CN101853028B - Three-axis air-bearing table guide method for verifying satellites formation - Google Patents
Three-axis air-bearing table guide method for verifying satellites formation Download PDFInfo
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- CN101853028B CN101853028B CN201010199436XA CN201010199436A CN101853028B CN 101853028 B CN101853028 B CN 101853028B CN 201010199436X A CN201010199436X A CN 201010199436XA CN 201010199436 A CN201010199436 A CN 201010199436A CN 101853028 B CN101853028 B CN 101853028B
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Abstract
The invention relates to a three-axis air-bearing table guide method for verifying a satellite formation, which solves the problem of complex coordination among multiple analogue satellites. The guide method is implemented on the basis of a simulation platform having three three-axis air-bearing tables and comprises: 1, determining the functions and motion modes of the analogue satellites; 2, planning the motion trails of the analogue satellites; 3, measuring the data of the analogue satellites in real time and guiding a first following satellite and a second following satellite respectively; 3.1, determining the motion destinations of the following satellites to be guided; 3.2, calculating the distances between the following satellites to be guided and current motion destinations in real time; 3.3, judging if the distances are smaller than offset values allowed by a system; 3.4 judging if the flight task is finished; 3.5, adjusting the motion directions of the following satellites to be guided; and 3.6, determining next motion destinations of the satellites to be guided. The method realizes the three-axis air-bearing table guidance of the satellite formation and is applicable in control of the satellite formation.
Description
Technical field
The present invention relates to the space flight measurement and control field, be specifically related to a kind of three-axis air-bearing table guide method of verifying satellites formation.
Background technology
The satellite control system full physical simulation is distinctive a kind of emulation mode in the development satellite control procedure, and it utilizes three air-float turntables as motion simulator, claims air floating table emulation again.The satellite control system full physical simulation adopts three-axis air-bearing table analog satellite body as controlling object, and control system adopts the satellite control system material object to carry out emulation.When spacecraft carries out full physical simulation, need important space environment such as simulated weightlessness or non-resistance on the ground, adopting air floating table emulation is comparatively desirable a kind of means, can simulate this space environment well and be easy to and realize on ground, so obtained widespread use.
Three air-float turntables form air film by pressurized air between air-bearing and bearing seat, stage body is floated in the air, realize approximate friction free relative motion condition, thus realize analog satellite in the outer space the very little mechanical environment of suffered disturbance torque.Utilize three-axis air-bearing table emulation can simulate the attitude and the orbital motion of rigid body satellite on the ground.
Satellite formation flying is the research focus in present international astrodynamics and control field, is proposed by USAF and US National Aeronautics and Space Administration at first.Described satellites formation is meant by some satellites forms specific formation awing, and keeps nearer distance, is equivalent to a huge virtual satellite on its function.Compare with single satellite, satellites formation can make the function of every satellite simplify, and cost reduces.Utilize the multi-satellite cooperation, can obtain the advantage that single star can't have.
The full physical simulation of satellite formation flying is a complicated situation comparatively in the satellite control system full physical simulation, for described satellite formation flying, require to have between many analog satellites the coordination of attitude and track, many analog satellites are coordinated more complicated, be difficult for realizing the guiding of satellite formation flying, at present, the three-axis air-bearing table bootstrap technique about satellites formation does not have relevant research.
Summary of the invention
The objective of the invention is to coordinate complicated problems, a kind of three-axis air-bearing table guide method of verifying satellites formation is provided for solving between many analog satellites.
