CN103576558B - A kind of robot for space dynamic simulation system and method - Google Patents
A kind of robot for space dynamic simulation system and method Download PDFInfo
- Publication number
- CN103576558B CN103576558B CN201210265824.2A CN201210265824A CN103576558B CN 103576558 B CN103576558 B CN 103576558B CN 201210265824 A CN201210265824 A CN 201210265824A CN 103576558 B CN103576558 B CN 103576558B
- Authority
- CN
- China
- Prior art keywords
- robot
- space
- module
- kinestate
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of robot for space dynamic simulation system and method, including: robot for space dynamics module in the remote guiding stage according to robot for space platform controlled power, control moment, and the control moment in mechanical arm system joint, the numerical value of the kinestate of output representation space robot, and after receiving the controlled quentity controlled variable of return, the numerical value of the kinestate of output subsequent time representation space robot；Robot for space control module, in the remote guiding stage, after receiving the numerical value of the kinestate of representation space robot of robot for space dynamics module input, returns controlled quentity controlled variable to robot for space dynamics module；STK long term orbit forecast module according to the expression motion original state of target, the numerical value of the kinestate of representation space robot and the change rail sequence of robot for space, exports robot for space and the kinestate of target in the remote guiding stage.The present invention is provided that the emulation of the full task phase of complete robot for space.
Description
Technical field
The present invention relates to emulation learn, particularly to a kind of robot for space dynamic simulation system and method.
Background technology
Robot for space is the special spacecraft for servicing in-orbit, can to spacecraft fueling in orbit and change module with extend spacecraft service life, out of order spacecraft can also be repaired, robot for space is typically made up of robot platform and mechanical arm system.
Robot for space dynamics simulation refers to that the dynamic process of task phase whole to robot for space emulates, robot for space task includes that normal orbit runs, close to tasks such as target, operation targets, dynamics simulation is in addition to kinetics equation resolves, also include the emulation of the associated Navigation, Guidance and Control algorithm layer to robot, and the emulation to spatial environments.
Robot Design scheme and aerial mission design can be verified by robot for space dynamics simulation platform, 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 provide the emulation of the complete full task phase of robot for space.
Embodiments provide a kind of robot for space dynamic simulation system, including:
Robot for space dynamics module, for in the remote guiding stage, according to robot for space platform controlled power, control moment, and the control moment in mechanical arm system joint, the numerical value of the kinestate of representation space robot is exported to robot for space control module, and after receiving the controlled quentity controlled variable that robot for space control module returns, to the numerical value of the kinestate of robot for space control module output subsequent time representation space robot；
Robot for space control module, in the remote guiding stage, after receiving the numerical value of the kinestate of representation space robot of robot for space dynamics module input, returns controlled quentity controlled variable to robot for space dynamics module；
STK long term orbit forecast module, in the remote guiding stage, according to the expression motion original state of target, the numerical value of the kinestate of representation space robot and the change rail sequence of robot for space, output robot for space and the kinestate of target.
Preferably, STK long term orbit forecast module is further used for using STK satellite Toolkit Software to come according to the expression motion original state of target, the numerical value of the kinestate of representation space robot and the change rail sequence of robot for space, output robot for space and the kinestate of target.
It is preferred that farther include:
STK three dimensional display module, is used for showing robot for space and the kinestate of target that STK long term orbit forecast module exports.
It is preferred that the ActiveX assembly that STK three dimensional display module is further used for using C++ routine call STK to provide is to realize robot for space and the display of kinestate of target of the output of STK long term orbit forecast module.
It is preferred that farther include:
Target dynamics module, is used in independent navigation target close to the stage, according to initial kinestate, target dynamics 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 was further used in independent navigation target close to the stage, after the numerical value of the expression target state of the numerical value with the input of target dynamics module that receive the kinestate of representation space robot of robot for space dynamics module input, return controlled quentity controlled variable to robot for space dynamics module.
It is preferred that STK three dimensional display module is further used for showing in independent navigation target close to stage, the robot for space of STK long term orbit forecast module output and the kinestate of target.
It is preferred that farther include:
OSG three dimensional display module, for display in the destination service stage, the kinestate of the robot for space of robot for space dynamics module output and the kinestate of the target of target dynamics module output.
It is preferred that OSG three dimensional display module is further used for using C++ to write, utilize the built-in function that OSG provides to realize the display of the kinestate of robot for space and target.
It is preferred that farther include:
Emulation data memory module, the data produced during storage emulation as required.
It is preferred that each module carries out communication by UDP or by CAN protocol.
