JP4459142B2 - Spacecraft motion simulator - Google Patents

Spacecraft motion simulator Download PDF

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JP4459142B2
JP4459142B2 JP2005275801A JP2005275801A JP4459142B2 JP 4459142 B2 JP4459142 B2 JP 4459142B2 JP 2005275801 A JP2005275801 A JP 2005275801A JP 2005275801 A JP2005275801 A JP 2005275801A JP 4459142 B2 JP4459142 B2 JP 4459142B2
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attitude
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一秀 小出来
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Mitsubishi Electric Corp
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この発明は、並進駆動される宇宙機軌道模擬部と、回転駆動される宇宙機姿勢模擬部を備えた宇宙機運動模擬装置に関するものである。   The present invention relates to a spacecraft motion simulation apparatus including a spacecraft trajectory simulation section that is driven in translation and a spacecraft attitude simulation section that is rotationally driven.

従来の宇宙機運動模擬装置では、二つのリンクがユニバーサルジョイントで接続され、一端にはボールジョイント、他端には回転型アクチュエータが装着してある複数の２リンクアームを備えており、アッパープレートとベースプレートを６つの２リンクアームによって結合し、ベースプレートと２リンクアームとの各結合部分に回転型アクチュエータを配置し、各回転型アクチュエータを駆動することでアッパープレートの位置・姿勢を自由に変化させる構成としている（例えば特許文献１）。   In a conventional spacecraft motion simulation device, two links are connected by a universal joint, and a plurality of two link arms having a ball joint at one end and a rotary actuator at the other end are provided. A configuration in which the base plate is coupled by six 2-link arms, a rotary actuator is arranged at each coupling portion of the base plate and the two link arms, and each rotary actuator is driven to freely change the position / posture of the upper plate. (For example, Patent Document 1).

特開平０７−１８７１００号公報（段落０００５、図２）JP 07-187100 A (paragraph 0005, FIG. 2)

このような宇宙機運動模擬装置にあっては、２リンク機構による並進可動範囲が小さいため、宇宙機の軌道運動を模擬する場合には、２リンクアームの長さを大きくする必要があり、宇宙機運動模擬装置の機構部が大型化するという問題点があった。さらに、宇宙機ダイナミクスモデルが一体型であると、宇宙機の軌道運動および姿勢運動を模擬するには、高出力の回転型アクチュエータが必要となり、アクチュエータの大型化、電力消費量の増大化という問題点があった。さらには、宇宙機支持機構部はユニバーサルジョイントとボールジョイントを用いているため、摩擦や熱変形により軌道安定度および姿勢安定度の劣化が生じるという問題点があった。   In such a spacecraft motion simulation device, since the translational movable range by the two-link mechanism is small, it is necessary to increase the length of the two-link arm when simulating the orbital motion of the spacecraft. There was a problem that the mechanical part of the machine motion simulation device was enlarged. Furthermore, if the spacecraft dynamics model is integrated, a high-output rotary actuator is required to simulate the orbital motion and attitude motion of the spacecraft, and the problem is that the actuator is large and the power consumption is increased. There was a point. Furthermore, since the spacecraft support mechanism unit uses a universal joint and a ball joint, there is a problem that the stability of the orbit and the posture is deteriorated due to friction and thermal deformation.

この発明は、上記のような問題点を解決するためになされたものであり、並進可動範囲が大きく、かつ軌道安定度および姿勢安定度の高い宇宙機運動模擬装置を得ることを目的としている。   The present invention has been made to solve the above-described problems, and an object thereof is to obtain a spacecraft motion simulation device having a large translational range and high orbit stability and attitude stability.