The present invention is achieved by following proposal: a kind of three-axis air-bearing table guide method of verifying satellites formation, described method realizes based on an emulation platform that includes three three-axis air-bearing tables, adopt three three-axis air-bearing tables as three analog satellites respectively, the control desk control three-axis air-bearing table motion of emulation platform
The three-axis air-bearing table guide method of using described emulation platform verifying satellites formation is:
Step 1, with three analog satellites be set at respectively primary, first from star and second from star, and determine the motor pattern of each analog satellite;
Step 2, according to the motor pattern of each analog satellite, control desk preestablishes the movement locus parameter of each analog satellite, planning is first from the star and second movement locus from star;
Step 3, measure the real-time measuring data of each analog satellite on described emulation platform in real time, described real-time measuring data is meant position data, angle-data and the angular velocity data of every analog satellite; And the real-time measuring data that will measure acquisition is in real time carrying out real-time Transmission between each analog satellite and between each analog satellite and the control desk;
Control desk is guided from star from star and second first respectively according to the real-time measuring data that obtains, and control desk is to first from star and second identical from the guidance method of star, and concrete guidance method is:
Step 3 one, control desk are determined the current moving target point from star to be guided according to movement locus and the current time position data from star to be guided from star to be guided;
Step 3 two, control desk calculate and the position that obtains the current time from star to be guided with this from the distance between the current moving target point of star;
The current location of determining in step 3 three, the control desk determining step three or two from star to be guided with this from the distance between the current moving target point of star whether less than predefined system permissible variation value, judged result is for being, execution in step three or four, judged result is for denying execution in step three or five;
Step 3 four, according to band guiding movement locus from star, control desk judges whether this aerial mission from star is finished, judged result is carried out END instruction for being, judged result is for denying execution in step three or six;
Step 3 five, the adjustment direction of motion from star to be guided make this fly to current moving target point from star, return step 3 two;
Step 3 six, determine next moving target point from star to be guided, and described next moving target point is defined as this current moving target point from star, return step 3 two.
The present invention is based on an emulation platform that includes three three-axis air-bearing tables realizes, described emulation platform adopts three satellites of three three-axis air-bearing table simulations respectively, the control desk control three-axis air-bearing table motion of emulation platform, and then the full physical simulation of realization satellite formation flying.The guiding that it is three-axis air-bearing table to three analog satellites in the satellite formation flying full physical simulation process that the present invention has realized makes the orbiting motion that analog satellite is planned according to predetermined simulating scheme respectively.At first, determine the function of each analog satellite, determine the motor pattern of analog satellite in conjunction with the formation flight task; Afterwards, according to the real-time measuring data of each analog satellite that measures and the motor pattern of the analog satellite of determining, the movement locus of each of planning analog satellite; Determine the position of current moving target point in conjunction with real-time measuring data; Determine system's permissible variation value according to actual emulation platform condition and control system performance; Calculate in real time the distance of analog satellite to current moving target point, when described distance during less than system's permissible variation value, system provides next impact point according to the movement locus of being planned.Guiding each analog satellite motion by the method that provides current moving target point so successively finishes up to system requirements.
Guidance method of the present invention is by planning to every analog satellite and guide and realize that step by step the motion overall process makes whole simulation process easily realize, calculated amount is little and simplified controlling schemes that described guidance method is applied widely.
Description of drawings
Fig. 1 is a three-axis air-bearing table guide method of using described emulation platform verifying satellites formation; Fig. 2 is that control desk is treated the process flow diagram of guiding from the guidance method of star.
Embodiment
Embodiment one: specify present embodiment below in conjunction with Fig. 1 and Fig. 2.A kind of three-axis air-bearing table guide method of verifying satellites formation, described method realizes based on an emulation platform that includes three three-axis air-bearing tables, adopt three three-axis air-bearing tables as three analog satellites respectively, the control desk control three-axis air-bearing table motion of emulation platform, the three-axis air-bearing table guide method of using described emulation platform verifying satellites formation is:
Step 1, with three analog satellites be set at respectively primary, first from star and second from star, and determine the motor pattern of each analog satellite;
Step 2, according to the motor pattern of each analog satellite, control desk preestablishes the movement locus parameter of each analog satellite, planning is first from the star and second movement locus from star;
Step 3, measure the real-time measuring data of each analog satellite on described emulation platform in real time, described real-time measuring data is meant position data, angle-data and the angular velocity data of every simulation star; And the real-time measuring data that will measure acquisition is in real time carrying out real-time Transmission between each analog satellite and between each analog satellite and the control desk;
Control desk is guided from star from star and second first respectively according to the real-time measuring data that obtains, and control desk is to first from star and second identical from the guidance method of star, and concrete guidance method is:
Step 3 one, control desk are determined the current moving target point from star to be guided according to movement locus and the current time position data from star to be guided from star to be guided;
Step 3 two, control desk calculate and the position that obtains the current time from star to be guided with this from the distance between the current moving target point of star;
The current location of determining in step 3 three, the control desk determining step three or two from star to be guided with this from the distance between the current moving target point of star whether less than predefined system permissible variation value, judged result is for being, execution in step three or four, judged result is for denying execution in step three or five;
Step 3 four, according to band guiding movement locus from star, control desk judges whether this aerial mission from star is finished, judged result is carried out END instruction for being, judged result is for denying execution in step three or six;
Step 3 five, the adjustment direction of motion from star to be guided make this fly to current moving target point from star, return step 3 two;
Step 3 six, determine next moving target point from star to be guided, and described next moving target point is defined as this current moving target point from star, return step 3 two.