The present invention has the beneficial effect that:
Due in the remote guiding stage, just start according to the expression motion original state of target, the numerical value of the kinestate of representation space robot and the change rail sequence of robot for space, the kinestate of robot for space and target is emulated, 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 are close to stage, destination service stage by assessment of tasks, and after emulating accordingly, use different display modes, therefore there is robot for space General layout Plan and the simulating, verifying of task scheme and the function of three-dimensional demonstration, there is clarifying space robot navigation, guidance and the function of control algolithm.
Owing to carrying out communication by UDP or by CAN protocol between each module, therefore can Dynamic simulation on one computer, also can on multiple stage computer Dynamic simulation.
Due to the data produced during having increased storage emulation as required newly, therefore simulation result can be carried out classification storage, in order to carry out follow-up assessment or analysis etc. and process.
Accompanying drawing explanation
Fig. 1 is space robot dynamics analogue system structural representation 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.
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is illustrated.
The system and method that the embodiment of the present invention provides is to provide for the emulation tool of the full task phase of complete robot for space, there is robot for space General layout Plan and the simulating, verifying of task scheme and the function of three-dimensional demonstration, there is clarifying space robot navigation, guidance and the function of control algolithm.
In being embodied as, robot for space dynamics simulation can be built to use modular mode with three-dimensional demonstration platform, main modular uses the Simulink emulation tool of Matlab to realize, long term orbit forecast utilizes satellite workbox STK to realize, three dimensional display part utilizes STK and OSG technology, C Plus Plus programming realization, emulation data is used to be stored in oracle database.Between module in Simulink, data exchange uses input and output and goto unit module to carry out, and Simulink is carried out by UDP procotol with the data exchange of other module.
Wherein, MATLAB is matrix labotstory (Matrix
Laboratory) abbreviation, it is the business mathematics software of MathWorks company of U.S. product, for advanced techniques computational language and the interactive environment of algorithm development, data visualization, data analysis and numerical computations, mainly include MATLAB and Simulink two large divisions.
The STK satellite Toolkit Software of Analytical Graphics company of U.S. exploitation, is that software is analyzed in the commercialization that aerospace industry is leading.STK can analyze the land, sea, air of complexity, sky task quickly and easily, and provides the analysis result of understandable chart and textual form, determines best solution.It supports the overall process in space mission cycle, including policy, concept, demand, designs, manufactures, tests, launches, runs and applies.
OpenSceneGraph(is called for short OSG) use OpenGL technological development, it is a set of application programming interfaces (API, Application of based on C++ platform
Programming Interface), it allows programmer can more quickly and conveniently create high-performance, cross-platform interactive graphics program.It is that application software provides various senior rendering characteristics, IO, and space structure tissue function as middleware (middleware)；And the OpenGL of lower level time
Hardware abstraction layer (HAL, Hardware
Abstraction Layer) achieve the driving that bottom hardware shows.
UDP is the abbreviation of User Datagram Protocol, and Chinese name is UDP, is OSI(Open System
Interconnect, open system interconnection) a kind of connectionless transport layer protocol in reference model, it is provided that the simple unreliable information towards affairs transmits service, IETF
RFC 768 is the formal specification of UDP.
Robot for space integrated three-dimensional emulation platform can be formed by with lower module: robot for space dynamics module, robot for space control module, target dynamics module, STK long term orbit forecast module, STK three dimensional display module, OSG three dimensional display module and emulation data memory module.It is illustrated below.
Fig. 1 is robot for space dynamic simulation system structural representation, as it can be seen, may include that
Robot for space dynamics module 101, for in the remote guiding stage, according to robot for space platform controlled power, control moment, and the control moment in mechanical arm system joint, the numerical value of the kinestate of representation space robot is exported to robot for space control module, and after receiving the controlled quentity controlled variable that robot for space control module returns, to the numerical value of the kinestate of robot for space control module output subsequent time representation space robot；
Robot for space control module 102, in the remote guiding stage, after receiving the numerical value of the kinestate of representation space robot of robot for space dynamics module input, returns 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 expression motion original state of target, the numerical value of the kinestate of representation space robot and the change rail sequence of robot for space, output robot for space and the kinestate of target.
In being embodied as, robot for space dynamics module is used for calculating the kinestate of robot for space and mechanical arm thereof, and Simulink simulation toolbox can be used to build and realize.In enforcement, by robot for space platform controlled power, control moment；After control moment input space robot dynamics's module in mechanical arm system joint, robot for space dynamics module can obtain kinestate in the way of using solution room robot dynamics and the kinesiology differential equation, then the kinestate of robot for space is exported, kinestate includes position and the speed of platform, attitude and attitude rate, mechanical arm system joint angle and joint angle speed etc..The value relating to kinestate obtained transfers to output to robot for space control module, drive control module；The OSG three dimensional display module to mentioning in example below can also be exported and carry out three dimensional display；Can also export to emulation data memory module, be stored in data base.