この発明に係る宇宙機運動模擬装置は、第１の回転機構部と直結した第１の回転型アクチュエータと、第１の回転機構部に組み込まれた第２の回転型アクチュエータと軸受けにより支持される第２の回転機構部と、第２の回転機構部に組み込まれた第３の回転型アクチュエータと、第３の回転機構部を介して第３の回転型アクチュエータと直結した搭載機器部を備え、基台に支持された宇宙機姿勢模擬部、上記宇宙機姿勢模擬部を駆動する姿勢模擬部駆動装置、リニアガイドおよび並進型アクチュエータにより支持されるテーブル上に被測定部が搭載されて、上記並進型アクチュエータにより並進駆動され、上記基台に上記宇宙機姿勢模擬部と分離して支持された宇宙機軌道模擬部、上記宇宙機軌道模擬部を駆動する軌道模擬部駆動装置、及び、上記姿勢模擬部駆動装置と上記軌道模擬部駆動装置に指令し制御する上記宇宙機搭載系模擬装置を備え、上記並進型アクチュエータと上記被測定部を直結して駆動し、上記回転型アクチュエータと上記搭載機器部を直結して駆動するようにしたものである。   The spacecraft motion simulation device according to the present invention is supported by a first rotary actuator that is directly connected to the first rotary mechanism, a second rotary actuator that is incorporated in the first rotary mechanism, and a bearing. A second rotation mechanism unit, a third rotation type actuator incorporated in the second rotation mechanism unit, and a mounting device unit directly connected to the third rotation type actuator via the third rotation mechanism unit, A spacecraft posture simulator supported by a base, a posture simulator drive device for driving the spacecraft posture simulator, a linear guide and a table supported by a translational actuator, and the measured portion is mounted on the table. A spacecraft trajectory simulation unit driven in translation by a type actuator and supported separately from the spacecraft attitude simulation unit on the base, a trajectory simulation unit driving device for driving the spacecraft trajectory simulation unit, and , Including the spacecraft on-board system simulator for instructing and controlling the attitude simulation unit driving device and the trajectory simulation unit driving device, driving the translational actuator and the measured part directly connected to each other, The on-board equipment unit is directly connected and driven.

また、この発明に係る宇宙機運動模擬装置は、リニアガイドおよび並進型アクチュエータにより支持されるテーブルを有し、上記並進型アクチュエータにより並進駆動され、基台に支持された宇宙機軌道模擬部、上記宇宙機軌道模擬部を駆動する軌道模擬部駆動装置、
第１の回転機構部と直結した第１の回転型アクチュエータと、第１の回転機構部に組み込まれた第２の回転型アクチュエータと軸受けにより支持される第２の回転機構部と、第２の回転機構部に組み込まれた第３の回転型アクチュエータと、第３の回転機構部を介して第３の回転型アクチュエータと直結した搭載機器部を備え、上記宇宙機軌道模擬部の上記テーブルに固定して支持された宇宙機姿勢模擬部、上記宇宙機姿勢模擬部を駆動する姿勢模擬部駆動装置、及び、上記姿勢模擬部駆動装置と上記軌道模擬部駆動装置に指令し制御する上記宇宙機搭載系模擬装置を備え、上記宇宙機軌道模擬部と上記宇宙機姿勢模擬部を一体型としたものである。 Further, a spacecraft motion simulation apparatus according to the present invention includes a table supported by a linear guide and a translational actuator, and is a translational drive driven by the translational actuator and supported by a base. Orbital simulator driving device for driving the spacecraft orbit simulator
A first rotation type actuator directly connected to the first rotation mechanism, a second rotation type actuator incorporated in the first rotation mechanism and a second rotation mechanism supported by the bearing; A third rotation type actuator incorporated in the rotation mechanism unit, and a mounting device unit directly connected to the third rotation type actuator via the third rotation mechanism unit, and fixed to the table of the spacecraft orbit simulation unit Supported spacecraft attitude simulation section, attitude simulation section drive apparatus that drives the spacecraft attitude simulation section, and the spacecraft installation that commands and controls the attitude simulation section drive apparatus and the orbit simulation section drive apparatus A system simulator is provided, and the spacecraft trajectory simulator and the spacecraft attitude simulator are integrated.

さらに、この発明に係る宇宙機運動模擬装置は、宇宙機軌道模擬部と宇宙機姿勢模擬部を一体型とした宇宙機運動模擬装置の２台を分離して正対する構成としたものである。   Furthermore, the spacecraft motion simulation device according to the present invention has a configuration in which two spacecraft motion simulation devices in which a spacecraft trajectory simulation unit and a spacecraft posture simulation unit are integrated are separated and face each other.

