CN103576558A - System and method for dynamics simulation of space robot - Google Patents
System and method for dynamics simulation of space robot Download PDFInfo
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- CN103576558A CN103576558A CN201210265824.2A CN201210265824A CN103576558A CN 103576558 A CN103576558 A CN 103576558A CN 201210265824 A CN201210265824 A CN 201210265824A CN 103576558 A CN103576558 A CN 103576558A
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Abstract
The invention discloses a system and method for dynamics simulation of a space robot. The method for dynamics simulation of the space robot comprises the steps that a space robot dynamics module outputs a value representing the motion state of the space robot in the remote guiding stage according to the control force and the control moment which are received by a space robot platform and the control moment of a mechanical arm system joint and after the returned control amount is received, a value representing the motion state of the space robot at the next moment is output; after a space robot control module receives the value which is input by the space robot dynamics module and represents the motion state of the space robot in the remote guiding stage, the control amount is returned to the space robot dynamics module by the space robot control module; an STK long-term orbit prediction module outputs the motion state of the space robot and the motion state of a target in the remote guiding stage according to a value representing the motion initial state of the target, the value representing the motion state of the space robot and the orbital transfer sequence of the space robot. According to the system and method for dynamics simulation of the space robot, complete simulation of the whole task stage of the space robot can be provided.
Description
Technical field
The present invention relates to emulation, particularly a kind of robot for space dynamic simulation system and method.
Background technology
Robot for space is the special spacecraft of serving for in-orbit, can to spacecraft fueling in orbit and change module with extend spacecraft serviceable life, can also repair out of order spacecraft, robot for space is generally comprised of robot platform and mechanical arm system.
Robot for space dynamics simulation refers to the dynamic process of the whole task phase of robot for space is carried out to emulation, robot for space task comprises normal orbit operation, approaches the tasks such as target, Action Target, dynamics simulation is except kinetics equation resolves, also comprise the associated emulation to the Navigation, Guidance and Control algorithm layer of robot, and the emulation to space environment.
By robot for space dynamics simulation platform, can verify Robot Design scheme and aerial mission design proposal, the control performance of Navigation, Guidance and Control algorithm is tentatively confirmed.
Current robot for space dynamic simulation system deficiency is: the emulation tool function as the full task phase of robot for space is imperfect, lacks the emulation in robot for space remote guiding stage.
Summary of the invention
The invention provides a kind of robot for space dynamic simulation system and method, in order to the emulation of the complete full task phase of robot for space to be provided.
The embodiment of the present invention provides a kind of robot for space dynamic simulation system, comprising:
Robot for space dynamics module, be used in the remote guiding stage, the control being subject to according to robot for space platform, control moment, and the control moment in mechanical arm system joint, to robot for space control module, export the numerical value of the motion state of representation space robot, and after receiving the controlled quentity controlled variable that robot for space control module returns, to robot for space control module, export the numerical value that next represents the motion state of robot for space constantly;
Robot for space control module, in the remote guiding stage, after the numerical value of motion state of representation space robot that receives the input of robot for space dynamics module, returns to controlled quentity controlled variable to robot for space dynamics module;
STK long term orbit forecast module, in the remote guiding stage, according to the change rail sequence that represents the motion original state of target, the numerical value of the motion state of representation space robot and robot for space, the motion state of output region robot and target.
Preferably, STK long term orbit forecast module is further used for adopting STK satellite kit software to come according to the change rail sequence that represents the motion original state of target, the numerical value of the motion state of representation space robot and robot for space, the motion state of output region robot and target.
Preferably, further comprise:
STK 3-D display module, for showing the robot for space of STK long term orbit forecast module output and the motion state of target.
Preferably, the ActiveX assembly that STK 3-D display module is further used for adopting C++ routine call STK to provide is realized the demonstration that STK long term orbit forecasts the robot for space of module output and the motion state of target.
Preferably, further comprise:
Target dynamics module, for approaching the stage in independent navigation target, according to initial motion state, target power mathematic(al) parameter and simulation time, represents the numerical value of target state to the output of robot for space control module;
Robot for space control module is further used for approaching the stage in independent navigation target, after receiving the numerical value of motion state of representation space robot and the numerical value of the expression target state of target dynamics module input of robot for space dynamics module input, to robot for space dynamics module, return to controlled quentity controlled variable.