Robot for space control module is used for exporting control power and the control moment of robot for space platform, and joint of mechanical arm control moment, and Simulink simulation toolbox can be used to build and realize.In enforcement, input space robot control module's is the kinestate of robot for space kinestate and extraterrestrial target.After the control power calculating robot for space platform and control moment, and joint of mechanical arm control moment, input space robot dynamics's module.
In enforcement, control power and moment for the output of robot for space control module, with the kinestate of robot for space dynamics module output, at emulation initial time, robot for space dynamics module first export kinestate, robot for space control module receives kinestate, output controlled quentity controlled variable, robot for space dynamics module receives controlled quentity controlled variable, completes calculating and the output of subsequent time kinestate, so recursion, completes simulation process.
STK long term orbit forecast module, is used for the motion of the long term orbit to robot for space and target and forecasts fast, accurately, completes robot for space and enters the orbit and the emulation of remote guiding section.The function interface that C++ routine call STK can be used to provide realizes.Communication can be carried out to use UDP mode between it and other module.
STK long term orbit forecast module does not has real-time input quantity, and it becomes rail sequence according to robot for space and target travel original state, robot for space, output robot for space and the kinestate of target in real time.The result of output can be robot for space and the position of target and speed etc..After completing emulation, the STK three dimensional display module that the kinestate data of output can be sent in example below shows, it is also possible to is sent to emulate data memory module and stores.In enforcement, the function interface that STK long term orbit forecast module calls STK and provides can obtain kinestate data in real time.
In enforcement, STK long term orbit forecast module can also be further used for using STK satellite Toolkit Software to come according to the expression motion original state of target, the numerical value of the kinestate of representation space robot and the change rail sequence of robot for space, output robot for space and the kinestate of target.Enforcement introduces satellite Toolkit Software STK, is the emulation in order to supplement the robot for space remote guiding stage.
The orbit prediction of robot for space remote guiding section can realize with STK in force, but, also can self-developing long term orbit software of forecasting fast and accurately.STK is only used for instructing the most how those skilled in the art implement the present invention, but it is not intended that be only capable of using STK mode, can put into practice needs to determine corresponding mode to combine in implementation process.
In enforcement, robot for space dynamics module may include that
Input robot track dynamics module, for the robot for space platform controlled power output representation space robot platform position according to input and the numerical value of speed；
Input attitude dynamics module, for the robot for space platform controlled moment output representation space robot platform attitude according to input and the numerical value of attitude rate；
Input Manipulator Dynamics module, the control moment output representation space robot arm joint angle for the mechanical arm system joint according to input and the numerical value of angular velocity.
In being embodied as, input robot track dynamics module is that robot platform controls power, and output is robot platform position and speed, and output is to robot for space control module, drive control module；Can also export to the OSG three dimensional display module in example below, carry out three dimensional display；Emulation data memory module is given in output, is stored in data base.
Input attitude dynamics module is robot platform control moment, and output is robot platform attitude and attitude rate, and output is to robot for space control module, drive control module；Can also export to the OSG three dimensional display module in example below, carry out three dimensional display；Emulation data memory module is given in output, is stored in data base.
Input Manipulator Dynamics module is joint of mechanical arm control moment, and output is joint of mechanical arm angle and angular velocity.Output is to robot for space control module, drive control module；Can also export to the OSG three dimensional display module in example below, carry out three dimensional display；Emulation data memory module is given in output, is stored in data base.
In enforcement, robot for space control module may include that
Sensor module, the numerical value for the kinestate according to representation space robot obtains sensor output；
Guidance, navigation and control module, for the controlled quentity controlled variable according to sensor output output executing mechanism；
Actuator module, for exporting robot for space platform controlled power, control moment, and the control moment in mechanical arm system joint according to controlled quentity controlled variable.
In being embodied as, the kinestate of input space robot control module, initially enter sensor module, sensor module calculates according to mathematical model, obtains sensor output, is expressed as digital quantity in emulation.Guidance, navigation receive sensor output with control module, according to set guidance, navigation and control algolithm, the controlled quentity controlled variable of output executing mechanism, such as thruster switching signal, momenttum wheel controls voltage etc., actuator module receives controlled quentity controlled variable, output control power and control moment, and joint of mechanical arm control moment.
In enforcement, can further include in systems:
STK three dimensional display module 104, is used for showing robot for space and the kinestate of target that STK long term orbit forecast module exports.