この発明の宇宙機運動模擬装置によれば、並進型アクチュエータにより並進駆動される宇宙機軌道模擬部を備えたことにより並進可動範囲を大きくでき、宇宙機運動模擬装置の機構部の小型化ができ、宇宙機軌道模擬部と宇宙機姿勢模擬部を分離することにより並進型アクチュエータの小型化、低消費電力化ができ、並進型アクチュエータと被測定部を直結して駆動することにより軌道安定度を高くでき、回転型アクチュエータと搭載機器部を直結して駆動することにより姿勢安定度を高くできる。さらに、宇宙機姿勢模擬部を駆動する姿勢模擬部駆動装置及び宇宙機軌道模擬部を駆動する軌道模擬部駆動装置をそれぞれ備え、前記姿勢模擬部駆動装置と前記軌道模擬部駆動装置に指令し制御する宇宙機搭載系模擬装置を備えている。 According to the spacecraft motion simulation apparatus of the present invention, the translational movable range can be increased by providing the spacecraft trajectory simulation section driven in translation by the translational actuator, and the mechanism section of the spacecraft motion simulation apparatus can be downsized. By separating the spacecraft trajectory simulation section and the spacecraft attitude simulation section, the translation actuator can be reduced in size and power consumption, and the orbital stability can be improved by directly connecting the translation actuator and the measured part. The posture stability can be increased by directly connecting the rotary actuator and the mounted device unit to drive. In addition, an attitude simulation unit driving device for driving the spacecraft attitude simulation unit and a trajectory simulation unit driving device for driving the spacecraft trajectory simulation unit are provided, respectively, and commands and controls the attitude simulation unit driving device and the trajectory simulation unit driving device. It has a spacecraft on-board system simulator.

また、この発明の宇宙機運動模擬装置によれば、宇宙機軌道模擬部と宇宙機姿勢模擬部を一体構成にすることにより、宇宙機運動模擬装置は実際の宇宙機と一致した軌道運動および姿勢運動を模擬することができると共に、並進可動範囲が大きく、かつ軌道安定度および姿勢安定度の高い宇宙機運動模擬装置を得ることができる。さらに、宇宙機姿勢模擬部を駆動する姿勢模擬部駆動装置及び宇宙機軌道模擬部を駆動する軌道模擬部駆動装置をそれぞれ備え、前記姿勢模擬部駆動装置と前記軌道模擬部駆動装置に指令し制御する宇宙機搭載系模擬装置を備えている。 Further, according to the spacecraft motion simulation device of the present invention, the spacecraft motion simulation device integrates the spacecraft trajectory simulation unit and the spacecraft posture simulation unit so that the spacecraft motion simulation device matches the actual spacecraft orbital motion and posture. It is possible to obtain a spacecraft motion simulation device that can simulate motion, has a large translational range, and has high orbit stability and attitude stability. In addition, an attitude simulation unit driving device for driving the spacecraft attitude simulation unit and a trajectory simulation unit driving device for driving the spacecraft trajectory simulation unit are provided, respectively, and commands and controls the attitude simulation unit driving device and the orbit simulation unit driving device. It has a spacecraft on-board system simulator.

さらに、この発明の宇宙機運動模擬装置によれば、宇宙機軌道模擬部と宇宙機姿勢模擬部を一体型とした宇宙機運動模擬装置を２台正対する構成により、編隊飛行する宇宙機間通信の模擬、あるいは低高度周回軌道宇宙機間通信の模擬、あるいは低高度周回軌道宇宙機−静止宇宙機間通信の模擬を実現することができると共に、並進可動範囲が大きく、かつ軌道安定度および姿勢安定度の高い宇宙機運動模擬装置を得ることができる。   Furthermore, according to the spacecraft motion simulation device of the present invention, communication between spacecrafts flying in a formation with a configuration in which two spacecraft motion simulation devices in which a spacecraft trajectory simulation unit and a spacecraft posture simulation unit are integrated is opposed to each other. Simulation of low altitude orbiting spacecraft, or simulation of low altitude orbiting spacecraft and geostationary spacecraft, with a large translational range, and orbital stability and attitude A spacecraft motion simulator with high stability can be obtained.

