CN103359300B - Satellite is free boundary condition analog machine in-orbit - Google Patents

Satellite is free boundary condition analog machine in-orbit Download PDF

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Publication number
CN103359300B
CN103359300B CN201310339738.6A CN201310339738A CN103359300B CN 103359300 B CN103359300 B CN 103359300B CN 201310339738 A CN201310339738 A CN 201310339738A CN 103359300 B CN103359300 B CN 103359300B
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China
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satellite
spring
analog machine
support
stay bearing
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CN201310339738.6A
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Chinese (zh)
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CN103359300A (en
Inventor
刘明辉
王剑
韩晓健
冯咬齐
张俊刚
樊世超
岳志勇
焦安超
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北京卫星环境工程研究所
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Publication of CN103359300A publication Critical patent/CN103359300A/en
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Abstract

The invention discloses a kind of satellite free boundary condition analog machine in-orbit, mainly comprise satellites coupling plate, support spring, satellite balance regulator, limiting and protecting device and stay bearing plate, the satellites coupling plate of upper and lower and stay bearing plate are arranged according to satellite physical construction correspondence, common is annular arrangement, multiple support spring two ends to be fixedly connected on respectively on the annular section between satellites coupling plate and stay bearing plate and to be uniformly distributed around this annular section, to carry out resilient mounting to satellite; The quantity satellite balance regulator corresponding with support spring quantity is fixedly installed on bottom support spring and between stay bearing plate, with the inclination by adjusting the satellite satellite that causes of bias and analog machine to the support of support spring, make maintenance level after satellites coupling to analog machine.Analog machine of the present invention improves satellite dynamics testing technique level, meet satellite particularly in high precision earth observation satellite development process in-orbit dynamics and in-orbit micro-vibration environment test verify demand.

Description

Satellite is free boundary condition analog machine in-orbit
Technical field
The invention belongs to satellite dynamics testing technique field, be specifically related to the ground simulator of a kind of satellite free boundary condition in-orbit.
Background technology
Free boundary condition is the spacecrafts such as the satellite mechanic boundary condition residing when orbital flight, in the ground development process of the spacecrafts such as satellite, for obtaining structural dynamic characteristics when satellite flies in-orbit, high precision technology index when executing the task and reliability and verifying satellites flies in-orbit, must on ground in the face of satellite carry out the dynamics test such as modal test and micro-vibration test.When testing in the face of satellite on ground, free boundary condition when needing analog satellite to fly in-orbit, ideally while support satellite weight, any constrained force is not applied to satellite, namely make satellite be in free suspended state aloft, but ground is the environment having gravity, this desirable free boundary condition cannot realize on ground, needs to adopt approximate method to realize the simulation of free boundary condition when satellite flies in-orbit.
Abroad to the research relatively morning of free boundary condition analogy method, 20 century 70 US National Aeronautics and Space Administration (NASA) are when carrying out vibration-testing to unmanned aerial vehicle, elastic string and crane is utilized to suspend in midair unmanned aerial vehicle, free boundary condition when flying with simulated aircraft, but elastic string has creep properties, can not use in test for a long time, the dynamics of crane also have impact on simulate effect simultaneously.U.S. NASA Langley Research Center has carried out the research of nearly zero stiffness Suspension Technique and device in the 80-90 age in 20th century, nearly zero stiffness device is by the combination of different spring and prestrain, produce positive stiffness and negative stiffness, thus obtain the simulation that zero stiffness realizes free boundary condition.But this device itself has nonlinear characteristic, only have the free boundary condition that just can obtain when test article is in balance position expecting, freely simulate condition simulation effect during away from equilibrium location poor.The nineties in 20th century, CSA engineering company of the U.S. has carried out the development of pneumatic/electromagnetic combination suspension gear, and for the simulation of structure free boundary condition, it is made up of two cover parallel subsystems, i.e. passive pneumatic system and initiatively electromagnetic system.Passive pneumatic system supports test specimen total weight by the piston-cylinder of the zerofriction force of particular design, a prime system Long travel, non-contacting hot-wire coil produce the Tiny Mass that electromagnetic force carrys out the increase of Active Compensation suspension gear, this device relates to pneumatic and calutron, forms more complicated and load-carrying capacity is limited.