In enforcement, the ActiveX assembly that STK three dimensional display module can also be further used for using C++ routine call STK to provide is to realize robot for space and the display of kinestate of target of the output of STK long term orbit forecast module.
In being embodied as, the ActiveX assembly that STK three dimensional display module can use C++ routine call STK to provide realizes the three dimensional display of robot for space and target remote stage, the kinestate data using STK long term orbit forecast module and robot for space dynamics module to provide are driven, and it can use UDP mode to carry out communication with other module.
The numerical value of input STK three dimensional display module is the kinestate 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 three dimensional display module output three dimensional display can be moving scene, such as, include the earth, the moon, the sun, starry sky；Can be with the position relationship of display space robot and target with the earth, and relative position relation etc. between the two.The function interface that STK three dimensional display module can provide by calling STK sets the kinestate of robot for space and target in real time, arranges simulating scenes.
In enforcement, can further include in systems:
Target dynamics module 105, is used in independent navigation target close to the stage, according to initial kinestate, target dynamics 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 was further used in independent navigation target close to the stage, after the numerical value of the expression target state of the numerical value with the input of target dynamics module that receive the kinestate of representation space robot of robot for space dynamics module input, return controlled quentity controlled variable to robot for space dynamics module.
In being embodied as, target dynamics module exports the kinestates such as position and the attitude of target, and Simulink simulation toolbox can be used to build and realize.
Target dynamics module does not has input value, according to initial kinestate, target dynamics parameter and simulation time, calculates target experienced interference moment and perturbed force, then solves dynamic differential equation, obtain kinestate.After the kinestates such as the position and the attitude that calculate target, input space robot control module.
In enforcement, STK three dimensional display module is further used for showing in independent navigation target close to stage, the robot for space of STK long term orbit forecast module output and the kinestate of target.
In enforcement, can further include in systems:
OSG three dimensional display module 106, for display in the destination service stage, the kinestate of the robot for space of robot for space dynamics module output and the kinestate of the target of target dynamics module output.
In enforcement, OSG three dimensional display module can also be further used for using C++ to write, and utilizes the built-in function that OSG provides to realize the display of the kinestate of robot for space and target.
In being embodied as, OSG three dimensional display module can use C++ to write, make use of the built-in function that OSG provides, it is used for realizing the robot for space three dimensional display to target closely service stage, the kinestate data using robot for space dynamics module to provide are driven, and it can use UDP mode to carry out communication with other module.
It is robot for space kinestate and target state by the data of robot for space dynamics module input OSG three dimensional display module.
The content of OSG three dimensional display module three dimensional display is robot for space position relative with target and relative attitude, such as, show the threedimensional model etc. of the robot for space under solar irradiation direction and illumination and target.OSG three dimensional display module can set robot for space and the position of target and attitude, direction of illumination in real time by calling OSG built-in function.
In enforcement, can further include in systems:
Emulation data memory module 107, the data produced during storage emulation as required.
In enforcement, emulation data memory module can also be further used for use C++ write, with ODBC(Open Database Connectivity, Open Database Connection) Connectivity Technical of Database utilize oracle database to storage data be written and read.
In being embodied as, emulation data memory module can use C++ to write, and is written and read oracle database by odbc database interconnection technique, completes to emulate the archive of data, and it uses UDP mode to carry out communication with other module.
The data of input emulation data memory module can be the kinestate of robot for space and target, robot for space dynamics module and target dynamics module input.The state of control system in space robot can be inputted by robot for space control module.After storage, just can be analyzed achieving data, robot for space master-plan and task scheme are estimated by the aspect such as control performance, fuel consumption.During simulation run, each module can emulate data memory module by UDP by needing the data achieved to be sent to, and emulation data memory module receives emulation and achieves data, is stored in data base.In enforcement, can be stored assessing useful data, the data of storage mainly include the kinestate of robot for space and target, control system state, control instruction, 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.By after UDP procotol communication between each module, can Dynamic simulation on one computer, also can on multiple stage computer Dynamic simulation.
The most again the embodiment of robot for space dynamics simulation is illustrated.
In being embodied as, the pattern of simulation run is divided into three kinds: robot for space remote guiding pattern, independent navigation target are close to pattern with to destination service pattern.The step of simulation run may is that
1, initialize emulation, emulation initial condition is set, including: 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 close to pattern with to destination service pattern, and simulation model refers to some task phase of emulation.Simulation time, simulation step length, initial motion state, simulation model set and can be set according to mission requirements, such as remote guiding needs the time of several days, simulation time is set to several days, and independent navigation target is close to having only to several hours, and simulation time is set to several hours.The method rewriting configuration file can be used to carry out parameter setting.