Preferably, STK 3-D display module is further used for being presented at independent navigation target and approaches the stage, the robot for space of STK long term orbit forecast module output and the motion state of target.
Preferably, further comprise:
OSG 3-D display module, for being presented at the destination service stage, the motion state of the target of the motion state of the robot for space of robot for space dynamics module output and the output of target dynamics module.
Preferably, OSG 3-D display module is further used for adopting C++ to write, and utilizes built-in function that OSG provides to carry out the demonstration of the motion state of implementation space robot and target.
Preferably, further comprise:
Emulated data memory module, for the data that storage emulation process produces as required.
Preferably, each module is carried out communication by UDP or by CAN agreement.
Beneficial effect of the present invention is as follows:
Due in the remote guiding stage, just start according to the change rail sequence that represents the motion original state of target, the numerical value of the motion state of representation space robot and robot for space, the motion state of robot for space and target is carried out to emulation, therefore, the present invention can provide the emulation of the complete full task phase of robot for space.
Owing to being that remote guiding stage, independent navigation target approach stage, destination service stage by assessment of tasks, and after carrying out corresponding emulation, adopt different display modes, therefore there is the function of simulating, verifying and the three-dimensional demonstration of robot for space General layout Plan and task scheme, there is the function of clarifying space robot navigation, guidance and control algolithm.
Owing to carrying out communication by UDP or by CAN agreement between each module, therefore can on a computing machine, move emulation, also can on many computing machines, move emulation.
Owing to having increased the data that produce in storage emulation process as required newly, therefore can be to the simulation result storage of classifying, to carry out the processing such as follow-up assessment or analysis.
Accompanying drawing explanation
Fig. 1 is space robot dynamics emulate system architecture schematic diagram in the embodiment of the present invention;
Fig. 2 is space robot dynamics emulation mode schematic flow sheet in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
The system and method that the embodiment of the present invention provides is for the emulation tool of the complete full task phase of robot for space is provided, the function with simulating, verifying and the three-dimensional demonstration of robot for space General layout Plan and task scheme, has the function of clarifying space robot navigation, guidance and control algolithm.
In concrete enforcement, robot for space dynamics simulation and three-dimensional demonstration platform can adopt modular mode to build, main modular adopts the Simulink emulation tool of Matlab to realize, long term orbit forecast utilizes satellite tool box STK to realize, 3-D display is partly utilized STK and OSG technology, adopt C Plus Plus programming to realize, emulated data is stored in oracle database.Between module in Simulink, exchange data using input and output and goto unit module carry out, and the exchanges data of Simulink and other module is undertaken by UDP procotol.
Wherein, MATLAB is the abbreviation of matrix experiment chamber (Matrix Laboratory), the business mathematics software that U.S. MathWorks company produces, advanced techniques computational language and interactive environment for algorithm development, data visualization, data analysis and numerical evaluation, mainly comprise MATLAB and Simulink two large divisions.
The STK satellite kit software of U.S. Analytical Graphics company exploitation is the commercialization analysis software that space industry is leading.STK is land, sea, air, day task of Analysis of Complex quickly and easily, and the analysis result of understandable chart and textual form is provided, and determines best solution.It supports the overall process in space mission cycle, comprises policy, concept, demand, design, manufacture, test, transmitting, operation and application.
OpenSceneGraph(is called for short OSG) use OpenGL technological development, a set of application programming interfaces (API based on C++ platform, Application Programming Interface), it allows programmer can create more fast, easily high-performance, cross-platform interactive graphics program.It provides the various senior characteristics of playing up as middleware (middleware) for application software, IO, and space structure is organized function; And more the OpenGL hardware abstraction layer of low level (HAL, Hardware Abstraction Layer) has been realized the driving that bottom hardware shows.
UDP is the abbreviation of User Datagram Protocol, Chinese name is User Datagram Protoco (UDP), OSI(Open System Interconnect, open system interconnection) a kind of connectionless transport layer protocol in reference model, simple unreliable information transfer service towards affairs is provided, and IETF RFC 768 is formal standards of UDP.
Robot for space integrated three-dimensional emulation platform can be by forming with lower module: robot for space dynamics module, robot for space control module, target dynamics module, STK long term orbit forecast module, STK 3-D display module, OSG 3-D display module and emulated data memory module.Describe below.