At home along with the develop rapidly of China's Aerospace Technology, method and apparatus for the free boundary condition simulation of space structure Surface power drive test is enriched constantly, as the satellite sun span is opened with suspension bracket, satellite Large deployable antenna suspension type free boundary analog machine, simultaneously to CSA company of the U.S. pneumatic/electromagnetic type free boundary condition analog machine also carried out similar research.Generally speaking, compared with the astropowers such as the U.S., still there is a certain distance in China in the research of satellite free boundary condition analogy method and device.Also do not possess at present the ripe method and apparatus for the satellite particularly simulation of free boundary condition in-orbit of the whole star of Large-scale satellite.
Therefore, in order to realize the simulation of free boundary condition in-orbit in the dynamics tests such as the micro-vibration of satellite ground and mode, corresponding device must be developed, solve satellite in-orbit dynamics and micro-vibration environment checking ground experiment demand.
Summary of the invention
In order to meet the technical need existed in prior art, the object of the present invention is to provide a kind of device of the free boundary condition when ground simulation satellite flies in-orbit, for the simulation of the test boundary condition in the dynamics tests such as the micro-vibration of satellite ground and mode.
The technical solution used in the present invention is as follows:
A kind of satellite free boundary condition analog machine in-orbit, mainly comprise the satellites coupling plate on the top for providing support interface for satellite, support spring, satellite balance regulator, limiting and protecting device and be fixedly connected with interface with ground and stay bearing plate to the bottom that analog machine entirety provides support for providing, the satellites coupling plate of upper and lower and stay bearing plate are arranged according to satellite physical construction correspondence, be preferably annular arrangement or polygon, multiple support spring two ends to be fixedly connected on respectively on the annular section between satellites coupling plate and stay bearing plate and to be uniformly distributed around annular section, to carry out resilient mounting to satellite, the quantity satellite balance regulator corresponding with support spring quantity is fixedly installed on bottom support spring and between stay bearing plate, with the inclination by adjusting the satellite satellite that causes of bias and analog machine to the support of support spring, make maintenance level after satellites coupling to analog machine, limiting and protecting device is on circumferentially all mode for cloth is arranged between satellites coupling plate and stay bearing plate annular section and carry out safety guard-safeguard to satellite, wherein, support spring is separately positioned between adjacent two limiting and protecting devices, satellite balance regulator comprises support screw thread, to the height setting nut supported bottom support spring and locking nut on it, locking nut is arranged on the adjacent base of height setting nut, studdle is solid metal round bar, the outer wall of round bar is provided with screw thread, height setting nut and locking nut regulate the height bottom support spring respectively by the screw thread fit with threaded support bar, studdle is fixedly connected with described stay bearing plate machinery, studdle diameter is less than spring inside diameter, do not contact with spring intersection.
Further, described limiting and protecting device comprises the spacing pilot bar connected successively, spacing adjusting screw(rod), locking nut and threaded support bar, spacing pilot bar and threaded support bar are supported on the basal surface of satellites coupling plate and the upper surface of stay bearing plate respectively, threaded support bar is solid metal round bar, its outer wall is provided with screw thread, spacing adjusting screw(rod) is Hollow circular beam, inside is provided with screw thread, be screwed on threaded support bar, locking nut to be also screwed on threaded support bar and to be arranged on spacing adjusting screw(rod) lower end and locks it to be adjusted to appropriate location; Spacing pilot bar is bolted on satellites coupling plate, and pilot bar points to threaded support bar downwards, to carry out cross spacing when spacing adjusting screw(rod) upwards regulates to it.
Further, the minimum number of described support spring chooses 3, and suggestion is chosen for 4 ~ 8.Spring is arranged according to arranging one in annulus circumference every 45 ° ~ 120 °.
Further, described satellites coupling plate adopts metallic material, and common is aluminum alloy or corrosion-resistant steel.
Further, described stay bearing plate adopts metallic material, and common is aluminum alloy or corrosion-resistant steel.
With prior art, the present invention sets up a kind of device of the free boundary condition when ground simulation satellite flies in-orbit, realize the simulation of satellite ground dynamics test Satellite free boundary condition in-orbit, improve satellite dynamics testing technique level, meet satellite particularly in high precision earth observation satellite development process in-orbit dynamics and in-orbit micro-vibration environment test verify demand.