実施の形態１．
図１はこの発明の実施の形態１による宇宙機運動模擬装置の側面を示す構成図である。図２はこの発明の実施の形態１による宇宙機運動模擬装置の上面を示す構成図である。姿勢模擬部架台９にモータ等の第１の回転型アクチュエータ８が取り付けられ、第１の回転機構部７は第１の回転型アクチュエータ８に直結している。モータ等の第２の回転型アクチュエータ５と軸受け１８は第１の回転機構部７に組み込まれ、第２の回転機構部４は第２の回転型アクチュエータ５と軸受け１８により支持される。モータ等の第３の回転型アクチュエータ３は第２の回転機構部４に組み込まれ、第３の回転機構部２は第３の回転型アクチュエータ３に直結しており、搭載機器部１は第３の回転機構部２を介して第３の回転型アクチュエータ３に直結している。これらの搭載機器部１〜姿勢模擬部架台９及び軸受け１８で宇宙機姿勢模擬部２１を構成しており、宇宙機姿勢模擬部２１は基台２３に固定して支持されている。 Embodiment 1 FIG.
1 is a block diagram showing a side view of a spacecraft motion simulation apparatus according to Embodiment 1 of the present invention. FIG. 2 is a block diagram showing the top surface of the spacecraft motion simulation device according to Embodiment 1 of the present invention. A first rotary actuator 8 such as a motor is attached to the posture simulation unit mount 9, and the first rotation mechanism unit 7 is directly connected to the first rotary actuator 8. The second rotary actuator 5 such as a motor and the bearing 18 are incorporated in the first rotating mechanism unit 7, and the second rotating mechanism unit 4 is supported by the second rotary actuator 5 and the bearing 18. The third rotary actuator 3 such as a motor is incorporated in the second rotary mechanism unit 4, the third rotary mechanism unit 2 is directly connected to the third rotary actuator 3, and the mounted device unit 1 is the third This is directly connected to the third rotary actuator 3 via the rotation mechanism 2. The onboard equipment unit 1 to the posture simulation unit gantry 9 and the bearing 18 constitute a spacecraft posture simulation unit 21, and the spacecraft posture simulation unit 21 is fixedly supported on a base 23.

搭載機器部１は例えばカメラを内蔵した望遠鏡、光通信アンテナ、電波アンテナである。また、第２の回転機構部４のバランスを保つためにカウンタウエイト６を第２の回転機構部４に設けている。宇宙機搭載系模擬装置１１により宇宙機姿勢指令値を生成し、その指令値に基づいて姿勢模擬部駆動装置１０により第１の回転型アクチュエータ８、第２の回転型アクチュエータ５および第３の回転型アクチュエータ３を駆動制御することにより宇宙機姿勢模擬部２１を３自由度で回転駆動し、宇宙機の姿勢を模擬する。なお、搭載機器部１として光通信アンテナ等の指向軸回りの回転自由度が不要なものは、第３の回転型アクチュエータ３を固定してもよい。   The on-board equipment unit 1 is, for example, a telescope with a built-in camera, an optical communication antenna, or a radio wave antenna. Further, a counterweight 6 is provided in the second rotation mechanism unit 4 in order to keep the balance of the second rotation mechanism unit 4. A spacecraft attitude command value is generated by the spacecraft mounting system simulator 11, and the first rotary actuator 8, the second rotary actuator 5 and the third rotation are generated by the attitude simulator drive device 10 based on the command value. By driving and controlling the mold actuator 3, the spacecraft attitude simulation unit 21 is rotationally driven with three degrees of freedom to simulate the attitude of the spacecraft. Note that the third rotary actuator 3 may be fixed if the mounted device unit 1 does not require a rotational degree of freedom around the directional axis, such as an optical communication antenna.