Fig. 1 is robot for space dynamic simulation system structural representation, as shown in the figure, can comprise:
Robot for space dynamics module 101, be used in the remote guiding stage, the control being subject to according to robot for space platform, control moment, and the control moment in mechanical arm system joint, to robot for space control module, export the numerical value of the motion state of representation space robot, and after receiving the controlled quentity controlled variable that robot for space control module returns, to robot for space control module, export the numerical value that next represents the motion state of robot for space constantly;
Robot for space control module 102, in the remote guiding stage, after the numerical value of motion state of representation space robot that receives the input of robot for space dynamics module, returns to controlled quentity controlled variable to robot for space dynamics module;
STK long term orbit forecast module 103, in the remote guiding stage, according to the change rail sequence that represents the motion original state of target, the numerical value of the motion state of representation space robot and robot for space, the motion state of output region robot and target.
In concrete enforcement, robot for space dynamics module is used for the motion state of computer memory robot and mechanical arm thereof, can adopt Simulink simulation toolbox to build and realize.In enforcement, the control that robot for space platform is subject to, control moment; After the control moment input space robot dynamics module in mechanical arm system joint, robot for space dynamics module can adopt the mode of solution room robot dynamics and the kinematics differential equation to obtain motion state, then the motion state of output region robot, motion state comprises position and the speed of platform, attitude and attitude rate, mechanical arm system joint angle and joint angle speed etc.The value that relates to motion state obtaining transfers to export to robot for space control module, drive control module; Can also export to the OSG 3-D display module of mentioning in embodiment below and carry out 3-D display; Can also export to emulated data memory module, be stored in database.
Robot for space control module is used for control and the control moment of output region robot platform, and joint of mechanical arm control moment, can adopt Simulink simulation toolbox to build and realize.In enforcement, input space robot control module's is the motion state of robot for space motion state and extraterrestrial target.Calculating control and the control moment of robot for space platform, and after joint of mechanical arm control moment, input space robot dynamics's module.
In enforcement, control force and moment for the output of robot for space control module, with the motion state of robot for space dynamics module output, at emulation initial time, by robot for space dynamics module output movement state first, robot for space control module receives motion state, output controlled quentity controlled variable, robot for space dynamics module receives controlled quentity controlled variable, completes next calculating and output of motion state constantly, so recursion, completes simulation process.
STK long term orbit forecast module, is used for the long term orbit motion of robot for space and target to forecast fast, accurately, completes that robot for space is entered the orbit and the emulation of remote guiding section.Can adopt the function interface that C++ routine call STK provides to realize.Between it and other module, can adopt UDP mode to carry out communication.
STK long term orbit forecast module does not have real-time input quantity, and it becomes rail sequence according to robot for space and target travel original state, robot for space, in real time the motion state of output region robot and target.The result of output can be the position of robot for space and target and speed etc.Complete after emulation, the motion state data of output can send to the STK 3-D display module in embodiment below to show, can also send to emulated data memory module to store.In enforcement, the function interface that STK long term orbit forecast module is called STK to be provided can obtain motion state data in real time.
In enforcement, STK long term orbit forecast module can also be further used for adopting STK satellite kit software to come according to the change rail sequence that represents the motion original state of target, the numerical value of the motion state of representation space robot and robot for space, the motion state of output region robot and target.In enforcement, introducing satellite kit software STK, is in order to supplement the emulation in robot for space remote guiding stage.
The orbit prediction of robot for space remote guiding section can realize with STK in force, still, also can self-developing long term orbit software of forecasting fast and accurately.STK is only for instructing those skilled in the art specifically how to implement the present invention, but do not mean and only can use STK mode, in implementation process, can need to carry out to determine corresponding mode in conjunction with practice.
In enforcement, robot for space dynamics module can comprise:
Input robot dynamics of orbits module, for the control being subject to according to the robot for space platform of input, export the numerical value of representation space robot platform position and speed;
Input attitude dynamics module, for the control moment being subject to according to the robot for space platform of input, export the numerical value of representation space robot platform attitude and attitude rate;
Input Manipulator Dynamics module, for exporting the numerical value of representation space robot arm joint angle and angular velocity according to the control moment in the mechanical arm system joint of input.