Accompanying drawing explanation
Fig. 1 is the structural representation of satellite of the present invention free boundary condition analog machine in-orbit.
Wherein, 1 is satellites coupling plate; 2 is support spring; 3 is satellite balance regulator; 4 is limiting and protecting device; 5 is stay bearing plate.
Fig. 2 is the limiting and protecting device schematic diagram that satellite of the present invention uses in free boundary condition analog machine in-orbit.
Wherein, 21 is threaded support bar; 22 is spacing adjusting screw(rod); 23 is locking nut; 24 is spacing pilot bar.
Fig. 3 is the satellite balance regulator schematic diagram that satellite of the present invention uses in free boundary condition analog machine in-orbit.
Wherein, 31 is studdle, and 32 is height setting nut; 33 is locking nut.
Detailed description of the invention
Below to satellite of the present invention in-orbit free boundary condition analog machine be described in detail, but this description is only exemplary, is not intended to carry out any restriction to protection scope of the present invention.
Fig. 1 is the structural representation of satellite of the present invention free boundary condition analog machine in-orbit.This analog machine mainly comprises the satellites coupling plate 1 on the top for providing support interface for satellite, support spring 2, satellite balance regulator 3, limiting and protecting device 4 and be fixedly connected with interface with ground and stay bearing plate 5 to the bottom that analog machine entirety provides support for providing, the satellites coupling plate 1 of upper and lower and stay bearing plate 5 are arranged according to satellite physical construction correspondence, be preferably annular arrangement or polygon, multiple support spring 2 two ends to be fixedly connected on respectively on the annular section between satellites coupling plate 1 and stay bearing plate 5 and to be uniformly distributed around annular section, to carry out resilient mounting to satellite, the quantity satellite balance regulator 3 corresponding with support spring quantity is fixedly installed on bottom support spring 2 and between stay bearing plate 5, with the inclination by adjusting the satellite satellite that causes of bias and analog machine to the support of support spring, make maintenance level after satellites coupling to analog machine, limiting and protecting device 4 is on circumferentially all mode for cloth is arranged between satellites coupling plate and stay bearing plate annular section and carry out safety guard-safeguard to satellite, wherein, support spring 2 is separately positioned between adjacent two limiting and protecting devices 4, as shown in Figure 3, satellite balance regulator 3 comprises studdle 31, to the height setting nut 32 supported bottom support spring 2 and the first locking nut 33 on it, first locking nut 33 is arranged on the adjacent base of height setting nut 32, studdle 31 is solid metal round bar, the outer wall of round bar is provided with screw thread, height setting nut 32 and the first locking nut 33 regulate the height bottom support spring 2 respectively by the screw thread fit with studdle 31, studdle 31 is fixedly connected with described stay bearing plate 5 machinery, studdle 31 diameter is less than spring inside diameter, do not contact with spring intersection.
In one embodiment, as shown in Figure 2, limiting and protecting device 4 comprises the spacing pilot bar 24 connected successively, spacing adjusting screw(rod) 22, second locking nut 23 and threaded support bar 21, spacing pilot bar 24 is supported on the basal surface of satellites coupling plate 1 and the upper surface of stay bearing plate 5 with threaded support bar 21 respectively, threaded support bar 21 is solid metal round bar, its outer wall is provided with screw thread, spacing adjusting screw(rod) 22 is Hollow circular beam, inside is provided with screw thread, be screwed on threaded support bar 21, second locking nut 23 to be also screwed on threaded support bar 21 and to be arranged on spacing adjusting screw(rod) 22 lower end and locks it to be adjusted to appropriate location, spacing pilot bar 24 is bolted on satellites coupling plate 1, and spacing pilot bar 24 points to threaded support bar 21 downwards, to carry out cross spacing when spacing adjusting screw(rod) 22 upwards regulates to it.
In one embodiment, the minimum number of support spring chooses 3.In another embodiment, be chosen for 4 ~ 8.
In one embodiment, support spring is arranged according to arranging one in annulus circumference every 45 ° ~ 120 °.
In one embodiment, satellites coupling plate adopts metallic material, is preferably aluminum alloy or corrosion-resistant steel.
In one embodiment, stay bearing plate adopts metallic material, is preferably aluminum alloy or corrosion-resistant steel.