軌道模擬部架台１７にリニアガイド１５およびリニアアクチュエータ等の並進型アクチュエータ１６が取り付けられ、並進型アクチュエータ１６と直結したテーブル１４上に被測定部１３が搭載される。被測定部１３は例えば星像等の模擬画像、光通信用レーザ光、通信用電波発生源である。宇宙機搭載系模擬装置１１により宇宙機軌道指令値を生成し、その指令値に基づいて軌道模擬部駆動装置１２により並進型アクチュエータ１６を駆動制御することにより宇宙機軌道模擬部２２を１自由度で並進駆動し、宇宙機の軌道を模擬する。なお、ここでは並進型アクチュエータ１６としてリニアアクチュエータの例を示したが、モータとボールネジを組み合わせた構成、磁気浮上スライダー、あるいはエアスライダーでもよい。被測定部１３〜軌道模擬部架台１７で宇宙機軌道模擬部２２が構成され、宇宙機軌道模擬部２２は、宇宙機姿勢模擬部２１と分離して上記基台２３に固定して支持されている。   A translation type actuator 16 such as a linear guide 15 and a linear actuator is attached to the trajectory simulation unit mount 17, and the part to be measured 13 is mounted on a table 14 directly connected to the translation type actuator 16. The measured part 13 is, for example, a simulated image such as a star image, a laser beam for optical communication, or a radio wave generation source for communication. A spacecraft orbit command value is generated by the spacecraft on-board simulation device 11, and the translational actuator 16 is driven and controlled by the orbit simulation unit drive device 12 based on the command value, thereby allowing the spacecraft orbit simulation unit 22 to have one degree of freedom. To translate and simulate the spacecraft trajectory. Although an example of a linear actuator is shown here as the translational actuator 16, a configuration in which a motor and a ball screw are combined, a magnetic levitation slider, or an air slider may be used. The spacecraft trajectory simulation unit 22 is configured by the measured unit 13 to the trajectory simulation unit gantry 17, and the spacecraft trajectory simulation unit 22 is separated from the spacecraft attitude simulation unit 21 and fixed and supported on the base 23. Yes.

このような構成によれば、並進型アクチュエータ１６により並進駆動される宇宙機軌道模擬部２２を備えたことにより並進可動範囲を大きくでき、宇宙機運動模擬装置の機構部の小型化ができ、宇宙機軌道模擬部２２と宇宙機姿勢模擬部２１を分離することにより並進型アクチュエータ１６の小型化、低消費電力化ができ、並進型アクチュエータ１６と被測定部１３を直結して駆動することにより軌道安定度を高くでき、回転型アクチュエータ３、５、８と搭載機器部１を直結して駆動することにより姿勢安定度を高くできる。   According to such a configuration, the translational movable range can be increased by providing the spacecraft trajectory simulation unit 22 that is translationally driven by the translational actuator 16, and the mechanism unit of the spacecraft motion simulation device can be reduced in size. By separating the aircraft trajectory simulation unit 22 and the spacecraft attitude simulation unit 21, the translational actuator 16 can be reduced in size and power consumption, and the translational actuator 16 and the measured unit 13 can be directly connected to drive the trajectory. Stability can be increased, and posture stability can be increased by driving the rotary actuators 3, 5, 8 and the mounted device unit 1 directly connected to each other.

実施の形態２．
また、図１および図２においては、宇宙機軌道模擬部２２と宇宙機姿勢模擬部２１を分離した構成としているが、図３および図４で示すように、宇宙機軌道模擬部と宇宙機姿勢模擬部を一体型としてもよい。図３は実施の形態２による宇宙機運動模擬装置の側面を示す構成図である。図４は図３の上面を示す構成図である。実施の形態２の場合、宇宙機運動模擬装置は、宇宙機軌道模擬部２５のテーブル１４上に宇宙機姿勢模擬部２４を搭載し、宇宙機軌道模擬部２５と分離して基台２３に固定支持された被測定部取り付け治具１９により設置された被測定部１３と正対する構成となる。
なお、各図おいて、同一符号は、同一又は相当部分を示すものとする。 Embodiment 2. FIG.
1 and 2, the spacecraft orbit simulation unit 22 and the spacecraft attitude simulation unit 21 are separated from each other. However, as shown in FIGS. 3 and 4, the spacecraft orbit simulation unit and the spacecraft attitude simulation are performed. The simulation unit may be integrated. FIG. 3 is a configuration diagram illustrating a side surface of the spacecraft motion simulation device according to the second embodiment. FIG. 4 is a block diagram showing the top surface of FIG. In the case of the second embodiment, the spacecraft motion simulation device has a spacecraft attitude simulation unit 24 mounted on the table 14 of the spacecraft trajectory simulation unit 25 and is fixed to the base 23 separately from the spacecraft trajectory simulation unit 25. It becomes the structure which faces the to-be-measured part 13 installed with the to-be-measured part attachment jig | tool 19 supported.
In each figure, the same numerals indicate the same or corresponding parts.