Present embodiment realizes based on an emulation platform that includes three three-axis air-bearing tables, described emulation platform adopts three satellites of three three-axis air-bearing table simulations respectively, the control desk control three-axis air-bearing table motion of emulation platform, and then the full physical simulation of realization satellite formation flying.The guiding that it is three-axis air-bearing table to three analog satellites in the satellite formation flying full physical simulation process that present embodiment has realized makes the orbiting motion that analog satellite is planned according to predetermined simulating scheme respectively.At first, determine the function of each analog satellite, determine the motor pattern of analog satellite in conjunction with the formation flight task; Afterwards, according to the real-time measuring data of each analog satellite that measures and the motor pattern of the analog satellite of determining, the movement locus of each of planning analog satellite; Determine the position of current moving target point in conjunction with real-time measuring data; Determine system's permissible variation value according to actual emulation platform condition and control system performance; Calculate in real time the distance of analog satellite to current moving target point, when described distance during less than system's permissible variation value, system provides next impact point according to the movement locus of being planned.Guiding each analog satellite motion by the method that provides current moving target point so successively finishes up to system requirements.
The available scope of emulation platform is 6m * 6m in the present embodiment, and analog satellite is simulated flight in restricted portion.
The described guidance method of present embodiment is by planning to every analog satellite and guide and realize that step by step the motion overall process makes whole simulation process easily realize, calculated amount is little and simplified controlling schemes that described guidance method is applied widely.
Embodiment two: present embodiment is the further qualification to the three-axis air-bearing table guide method of embodiment one described a kind of verifying satellites formation, in step 1, the motor pattern of described each analog satellite specifically is meant: primary rotates on the position of setting, first is the center of circle from star with the primary position from star and second, counterclockwise around motor pattern flight.
According to the mission requirements and the implementation of formation flight, the model of satellites formation has a variety of, and what adopt in the present embodiment is principal and subordinate's star (Leader-Follower) model.In the formation flight task, establishing an analog satellite is primary, and all the other analog satellites are set to from star.
Embodiment three: present embodiment is the further qualification to the three-axis air-bearing table guide method of embodiment one described a kind of verifying satellites formation, the movement locus parameter of each analog satellite described in the step 2 is meant, primary position, first is from the center of circle of the movement locus of star and radius, second the center of circle and the radius from the movement locus of star.
Being called from the moving track of luck described in the present embodiment, formed the configuration of various formation from the different shape of the moving track of luck from the movement locus of astrology for primary.
Embodiment four: present embodiment is the further qualification to the three-axis air-bearing table guide method of embodiment three described a kind of verifying satellites formations, and the method for determining the current moving target point from star to be guided described in the step 3 one is:
When to be guided outside the movement locus circle of championship the time in this from star, tangent line is done to this movement locus circle from star in the counterclockwise direction in position from this from star place current time, and the point of contact of this tangent line on described movement locus circle promptly is defined as this current moving target point from star;
When to be guided in the movement locus circle of championship the time, nearest and be positioned at the point of this movement locus on justifying and promptly be defined as this current moving target point from star from star with this position from star place current time in this from star;
When going up, should be current moving target point when to guide from position of star place current time from the movement locus circle of championship in this from star.
Embodiment five: present embodiment is the further qualification to the three-axis air-bearing table guide method of embodiment two described a kind of verifying satellites formations, in step 3, the position data of described every simulation star and angle-data adopt the indoor camera and the image analysis calculation machine that are positioned at the emulation platform sky to realize measuring, and the angular velocity number of described every analog satellite adopts the gyro sensor that is fixedly mounted on the described analog satellite to measure.