In concrete enforcement, what input robot dynamics of orbits module is robot platform control, and output is robot platform position and speed, exports to robot for space control module, drive control module; Can also export to the OSG 3-D display module in embodiment below, carry out 3-D display; Export to emulated data memory module, be stored in database.
Input attitude dynamics module be robot platform control moment, output be robot platform attitude and attitude rate, export to robot for space control module, drive control module; Can also export to the OSG 3-D display module in embodiment below, carry out 3-D display; Export to emulated data memory module, be stored in database.
Input Manipulator Dynamics module be joint of mechanical arm control moment, output be joint of mechanical arm angle and angular velocity.Export to robot for space control module, drive control module; Can also export to the OSG 3-D display module in embodiment below, carry out 3-D display; Export to emulated data memory module, be stored in database.
In enforcement, robot for space control module can comprise:
Sensor module, for obtaining sensor output quantity according to the numerical value of the motion state of representation space robot;
Guidance, navigation and control module, for according to the controlled quentity controlled variable of sensor output quantity output executing mechanism;
Actuator module, for control, the control moment being subject to according to controlled quentity controlled variable output region robot platform, and the control moment in mechanical arm system joint.
In concrete enforcement, input space robot control module's motion state, first enters sensor module, and sensor module is calculated according to mathematical model, obtains sensor output quantity, is expressed as digital quantity in emulation.Guidance, navigation and control module receive sensor output, according to set guidance, navigation and control algolithm, the controlled quentity controlled variable of output executing mechanism, thruster switching signal for example, momenttum wheel is controlled voltage etc., actuator module receives controlled quentity controlled variable, output control and control moment, and joint of mechanical arm control moment.
In enforcement, in system, can further include:
STK 3-D display module 104, for showing the robot for space of STK long term orbit forecast module output and the motion state of target.
In enforcement, the ActiveX assembly that STK 3-D display module can also be further used for adopting C++ routine call STK to provide is realized the demonstration that STK long term orbit forecasts the robot for space of module output and the motion state of target.
In concrete enforcement, ActiveX assembly implementation space robot and the 3-D display in remote stage of target that STK 3-D display module can adopt C++ routine call STK to provide, the motion state data that adopt STK long term orbit forecast module and robot for space dynamics module to provide drive, and it can adopt UDP mode to carry out communication with other module.
The numerical value of input STK 3-D display module is the motion state of robot for space and target, can be inputted by STK long term orbit forecast module and robot for space dynamics module.The content of STK 3-D display module output 3-D display can be moving scene, for example, comprise the earth, the moon, the sun, starry sky; Can display space robot and the position relationship of target and the earth, and relative position relation etc. between the two.STK 3-D display module can, by calling function interface real-time setting space robot that STK provides and the motion state of target, arrange simulating scenes.
In enforcement, in system, can further include:
Robot for space control module is further used for approaching the stage in independent navigation target, after receiving the numerical value of motion state of representation space robot and the numerical value of the expression target state of target dynamics module input of robot for space dynamics module input, to robot for space dynamics module, return to controlled quentity controlled variable.
In concrete enforcement, the motion states such as the position of target dynamics module export target and attitude, can adopt Simulink simulation toolbox to build and realize.
Target dynamics module does not have input value, according to initial motion state, target power mathematic(al) parameter and simulation time, calculates disturbance torque and perturbed force that target is subject to, then solves dynamic differential equation, obtains motion state.After calculating the motion states such as the position of target and attitude, input space robot control module.
In enforcement, STK 3-D display module is further used for being presented at independent navigation target and approaches the stage, the robot for space of STK long term orbit forecast module output and the motion state of target.
In enforcement, in system, can further include:
OSG 3-D display module 106, for being presented at the destination service stage, the motion state of the target of the motion state of the robot for space of robot for space dynamics module output and the output of target dynamics module.
In enforcement, OSG 3-D display module can also be further used for adopting C++ to write, and utilizes built-in function that OSG provides to carry out the demonstration of the motion state of implementation space robot and target.
In concrete enforcement, OSG 3-D display module can adopt C++ to write, the built-in function that has utilized OSG to provide, it is used for implementation space robot to the target 3-D display of service stage closely, the motion state data that adopt robot for space dynamics module to provide drive, and it can adopt UDP mode to carry out communication with other module.