図３と図４において、テーブル１４〜軌道模擬部架台１７で、宇宙機軌道模擬部２５を構成し、宇宙機軌道模擬部２５は基台２３に固定支持されている。宇宙機搭載系模擬装置１１により宇宙機軌道指令値を生成し、その指令値に基づいて軌道模擬部駆動装置１２により並進型アクチュエータ１６を駆動制御することにより宇宙機軌道模擬部２５を１自由度で並進駆動し、宇宙機の軌道を模擬する。   3 and 4, the table 14 to the orbit simulation unit mount 17 constitute a spacecraft orbit simulation unit 25, and the spacecraft orbit simulation unit 25 is fixedly supported on the base 23. The spacecraft orbit simulation unit 25 generates a spacecraft orbit command value by the spacecraft on-board simulation device 11, and the translational actuator 16 is driven and controlled by the orbital simulation unit drive device 12 based on the command value. To translate and simulate the spacecraft trajectory.

搭載機器部１〜姿勢模擬部架台９及び軸受け１８で宇宙機姿勢模擬部２４を構成しており、宇宙機姿勢模擬部２４は宇宙機軌道模擬部２５のテーブル１４に固定して支持されている。宇宙機搭載系模擬装置１１により宇宙機姿勢指令値を生成し、その指令値に基づいて姿勢模擬部駆動装置１０により第１の回転型アクチュエータ８、第２の回転型アクチュエータ５および第３の回転型アクチュエータ３を駆動制御することにより宇宙機姿勢模擬部２４を３自由度で回転駆動し、宇宙機の姿勢を模擬する。
このように宇宙機軌道模擬部２５と宇宙機姿勢模擬部２４を一体構成すれば、宇宙機運動模擬装置は実際の宇宙機と一致した軌道運動および姿勢運動を模擬することができると共に、並進可動範囲が大きく、かつ軌道安定度および姿勢安定度の高い宇宙機運動模擬装置を得ることができる。 The spacecraft attitude simulation section 24 is configured by the mounted equipment section 1 to the attitude simulation section gantry 9 and the bearing 18, and the spacecraft attitude simulation section 24 is fixedly supported on the table 14 of the spacecraft trajectory simulation section 25. . A spacecraft attitude command value is generated by the spacecraft mounting system simulator 11, and the first rotary actuator 8, the second rotary actuator 5, and the third rotation are generated by the attitude simulator drive device 10 based on the command value. By driving and controlling the mold actuator 3, the spacecraft attitude simulation unit 24 is rotationally driven with three degrees of freedom to simulate the attitude of the spacecraft.
If the spacecraft trajectory simulation unit 25 and the spacecraft attitude simulation unit 24 are integrally configured as described above, the spacecraft motion simulation device can simulate the orbital motion and the posture motion consistent with the actual spacecraft, and can be translated. A spacecraft motion simulation device having a large range and high orbital stability and attitude stability can be obtained.

実施の形態３．
また、図５および図６で示すように、宇宙機軌道模擬部２５と宇宙機姿勢模擬部２４を一体型とした宇宙機運動模擬装置を２台正対する構成としてもよい。図５は実施の形態３による宇宙機運動模擬装置の側面を示す構成図である。図６は図５の上面を示す構成図である。実施の形態３の場合、図３と図４で示した宇宙機運動模擬装置から、被測定部取り付け治具１９と被測定部１３を取り除いたものを２台を用意し、これらを基台２３上に分離して、正対させる。 Embodiment 3 FIG.
Further, as shown in FIGS. 5 and 6, two spacecraft motion simulation devices in which the spacecraft trajectory simulation unit 25 and the spacecraft posture simulation unit 24 are integrated may be configured to face each other. FIG. 5 is a configuration diagram illustrating a side surface of the spacecraft motion simulation device according to the third embodiment. FIG. 6 is a block diagram showing the top surface of FIG. In the case of the third embodiment, two units are prepared by removing the measured portion mounting jig 19 and the measured portion 13 from the spacecraft motion simulation apparatus shown in FIG. 3 and FIG. Separate up and face up.