Embodiment six: present embodiment is the further qualification to the three-axis air-bearing table guide method of embodiment five described a kind of verifying satellites formations, in step 3, real-time measuring data between each analog satellite and the mode of carrying out real-time Transmission between each analog satellite and the control desk be: adopt the blue teeth wireless data transfer mode to realize real-time Data Transmission between the analog satellite, adopt the wireless router on the emulation platform to realize real-time Data Transmission between three analog satellites and the control desk.
Embodiment seven: present embodiment is the further qualification to the three-axis air-bearing table guide method of embodiment one described a kind of verifying satellites formation, and the span of step 3 three described system permissible variation values is 0.01～0.1m.
System's permissible variation value described in the present embodiment is subjected to the factor affecting such as control system performance of emulation platform condition, topworks's condition and design.
Embodiment eight: present embodiment is the further qualification to the three-axis air-bearing table guide method of embodiment one described a kind of verifying satellites formation, in the step 3 six, describedly determine that the method for next impact point from star to be guided is: choose next moving target point at the movement locus from star to be guided, making circular arc between next moving target point and current moving target point pairing should be 15 ° from central angle of the moving track of luck.
In the present embodiment according to the emulation platform condition, first is identical from the guidance method of star with second from star, described first exists certain distance from star and second between the star, delivery is intended adjacent two impact points on the satellite motion track, the pairing central angle of circular arc between adjacent two impact points is 15 °, and the value of central angle is subjected to the factor affecting such as control system performance of emulation platform condition, topworks's condition and design.
In addition, in the present embodiment, according to the formation flight mission requirements, primary also can be done clocklike motion, according to the primary movement locus, and then determine first from star and second from star from the moving track of luck, guiding first is pressed orbiting motion from star and second from star.
Claims (8)
1. the three-axis air-bearing table guide method of a verifying satellites formation, described method realizes based on an emulation platform that includes three three-axis air-bearing tables, adopt three three-axis air-bearing tables as three analog satellites respectively, the motion of the control desk of emulation platform control three-axis air-bearing table is characterized in that:
The three-axis air-bearing table guide method of using described emulation platform verifying satellites formation is:
Step 1, with three analog satellites be set at respectively primary, first from star and second from star, and determine the motor pattern of each analog satellite;
Step 2, according to the motor pattern of each analog satellite, control desk preestablishes the movement locus parameter of each analog satellite, planning is first from the star and second movement locus from star;
Step 3, measure the real-time measuring data of each analog satellite on described emulation platform in real time, described real-time measuring data is meant position data, angle-data and the angular velocity data of every analog satellite; And the real-time measuring data that will measure acquisition is in real time carrying out real-time Transmission between each analog satellite and between each analog satellite and the control desk;
Control desk is guided from star from star and second first respectively according to the real-time measuring data that obtains, and control desk is to first from star and second identical from the guidance method of star, and concrete guidance method is:
Step 3 one, control desk are determined the current moving target point from star to be guided according to movement locus and the current time position data from star to be guided from star to be guided;
Step 3 two, control desk calculate and the position that obtains the current time from star to be guided with this from the distance between the current moving target point of star;
The current location of determining in step 3 three, the control desk determining step three or two from star to be guided with this from the distance between the current moving target point of star whether less than predefined system permissible variation value, judged result is for being, execution in step three or four, judged result is for denying execution in step three or five;
Step 3 four, according to band guiding movement locus from star, control desk judges whether this aerial mission from star is finished, judged result is carried out END instruction for being, judged result is for denying execution in step three or six;
Step 3 five, the adjustment direction of motion from star to be guided make this fly to current moving target point from star, return step 3 two;
Step 3 six, determine next moving target point from star to be guided, and described next moving target point is defined as this current moving target point from star, return step 3 two.
2. the three-axis air-bearing table guide method of a kind of verifying satellites formation according to claim 1, it is characterized in that: in step 1, the motor pattern of described each analog satellite specifically is meant: primary rotates on the position of setting, first is the center of circle from star with the primary position from star and second, counterclockwise around motor pattern flight.
3. the three-axis air-bearing table guide method of a kind of verifying satellites formation according to claim 2, it is characterized in that: the movement locus parameter of each analog satellite described in the step 2 is meant, primary position, first is from the center of circle of the movement locus of star and radius, second the center of circle and the radius from the movement locus of star.