Specifically:
(1) satellites coupling plate
The Main Function of satellites coupling plate is to provide the interface installed with satellites coupling, and abutting plate adopts tabular physical construction, and geometric configuration is consistent with satellite interface, and common is annular arrangement plate, also can be polygon, and adopt metallic material, common is corrosion-resistant steel or aluminum alloy.The size of abutting plate is according to satellites coupling Interface design, and abutting plate internal diameter is less than satellites coupling diameter, and abutting plate external diameter is greater than satellites coupling diameter.
(2) support spring
Support spring is the core component of analog machine, multiple spring carries out resilient mounting by satellites coupling plate to satellite with parallel way, support after satellite, the system that satellite and analog machine form has lower natural frequency, realizes the simulation of satellite free boundary condition in-orbit.Support spring can use the elastomeric element such as mechanical coil spring or air bellow, for mechanical coil spring, embodiment is described, is divided into five large steps:
The first step, chooses spring number, and satellites coupling plate is cirque structure, and arrange a spring according in annulus circumference every 45 ° ~ 120 °, minimum 3 of spring number, is generally chosen for 4 ~ 8.
Second step, determines the working load scope of single spring.Consider mechanical stability and the mechanical dimension of analog machine, it is 4 ~ 8 that spring number scope is chosen in suggestion.According to satellite weight, and consider spring load safety factor, determine the working load scope of single spring by following formula:
The minimum working load of spring
Spring maximum working load
Wherein M is satellite quality, and n is spring number, and k is safety factor.
Such as, satellite quality 2500kg, spring number is 8, and safety factor is 2.0, then spring works load range is f max=2.0 × f min=6000N.
3rd step, determines spring stiffness demand.The satellite low frequency that free boundary condition simulation is provided by spring in-orbit supports realization, support frequency to be determined by satellite mass characteristic and spring stiffness, satellite is subjects, and its mass property is fixed, and now needs to choose suitable spring stiffness and could realize supporting the low frequency of satellite.Spring stiffness defining method divides two small steps:
1) the axial stiffness upper limit is determined.According to structural dynamics principle, by following formula determination spring axial stiffness higher limit:
K a _ max = 4 π 2 f 2 M n
K in formula a_maxfor spring axial stiffness higher limit, f is for supporting frequency, and M is satellite quality, and n is spring number.
Such as, support frequency 2Hz, satellite quality 2500kg, spring number 8, then spring shaft to rigidity requirement is K ≤ 4 × π 2 × 2 2 × 2500 8 = 50000 N / m .
2) lateral stiffness and the bending stiffness upper limit are determined.Lateral stiffness and bending stiffness are difficult to adopt theoretical formula method, and adopt finite element analysis and optimization method determination lateral stiffness and bending stiffness demand, step is as follows:
I. use common finite element modeling software as MSC.Patran, service property (quality) unit sets up dummy satellite, and gives this mass unit by the quality of satellite and rotor inertia value;
Ii. use common finite element modeling software as MSC.Patran, use spring unit to set up spring model, and give spring unit by spring shaft to the hypothesis initial value of rigidity value, lateral stiffness and bending stiffness;
Iii. use common finite element modeling software as MSC.Patran, one end of mass unit and spring unit is rigidly connected, the spring unit other end is applied fixed constraint, obtains finite element analysis model;
Iv. use common finite element modeling software as MSC.Patran, arrange lateral stiffness and bending stiffness that optimized variable is spring, arrange optimization aim for supporting frequency, optimization target values is identical with the support frequency in axial stiffness determining step;
V. use common finite element Optimization Software as MSC.Nastran, optimize and calculate spring lateral stiffness higher limit and bending stiffness higher limit.
Such as, satellite quality 2500kg, rotor inertia I x=4700Nm 2, I y=3300Nm 2, I z=2600Nm 2, lateral stiffness hypothesis initial value 40000, bending stiffness hypothesis initial value 1000, optimization aim supports frequency 2Hz, and calculate by setting up finite element model and optimizing, obtaining lateral stiffness higher limit is 24000N/m, and bending stiffness higher limit is 1000Nm/rad.
4th step, the preliminary type selecting of spring.Utilize the spring maximum working load determined in second step, by spring design General Requirements: 0.2 times of spring test load≤spring maximum working load≤0.8 times spring test load, calculate spring test load: according to GB GB/T2089-1994(cylindroid helical-coil compression spring size and parameter) in the test load value of standard spring that provides, tentatively select qualified spring.