Data by robot for space dynamics module input OSG 3-D display module are robot for space motion state and target state.
The content of OSG 3-D display module 3-D display is relative position and the relative attitude of robot for space and target, such as the robot for space under demonstration solar irradiation direction and illumination and the three-dimensional model of target etc.OSG 3-D display module can be by calling OSG built-in function, position and the attitude of real-time setting space robot and target, direction of illumination.
In enforcement, in system, can further include:
Emulated data memory module 107, for the data that storage emulation process produces as required.
In enforcement, emulated data memory module can also be further used for adopting C++ to write, with ODBC(Open Database Connectivity, Open Database Connection) Connectivity Technical of Database utilizes oracle database to read and write the data of storage.
In concrete enforcement, emulated data memory module can adopt C++ to write, and by odbc database interconnection technique, oracle database is read and write, and completes the file of emulated data, and it and other module adopt UDP mode to carry out communication.
The data of input emulated data memory module can be the motion states of robot for space and target, by robot for space dynamics module and target dynamics module, are inputted.The state of control system in space robot can be inputted by robot for space control module.After storage, just can analyze archive data, the aspects such as control performance, fuel consumption are assessed robot for space overall design and task scheme.In simulation run process, each module can send to emulated data memory module by the data of archive needed by UDP, and emulated data memory module receives emulation archive data, deposits database in.In enforcement, to assessing useful data, can be stored, the data of storage mainly comprise the motion state of robot for space and target, control system state, steering order, sensor measured value etc.
In enforcement, each module can be by UDP or by CAN(Controller Area Network, controller local area network) agreement carries out communication.Between each module, by after the communication of UDP procotol, can on a computing machine, move emulation, also can on many computing machines, move emulation.
Again the embodiment of robot for space dynamics simulation is described below.
In concrete enforcement, the pattern of simulation run is divided into three kinds: robot for space remote guiding pattern, independent navigation target approach pattern and to destination service pattern.The step of simulation run can be:
1, initialization emulation, arranges emulation starting condition, comprising: simulation time, simulation step length, initial motion state, simulation model setting etc.Wherein, simulation model refers to robot for space remote guiding pattern, independent navigation target approaches pattern and to destination service pattern, simulation model refers to some task phase of emulation.Simulation time, simulation step length, initial motion state, simulation model are set and can be set according to mission requirements, for example remote guiding needs the time of several days, simulation time is made as several days, and independent navigation target only approaches needs several hours, and simulation time is made as several hours etc.Can adopt the method for rewriting configuration file to carry out parameter setting.
2, emulation starts,
2.1 if remote guiding pattern, and STK long term orbit forecast module is according to starting condition and become rail pulse train, and the position of robot for space and target and speed are forecast, by STK 3-D display module, shows;
In enforcement, becoming rail pulse train is the robot for space motion control instruction of one group of different time, and it starts to be arranged in configuration file in emulation.STK long term orbit forecast module is calculated after motion state, just can pass to STK 3-D display module and show.
2.2, if independent navigation target approaches pattern, robot for space dynamics module is according to the position of starting condition output current robot, speed, attitude, the motion states such as attitude angular velocity, target dynamics module is according to initialization result export target motion state, sensor module receives robot motion state, target state, output sensor signal, guidance, navigation receives sensor signal with control module, output controlled quentity controlled variable, actuator module receives controlled quentity controlled variable, the control of output device people's platform and control moment, the next robot motion's state constantly of output, emulation pushes forward.STK 3-D display module receives the motion state of robot and target, the relative position relation of display device people and target, and the information such as the position relationship of the earth and sunniness direction.
2.3, if to destination service pattern, robot for space dynamics module is according to the position of initialization result output current robot, speed, attitude, attitude angular velocity, the motion states such as joint of mechanical arm angle, target dynamics module is according to initialization result export target motion state, sensor module receives robot motion state, target state, output sensor signal, guidance, navigation receives sensor signal with control module, output controlled quentity controlled variable, actuator module receives controlled quentity controlled variable, the control of output device people's platform and control moment, joint of mechanical arm control moment, the next robot motion's state constantly of output, emulation pushes forward.OSG 3-D display module receives the motion state of robot and target, the relative position of display device people and target and relative attitude.