4. the three-axis air-bearing table guide method of a kind of verifying satellites formation according to claim 3 is characterized in that: the method for determining the current moving target point from star to be guided described in the step 3 one is:
When to be guided outside the movement locus circle of championship the time in this from star, tangent line is done to this movement locus circle from star in the counterclockwise direction in position from this from star place current time, and the point of contact of this tangent line on described movement locus circle promptly is defined as this current moving target point from star;
When to be guided in the movement locus circle of championship the time, nearest and be positioned at the point of this movement locus on justifying and promptly be defined as this current moving target point from star from star with this position from star place current time in this from star;
When going up, should be current moving target point when to guide from position of star place current time from the movement locus circle of championship in this from star.
5. the three-axis air-bearing table guide method of a kind of verifying satellites formation according to claim 1, it is characterized in that: in step 3, the position data of described every analog satellite and angle-data adopt the indoor camera and the image analysis calculation machine that are positioned at the emulation platform sky to realize measuring, and the angular velocity data of described every analog satellite adopts the gyro sensor that is fixedly mounted on the described analog satellite to measure.
6. the three-axis air-bearing table guide method of a kind of verifying satellites formation according to claim 1, it is characterized in that: in step 3, real-time measuring data between each analog satellite and the mode of carrying out real-time Transmission between each analog satellite and the control desk be: adopt the blue teeth wireless data transfer mode to realize real-time Data Transmission between the analog satellite, adopt the wireless router on the emulation platform to realize real-time Data Transmission between three analog satellites and the control desk.
7. the three-axis air-bearing table guide method of a kind of verifying satellites formation according to claim 1, it is characterized in that: the span of step 3 three described system permissible variation values is 0.01～0.1m.
8. the three-axis air-bearing table guide method of a kind of verifying satellites formation according to claim 1, it is characterized in that: in the step 3 six, describedly determine that the method for next impact point from star to be guided is: choose next moving target point at the movement locus from star to be guided, making circular arc between next moving target point and current moving target point pairing should be 15 ° from central angle of the moving track of luck.
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| CN102620892B (en) * | 2011-12-15 | 2014-09-03 | 上海卫星工程研究所 | Dynamic balance testing method for rotatable part |
| CN104142686B (en) * | 2014-07-16 | 2016-06-29 | 北京控制工程研究所 | A kind of satellite Autonomous formation flight control method |
| CN104796598B (en) * | 2014-12-31 | 2017-12-19 | 上海新跃仪表厂 | Space wireless camera and its method of work |
| CN105045136B (en) * | 2015-06-19 | 2018-07-24 | 哈尔滨工业大学 | The micro- disturbance torque environmental grounds simulation system safety guard in space |
| CN105912020B (en) * | 2016-05-26 | 2018-10-09 | 北京航空航天大学 | A kind of Spacecraft Formation Flying method in weak stability boundaris region |
| CN113176101B (en) * | 2021-03-26 | 2022-08-12 | 上海卫星工程研究所 | Satellite load imaging test system and method based on distributed control architecture |
| CN114777728A (en) * | 2022-04-06 | 2022-07-22 | 南京理工大学 | Measuring method for obtaining self-attitude and positioning of three-degree-of-freedom air floating platform |
| CN116661335B (en) * | 2023-07-27 | 2023-10-13 | 哈尔滨工业大学 | Spacecraft attitude control physical simulation system with tracking and aiming device and evaluation method thereof |
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| CN1877247A (en) * | 2006-07-07 | 2006-12-13 | 哈尔滨工业大学 | Apparatus and method for measuring attitude angle of three-axis air-bearing table |
| JP4985310B2 (en) * | 2007-10-23 | 2012-07-25 | セイコーエプソン株式会社 | POSITIONING METHOD, PROGRAM, POSITIONING DEVICE, AND ELECTRONIC DEVICE |
| CN101381004B (en) * | 2008-08-20 | 2010-11-10 | 南京航空航天大学 | Tiny satellite formation flying control method based on atmospheric drag and control device |
| CN101368821B (en) * | 2008-09-28 | 2010-06-02 | 清华大学 | Measuring apparatus for rotating angle of three-axis air bearing table |
| JP5347443B2 (en) * | 2008-11-11 | 2013-11-20 | セイコーエプソン株式会社 | Position calculation method and position calculation apparatus |
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