5th step, Spring Selection confirms.Spring Selection confirms to screen the spring tentatively chosen and confirm, method is by calculating the checking stability of spring, the lateral stiffness of spring and spring bending rigidity, when above-mentioned three Verifications all meet, confirm Spring Selection, concrete implementation step is as follows:
I. the stable calculation checking of spring.
According to the spring stiffness demand that individual pen rigidity and the 3rd step of the spring of preliminary type selecting are determined, be calculated as follows active spring coils number:
In formula, spring individual pen rigidity provides at GB GB/T2089-1994.
Spring free length is calculated according to spring pitch and the number of turns:
L=P×n 1+d
In formula, L is spring free length, n 1for total coil number of spring (i.e. number of active coils and support number of turns sum), d is wire diameter.
Carry out spring Stability Checking according to the following equation
L D < b 0
In formula, D is the central diameter of selected spring, b 0for stability requirement value, to device of the present invention, spring state is that one end revolution is fixed, now b in one end 0=3.7, when above-mentioned formula meets, spring stability requirement meets.
Ii. the lateral stiffness estimation checking of spring
By following formula estimation spring lateral stiffness
Wherein F axiallyfor spring axial load, for spring equivalent bending stiffness, for spring Effective Shear Stiffness, E is the modulus of elasticity of spring material, and d is bar diameter of spring, and μ is the Poisson's ratio of spring material.
Work as K qwhen being less than the 3rd step lateral stiffness upper limit required value, meet the demands.
Iii. the bending stiffness estimation checking of spring
Be calculated as follows spring bending rigidity
K b = M &gamma; = E d 4 32 nD ( 2 + &mu; )
Wherein M moment of flexure suffered by spring one end, γ is spring end corner, and its dependent variable meaning is identical with spring lateral stiffness estimation equation.
Work as K bwhen being less than third order bends rigidity upper limit required value, meet the demands.
Iv. Spring Selection confirms
Check spring stability, spring lateral stiffness, spring bending rigidity, when three meets the demands simultaneously, selected spring model is final model.
(3) satellite balance regulator
When centroid of satellite is eccentric, the side spring stress of analog machine is large, and opposite side spring stress is little, and stressed large deflection of spring is large, and stressed little deflection of spring is little, causes satellite to be in heeling condition.Satellite balance regulator regulates spring high and low position for this state, makes satellite be in horizontality.
Embodiment is: balance regulator is made up of three parts, threaded support bar, height setting nut and locking nut respectively, threaded support bar is solid metal round bar, outer wall is provided with screw thread, be bolted to connection on the stay bearing plate of analog machine, height setting nut and lower spring end plane contact, locking nut is in the middle of height setting nut and threaded support bar (see Fig. 3).Threaded support shank diameter is less than spring inside diameter, does not contact, do not introduce friction force with spring intersection.
When spring is upwards regulated, directly on revolve height setting nut, then locking nut is also upwards revolved, contacts with height setting nut, provide larger thread friction power with self-locking, prevent spring bottom from moving down.
When spring is regulated downwards, first by locking nut to backspin, then will height setting nut to backspin, contact with locking nut, and provide larger thread friction power with self-locking by locking nut, prevent spring bottom from moving down.
Above-mentioned embodiment is the most basic method, jack can be used above-mentioned threaded support bar, height setting nut and locking nut to be substituted, realize same function.
(4) limiting and protecting device
If there is the chance failure that support spring lost efficacy in the use procedure of satellite free boundary analog machine, satellite will drop into ground and cause damage, arrange limiting and protecting device for this reason, prevent satellite from damaging.
Embodiment is: limiting and protecting device comprises four parts, is threaded support bar respectively, spacing adjusting screw(rod), locking nut and spacing pilot bar.Threaded support bar is solid metal round bar, and outer wall is provided with screw thread, is circumferentially evenly arranged along stay bearing plate, is bolted to connection on the stay bearing plate of analog machine; Threaded support bar is Hollow circular beam, and inside is provided with screw thread, is screwed on threaded support bar; Locking nut is also screwed on threaded support bar, in spacing adjusting screw(rod) lower end; Spacing pilot bar is bolted on satellites coupling plate, and pilot bar points to threaded support bar downwards, carries out cross spacing (see Fig. 2) when spacing adjusting screw(rod) upwards regulates to it.