In enforcement, in simulation run process, each module sends to emulated data memory module by the data of archive needed by UDP, and this module receives emulation archive data, deposits database in.To assessing useful data, can be stored, the data of storage mainly comprise the motion state of robot for space and target, control system state, steering order, sensor measured value etc.
3, after emulation finishes, archive data is analyzed, the aspects such as control performance, fuel consumption are assessed robot for space overall design and task scheme.
Based on same inventive concept, a kind of robot for space dynamic-simulation method is also provided in the embodiment of the present invention, because the principle that the method is dealt with problems is similar to a kind of robot for space dynamic simulation system, can be referring to the enforcement of system because of the enforcement of the method, repetition part repeats no more.
Fig. 2 is robot for space dynamic-simulation method implementing procedure schematic diagram, as shown in the figure, can comprise the steps:
In enforcement, can adopt STK satellite kit software to come according to the change rail sequence that represents the motion original state of target, the numerical value of the motion state of representation space robot and robot for space, the motion state of output region robot and target.
In enforcement, the described control being subject to according to robot for space platform, control moment, and the control moment in mechanical arm system joint, the numerical value of the motion state of output representation space robot, can comprise:
The control output representation space robot platform position being subject to according to the robot for space platform of input and the numerical value of speed;
The control moment output representation space robot platform attitude being subject to according to the robot for space platform of input and the numerical value of attitude rate;
According to the control moment output representation space robot arm joint angle in the mechanical arm system joint of input and the numerical value of angular velocity.
In enforcement, describedly after the numerical value of motion state of representation space robot that receives input, return to controlled quentity controlled variable, can comprise:
According to the numerical value of the motion state of representation space robot, obtain sensor output quantity;
According to the controlled quentity controlled variable of sensor output quantity output executing mechanism;
The control, the control moment that according to controlled quentity controlled variable output region robot platform, are subject to, and the control moment in mechanical arm system joint.
In enforcement, may further include:
Show the robot for space of output and the motion state of target.
In enforcement, the ActiveX assembly that can adopt C++ routine call STK to provide carrys out the demonstration of the motion state of implementation space robot and target.
In enforcement, may further include:
In independent navigation target, approach the stage, according to initial motion state, target power mathematic(al) parameter and simulation time, output represents the numerical value of target state;
In independent navigation target, approach the stage, after the numerical value of motion state and the numerical value of expression target state of representation space robot that receives input, return to controlled quentity controlled variable.
In enforcement, may be displayed on independent navigation target and approach the robot for space of stage output and the motion state of target.
In enforcement, may further include:
Be presented at the motion state of robot for space and the motion state of target of the output of destination service stage.
In enforcement, can adopt C++ to write, utilize built-in function that OSG provides to carry out the demonstration of the motion state of implementation space robot and target.
In enforcement, may further include:
The data that produce in storage emulation process as required.
In enforcement, during the data that produce in storage emulation process as required, can adopt C++ to write, by odbc database interconnection technique, utilize oracle database to read and write the data of storage.
In enforcement, can carry out data transmission by UDP or by CAN agreement.
From above-mentioned enforcement, for current robot for space dynamic simulation system, lack emulation and the 3-D display in robot for space remote guiding stage, imperfect as the emulation tool function of the full task phase of robot for space.Do not consider the store and management of simulation result.Can only on a computing machine, carry out emulation, 3-D display and simulation calculation realize at same computer, simulation velocity can be slower etc. problem.In the embodiment of the present invention, robot for space task simulation is divided into three Main Stage: remote guiding stage, independent navigation target approach the stage and to the destination service stage, and introduce the emulation that satellite kit software STK supplements the robot for space remote guiding stage, and utilizing STK to carry out, after the orbit prediction of robot for space remote guiding section, having realized emulation fast and accurately.Also robot for space remote guiding section, independent navigation target are approached the 3-D display of section, adopt STK technology to realize.3-D display to destination service section, adopts OSG technology to realize, and uses OSG technological development 3-D display module, and it is more true to nature that robot for space is closely served demonstration.Between module, by the communication of UDP procotol, can on a computing machine, move emulation, also can on many computing machines, move emulation.Adopt database technology to simulation result classification storage, so that follow-up assessment and analysis.