このように宇宙機軌道模擬部２５と宇宙機姿勢模擬部２４を一体型とした宇宙機運動模擬装置を２台正対する構成にすれば、編隊飛行する宇宙機間通信の模擬、あるいは低高度周回軌道宇宙機間通信の模擬、あるいは低高度周回軌道宇宙機−静止宇宙機間通信の模擬を実現することができると共に、並進可動範囲が大きく、かつ軌道安定度および姿勢安定度の高い宇宙機運動模擬装置を得ることができる。   If two spacecraft motion simulators in which the spacecraft trajectory simulator 25 and the spacecraft attitude simulator 24 are integrated so as to face each other in this way, simulation of communication between spacecrafts flying in formation or low altitude orbit Spacecraft motion that can simulate orbital spacecraft communication or low altitude orbiting spacecraft-stationary spacecraft communication, has a large translational range, and high orbital stability and attitude stability. A simulation device can be obtained.

この発明の実施の形態１による宇宙機運動模擬装置を示す側面図である。It is a side view which shows the spacecraft motion simulation apparatus by Embodiment 1 of this invention. 実施の形態１による宇宙機運動模擬装置を示す上面図である。1 is a top view showing a spacecraft motion simulation device according to Embodiment 1. FIG. 実施の形態２による宇宙機運動模擬装置を示す側面図である。It is a side view which shows the spacecraft motion simulation apparatus by Embodiment 2. 実施の形態２による宇宙機運動模擬装置を示す上面図である。FIG. 6 is a top view showing a spacecraft motion simulation device according to a second embodiment. 実施の形態３による宇宙機運動模擬装置を示す側面図である。6 is a side view showing a spacecraft motion simulation device according to Embodiment 3. FIG. 実施の形態３による宇宙機運動模擬装置を示す上面図である。6 is a top view showing a spacecraft motion simulation device according to Embodiment 3. FIG.

符号の説明Explanation of symbols

１ 搭載機器部 ２ 第３の回転機構部
３ 第３の回転型アクチュエータ ４ 第２の回転機構部
５ 第２の回転型アクチュエータ ６ カウンタウエイト
７ 第１の回転機構部 ８ 第１の回転型アクチュエータ
９ 姿勢模擬部架台 １０ 姿勢模擬部駆動装置
１１ 宇宙機搭載系模擬装置 １２ 軌道模擬部駆動装置
１３ 被測定部 １４ テーブル、
１５ リニアガイド １６ 並進型アクチュエータ
１７ 軌道模擬部架台 １８ 軸受け、
１９ 被測定部取り付け治具 ２１ 宇宙機姿勢模擬部
２２ 宇宙機軌道模擬部 ２３ 基台
２４ 宇宙機姿勢模擬部 ２５ 宇宙機軌道模擬部。 DESCRIPTION OF SYMBOLS 1 Mounted equipment part 2 3rd rotation mechanism part 3 3rd rotation type actuator 4 2nd rotation mechanism part 5 2nd rotation type actuator 6 Counterweight 7 1st rotation mechanism part 8 1st rotation type actuator 9 Posture simulation unit mount 10 Posture simulation unit drive device 11 Spacecraft on-board system simulation device 12 Orbit simulation unit drive device 13 Unit to be measured 14 Table,
15 Linear guide 16 Translation type actuator 17 Trajectory simulation unit base 18 Bearing,
19 Measurement target mounting jig 21 Spacecraft attitude simulation section 22 Spacecraft trajectory simulation section 23 Base 24 Spacecraft attitude simulation section 25 Spacecraft trajectory simulation section

Claims (3)

