracking six degree of freedom air floating table;
Target six degree of freedom air floating table comprises GPS unit in target translation unit, targeted attitude unit, measured target spacecraft, target chamber; Target translation unit, the close instruction that real-time reception main control module sends also regulates measured target spacecraft to tested pursuit spacecraft three-dimensional translating according near instruction; Targeted attitude unit, the close instruction that real-time reception main control module sends also regulates measured target spacecraft relative to tested pursuit spacecraft Three dimensional rotation according near instruction; Measured target spacecraft is planform and the identical spacecraft model of true spacecraft, and measured target spacecraft is provided with can be arrested and the Passive part of locking by tested pursuit spacecraft; GPS unit in target chamber, measures the position and attitude of measured target spacecraft in real time and delivers to main control module, monitoring and display module;
Follow the trail of six degree of freedom air floating table to comprise tracking translation unit, follow the tracks of attitude unit, tested pursuit spacecraft, tracking indoor GPS unit; Follow the tracks of translation unit, the close instruction that real-time reception main control module sends also controls tested pursuit spacecraft to measured target spacecraft three-dimensional translating according near instruction, follow the tracks of attitude unit, the close instruction that real-time reception control module sends also controls tested pursuit spacecraft relative to measured target spacecraft Three dimensional rotation according near instruction; Tested pursuit spacecraft, for planform and the identical spacecraft model of true spacecraft, tested pursuit spacecraft is provided with holding claw mechanism, after the docking instruction receiving main control module transmission, uses holding claw mechanism arrest and lock the Passive part of measured target spacecraft; Follow the trail of indoor GPS unit, measure the position and attitude following the trail of six degree of freedom air floating table in real time and deliver to main control module, monitoring and display module;
Main control module, after the table top that in reception horizontal support module, initiatively support sends regulates complete instruction, receive the tested pursuit spacecraft position and attitude followed the trail of indoor GPS unit and send, the measured target Space Vehicle position attitude that in target chamber, GPS unit sends, alternate position spike between real-time calculating measured target spacecraft and tested tracking spacecraft and attitude difference and judge, if the attitude difference that the alternate position spike of measured target spacecraft and tested tracking spacecraft is greater than 1m or measured target spacecraft and tested tracking spacecraft is greater than 5 °, then produces close instruction according to the alternate position spike of measured target spacecraft and tested tracking spacecraft and attitude difference, and deliver to tracking translation unit, follow the trail of attitude unit, target translation unit and targeted attitude unit, if the alternate position spike of measured target spacecraft and tested tracking spacecraft is positioned between [0m-1m] and target six degree of freedom air floating table and the attitude difference of following the tracks of six degree of freedom air floating table are positioned between [0 °-5 °], then send docking instruction to measured target spacecraft, tested pursuit spacecraft,
Monitoring and display module, comprise monitoring means, display unit; Monitor unit, Real-Time Monitoring table top, initiatively support, the operative scenario of levelness step difference measuring unit deliver to display unit; Display unit, the table top that the position and attitude of the tested tracking spacecraft that the position and attitude of the measured target spacecraft that receiving target indoor GPS module sends, tracking indoor GPS module send, monitoring means send, active support, the operative scenario also display in real time of levelness step difference measuring unit.
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| CN106094565A (en) * | 2016-06-13 | 2016-11-09 | 北京航空航天大学 | A kind of spacecraft autonomous rendezvous control system ground simulation test method |
| CN106364699A (en) * | 2016-09-08 | 2017-02-01 | 上海卫星工程研究所 | Master-slave mode non-contact double superior satellite ground principle verification system |
| CN106467175A (en) * | 2016-09-08 | 2017-03-01 | 上海卫星工程研究所 | The double super satellite ground Proof-Of Principle system of double five degree of freedom air supporting master-slave mode noncontacts |
| CN107590059A (en) * | 2017-09-20 | 2018-01-16 | 郑州云海信息技术有限公司 | A kind of mounting system and method for storage control |
| CN109062398A (en) * | 2018-06-07 | 2018-12-21 | 中国航天员科研训练中心 | A kind of Spacecraft Rendezvous interconnection method based on virtual reality Yu multi-modal man-machine interface |
| CN109120330A (en) * | 2018-08-07 | 2019-01-01 | 北京空间技术研制试验中心 | Long-range joint-trial method between the system of the spacecraft of strange land distribution |
| WO2020173020A1 (en) * | 2019-02-26 | 2020-09-03 | 北京控制工程研究所 | Flight control intelligent data analysis and decision support system for spacecraft rendezvous and docking |
| CN112141369A (en) * | 2020-10-09 | 2020-12-29 | 哈尔滨理工大学 | Decision and control method for autonomous rendezvous and docking of spacecraft translation approach section |
| CN113916254A (en) * | 2021-07-22 | 2022-01-11 | 北京控制工程研究所 | Docking type capture spacecraft autonomous rendezvous and docking test method |
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| EP3932810A4 (en) * | 2019-02-26 | 2022-12-07 | Beijing Institute of Control Engineering | Flight control intelligent data analysis and decision support system for spacecraft rendezvous and docking |
| CN112141369A (en) * | 2020-10-09 | 2020-12-29 | 哈尔滨理工大学 | Decision and control method for autonomous rendezvous and docking of spacecraft translation approach section |
| CN112141369B (en) * | 2020-10-09 | 2023-10-20 | 哈尔滨理工大学 | Decision and control method for autonomous rendezvous and docking of translational closing sections of spacecraft |
| CN113916254A (en) * | 2021-07-22 | 2022-01-11 | 北京控制工程研究所 | Docking type capture spacecraft autonomous rendezvous and docking test method |
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