For convenience of description, the each several part of the above device is divided into various modules with function or unit is described respectively.Certainly, when enforcement is of the present invention, the function of each module or unit can be realized in same or a plurality of software or hardware.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt complete hardware implementation example, implement software example or in conjunction with the form of the embodiment of software and hardware aspect completely.And the present invention can adopt the form that wherein includes the upper computer program of implementing of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code one or more.
The present invention is with reference to describing according to process flow diagram and/or the block scheme of the method for the embodiment of the present invention, equipment (system) and computer program.Should understand can be in computer program instructions realization flow figure and/or block scheme each flow process and/or the flow process in square frame and process flow diagram and/or block scheme and/or the combination of square frame.Can provide these computer program instructions to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, the instruction of carrying out by the processor of computing machine or other programmable data processing device is produced for realizing the device in the function of flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame appointments.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, the instruction that makes to be stored in this computer-readable memory produces the manufacture that comprises command device, and this command device is realized the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make to carry out sequence of operations step to produce computer implemented processing on computing machine or other programmable devices, thereby the instruction of carrying out is provided for realizing the step of the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame on computing machine or other programmable devices.
Although described the preferred embodiments of the present invention, once those skilled in the art obtain the basic creative concept of cicada, can make other change and modification to these embodiment.So claims are intended to all changes and the modification that are interpreted as comprising preferred embodiment and fall into the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (10)
1. a robot for space dynamic simulation system, is characterized in that, comprising:
Robot for space dynamics module, be used in the remote guiding stage, the control being subject to according to robot for space platform, control moment, and the control moment in mechanical arm system joint, to robot for space control module, export the numerical value of the motion state of representation space robot, and after receiving the controlled quentity controlled variable that robot for space control module returns, to robot for space control module, export the numerical value that next represents the motion state of robot for space constantly;
Robot for space control module, in the remote guiding stage, after the numerical value of motion state of representation space robot that receives the input of robot for space dynamics module, returns to controlled quentity controlled variable to robot for space dynamics module;
STK long term orbit forecast module, in the remote guiding stage, according to the change rail sequence that represents the motion original state of target, the numerical value of the motion state of representation space robot and robot for space, the motion state of output region robot and target.
2. the system as claimed in claim 1, it is characterized in that, STK long term orbit forecast module is further used for adopting STK satellite kit software to come according to the change rail sequence that represents the motion original state of target, the numerical value of the motion state of representation space robot and robot for space, the motion state of output region robot and target.
3. the system as described in as arbitrary in claim 1 to 2, is characterized in that, further comprises:
STK 3-D display module, for showing the robot for space of STK long term orbit forecast module output and the motion state of target.
4. system as claimed in claim 3, it is characterized in that, the ActiveX assembly that STK 3-D display module is further used for adopting C++ routine call STK to provide is realized the demonstration that STK long term orbit forecasts the robot for space of module output and the motion state of target.
5. the system as described in as arbitrary in claim 1 to 4, is characterized in that, further comprises:
Target dynamics module, for approaching the stage in independent navigation target, according to initial motion state, target power mathematic(al) parameter and simulation time, represents the numerical value of target state to the output of robot for space control module;
Robot for space control module is further used for approaching the stage in independent navigation target, after receiving the numerical value of motion state of representation space robot and the numerical value of the expression target state of target dynamics module input of robot for space dynamics module input, to robot for space dynamics module, return to controlled quentity controlled variable.
6. system as claimed in claim 5, is characterized in that,
STK 3-D display module is further used for being presented at independent navigation target and approaches the stage, the robot for space of STK long term orbit forecast module output and the motion state of target.
7. the system as described in as arbitrary in claim 1 to 6, is characterized in that, further comprises:
OSG 3-D display module, for being presented at the destination service stage, the motion state of the target of the motion state of the robot for space of robot for space dynamics module output and the output of target dynamics module.
8. system as claimed in claim 7, is characterized in that, OSG 3-D display module is further used for adopting C++ to write, and utilizes built-in function that OSG provides to carry out the demonstration of the motion state of implementation space robot and target.
9. the system as described in as arbitrary in claim 1 to 8, is characterized in that, further comprises:
Emulated data memory module, for the data that storage emulation process produces as required.
10. the system as described in as arbitrary in claim 1 to 9, is characterized in that, each module is carried out communication by User Datagram Protoco (UDP) UDP or by controller area network agreement.
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