第１の回転機構部と直結した第１の回転型アクチュエータと、第１の回転機構部に組み込まれた第２の回転型アクチュエータと軸受けにより支持される第２の回転機構部と、第２の回転機構部に組み込まれた第３の回転型アクチュエータと、第３の回転機構部を介して第３の回転型アクチュエータと直結した搭載機器部を備え、基台に支持された宇宙機姿勢模擬部、
上記宇宙機姿勢模擬部を駆動する姿勢模擬部駆動装置、
リニアガイドおよび並進型アクチュエータにより支持されるテーブル上に被測定部が搭載されて、上記並進型アクチュエータにより並進駆動され、上記基台に上記宇宙機姿勢模擬部と分離して支持された宇宙機軌道模擬部、
上記宇宙機軌道模擬部を駆動する軌道模擬部駆動装置、及び、
上記姿勢模擬部駆動装置と上記軌道模擬部駆動装置に指令し制御する上記宇宙機搭載系模擬装置を備え、
上記並進型アクチュエータと上記被測定部を直結して駆動し、上記回転型アクチュエータと上記搭載機器部を直結して駆動するようにしたことを特徴とした宇宙機運動模擬装置。 A first rotation type actuator directly connected to the first rotation mechanism, a second rotation type actuator incorporated in the first rotation mechanism and a second rotation mechanism supported by the bearing; A spacecraft attitude simulation unit supported by a base, including a third rotation type actuator incorporated in the rotation mechanism unit, and a mounting device unit directly connected to the third rotation type actuator via the third rotation mechanism unit ,
An attitude simulation unit driving apparatus for driving the spacecraft attitude simulation unit;
A spacecraft orbit in which a part to be measured is mounted on a table supported by a linear guide and a translational actuator, is translationally driven by the translational actuator, and is supported on the base separately from the spacecraft attitude simulation unit Simulation section,
A trajectory simulator driving device for driving the spacecraft trajectory simulator, and
Including the spacecraft on-board system simulator for instructing and controlling the attitude simulator driving device and the trajectory simulator driving device;
A spacecraft motion simulation apparatus characterized in that the translational actuator and the measured part are directly connected and driven, and the rotary actuator and the mounted device part are directly connected and driven. リニアガイドおよび並進型アクチュエータにより支持されるテーブルを有し、上記並進型アクチュエータにより並進駆動され、基台に支持された宇宙機軌道模擬部、
上記宇宙機軌道模擬部を駆動する軌道模擬部駆動装置、
第１の回転機構部と直結した第１の回転型アクチュエータと、第１の回転機構部に組み込まれた第２の回転型アクチュエータと軸受けにより支持される第２の回転機構部と、第２の回転機構部に組み込まれた第３の回転型アクチュエータと、第３の回転機構部を介して第３の回転型アクチュエータと直結した搭載機器部を備え、上記宇宙機軌道模擬部の上記テーブルに固定して支持された宇宙機姿勢模擬部、
上記宇宙機姿勢模擬部を駆動する姿勢模擬部駆動装置、及び、
上記姿勢模擬部駆動装置と上記軌道模擬部駆動装置に指令し制御する上記宇宙機搭載系模擬装置を備え、
上記宇宙機軌道模擬部と上記宇宙機姿勢模擬部を一体型としたことを特徴とする宇宙機運動模擬装置。 A spacecraft trajectory simulator having a table supported by a linear guide and a translational actuator, which is translationally driven by the translational actuator and supported by a base;
A trajectory simulation unit driving device for driving the spacecraft trajectory simulation unit,
A first rotation type actuator directly connected to the first rotation mechanism, a second rotation type actuator incorporated in the first rotation mechanism and a second rotation mechanism supported by the bearing; A third rotation type actuator incorporated in the rotation mechanism unit, and a mounting device unit directly connected to the third rotation type actuator via the third rotation mechanism unit, and fixed to the table of the spacecraft orbit simulation unit Spacecraft attitude simulation unit,
An attitude simulator driving device for driving the spacecraft attitude simulator, and
Including the spacecraft on-board system simulator for instructing and controlling the attitude simulator driving device and the trajectory simulator driving device;
A spacecraft motion simulation apparatus, wherein the spacecraft trajectory simulation section and the spacecraft attitude simulation section are integrated. 宇宙機軌道模擬部と宇宙機姿勢模擬部を一体型とした請求項２記載の宇宙機運動模擬装置の２台を分離して正対する構成としたことを特徴とする宇宙機運動模擬装置。   3. A spacecraft motion simulator having a structure in which two spacecraft motion simulators according to claim 2 in which the spacecraft trajectory simulator and the spacecraft attitude simulator are integrated are separated and face each other.
JP2005275801A 2005-09-22 2005-09-22 Spacecraft motion simulator Expired - Fee Related JP4459142B2 (en)

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