During use, when satellite is in static balance state on support spring, spacing adjusting screw(rod), to backspin, contacts interface unbound with satellite, but is no more than spacing pilot bar lower end, carries out position limitation protection to satellite.
Above-mentioned embodiment is the most basic method, and jack can be used above-mentioned threaded support bar, spacing adjusting screw(rod), locking nut substitutes, and realizes same function.
(5) stay bearing plate
The Main Function of stay bearing plate is to provide the fixing interface of analog machine and ground, and provide satellite balance regulator fixed interface, provide limiting and protecting device interface, adopt tabular physical construction, adopt metallic material, common is corrosion-resistant steel or aluminum alloy.
Although give detailed description and explanation to the specific embodiment of the present invention above; but what should indicate is; we can carry out various equivalence according to conception of the present invention to above-mentioned embodiment and change and amendment; its function produced do not exceed that specification sheets and accompanying drawing contain yet spiritual time, all should within protection scope of the present invention.

Claims (9)

1. satellite free boundary condition analog machine in-orbit, mainly comprise the satellites coupling plate on the top for providing support interface for satellite, support spring, satellite balance regulator, limiting and protecting device and be fixedly connected with interface with ground and stay bearing plate to the bottom that analog machine entirety provides support for providing, the satellites coupling plate of upper and lower and stay bearing plate are arranged according to satellite physical construction correspondence, for annular arrangement, multiple support spring two ends to be fixedly connected on respectively on the annular section between satellites coupling plate and stay bearing plate and to be uniformly distributed around annular section, to carry out resilient mounting to satellite, the quantity satellite balance regulator corresponding with support spring quantity is fixedly installed on bottom support spring and between stay bearing plate, with the inclination by adjusting the satellite satellite that causes of bias and analog machine to the support of support spring, make maintenance level after satellites coupling to analog machine, limiting and protecting device is on circumferentially all mode for cloth is arranged between satellites coupling plate and stay bearing plate annular section and carry out safety guard-safeguard to satellite, wherein, support spring is separately positioned between adjacent two limiting and protecting devices, satellite balance regulator comprises support screw thread, to the height setting nut supported bottom support spring and locking nut on it, locking nut is arranged on the adjacent base of height setting nut, studdle is solid metal round bar, the outer wall of round bar is provided with screw thread, height setting nut and locking nut regulate the height bottom support spring respectively by the screw thread fit with threaded support bar, studdle is fixedly connected with described stay bearing plate machinery, studdle diameter is less than spring inside diameter, do not contact with spring intersection.
2. analog machine as claimed in claim 1, wherein, described limiting and protecting device comprises the spacing pilot bar connected successively, spacing adjusting screw(rod), locking nut and threaded support bar, spacing pilot bar and threaded support bar are supported on the basal surface of satellites coupling plate and the upper surface of stay bearing plate respectively, threaded support bar is solid metal round bar, its outer wall is provided with screw thread, spacing adjusting screw(rod) is Hollow circular beam, inside is provided with screw thread, be screwed on threaded support bar, locking nut to be also screwed on threaded support bar and to be arranged on spacing adjusting screw(rod) lower end and locks it to be adjusted to appropriate location, spacing pilot bar is bolted on satellites coupling plate, and pilot bar points to threaded support bar downwards, to carry out cross spacing when spacing adjusting screw(rod) upwards regulates to it.
3. analog machine as claimed in claim 1 or 2, wherein, the minimum number of support spring is 3.
4. analog machine as claimed in claim 3, wherein, the quantity of support spring is 4-8.
5. analog machine as claimed in claim 3, wherein, spring is arranged according to arranging one in annulus circumference every 45 ° ~ 120 °.
6. analog machine as claimed in claim 1 or 2, wherein, described satellites coupling plate adopts metallic material.
7. analog machine as claimed in claim 6, wherein, described metallic material is corrosion-resistant steel or aluminum alloy.
8. analog machine as claimed in claim 1 or 2, wherein, described stay bearing plate adopts metallic material.
9. analog machine as claimed in claim 8, wherein, described metallic material is corrosion-resistant steel or aluminum alloy.
CN201310339738.6A 2013-08-06 2013-08-06 Satellite is free boundary condition analog machine in-orbit CN103359300B (en)

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