2, emulation starts,
2.1 if remote guiding pattern, and STK long term orbit forecast module is according to initial condition and becomes rail pulse train, forecasts robot for space and the position of target and speed, is shown by STK three dimensional display module；
In enforcement, becoming the robot for space motion control instruction that rail pulse train is one group of different time, it starts to be arranged in configuration file in emulation.After STK long term orbit forecast module calculates kinestate, just can pass to STK three dimensional display module and show.
2.2, if independent navigation target is close to pattern, robot for space dynamics module is according to the position of initial condition output current robot, speed, attitude, the kinestates such as attitude angular velocity, target dynamics module exports target state according to initialization result, sensor module receiver device people's kinestate, 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 power of output device people's platform and control moment, robot motion's state in output next moment, emulation pushes forward.STK three dimensional display module receiver device people and the kinestate of target, display robot and the relative position relation of 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 kinestates such as joint of mechanical arm angle, target dynamics module exports target state according to initialization result, sensor module receiver device people's kinestate, 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 power of output device people's platform and control moment, joint of mechanical arm control moment, robot motion's state in output next moment, emulation pushes forward.OSG three dimensional display module receiver device people and the kinestate of target, display robot position relative with target and relative attitude.
In enforcement, during simulation run, each module will need the data achieved to be sent to emulate data memory module by UDP, and this module receives emulation and achieves data, is stored in data base.Can be stored assessing useful data, the data of storage mainly include the kinestate of robot for space and target, control system state, control instruction, sensor measured value etc..
3, after emulation terminates, it is analyzed achieving data, robot for space master-plan and task scheme are estimated by the aspect such as control performance, fuel consumption.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of robot for space dynamic-simulation method, owing to the principle of the method solution problem is similar to a kind of robot for space dynamic simulation system, because the enforcement of the method may refer to the enforcement of system, repeat no more in place of repetition.
Fig. 2 is robot for space dynamic-simulation method implementing procedure schematic diagram, as it can be seen, may include steps of:
Step 201, in the remote guiding stage, according to robot for space platform controlled power, control moment, and the control moment in mechanical arm system joint, the numerical value of the kinestate of output representation space robot, and after receiving the controlled quentity controlled variable of return, the numerical value of the kinestate of output subsequent time representation space robot；
Step 202, in the remote guiding stage, after receiving the numerical value of the kinestate of representation space robot of input, return controlled quentity controlled variable；
Step 203, in the remote guiding stage, according to representing the motion original state of target, the numerical value of kinestate of representation space robot and the change rail sequence of robot for space, output robot for space and the kinestate of target.
In enforcement, STK satellite Toolkit Software can be used to come according to the expression motion original state of target, the numerical value of the kinestate of representation space robot and the change rail sequence of robot for space, output robot for space and the kinestate of target.
In enforcement, described according to robot for space platform controlled power, control moment, and the control moment in mechanical arm system joint, the numerical value of the kinestate of output representation space robot, may include that
Robot for space platform controlled power output representation space robot platform position according to input and the numerical value of speed；
Robot for space platform controlled moment output representation space robot platform attitude according to input and the numerical value of attitude rate；
The control moment output representation space robot arm joint angle in the mechanical arm system joint according to input and the numerical value of angular velocity.
In enforcement, described after receiving the numerical value of the kinestate of representation space robot of input, return controlled quentity controlled variable, may include that
The numerical value of the kinestate according to representation space robot obtains sensor output；
Controlled quentity controlled variable according to sensor output output executing mechanism；
Robot for space platform controlled power, control moment, and the control moment in mechanical arm system joint is exported according to controlled quentity controlled variable.
In enforcement, may further include:
The robot for space of display output and the kinestate of target.
In enforcement, the ActiveX assembly that C++ routine call STK provides can be used to realize the display of the kinestate of robot for space and target.
In enforcement, may further include:
In independent navigation target close to the stage, according to initial kinestate, target dynamics parameter and simulation time, output represents the numerical value of target state；
In independent navigation target close to the stage, after the numerical value of the numerical value and expression target state that receive the kinestate of representation space robot of input, return controlled quentity controlled variable.
In enforcement, may be displayed on robot for space and the kinestate of target that independent navigation target exports close to the stage.
In enforcement, may further include:
Show at the kinestate of robot for space of destination service stage output and the kinestate of target.
In enforcement, C++ can be used to write, utilize the built-in function that OSG provides to realize the display of the kinestate of robot for space and target.
In enforcement, may further include:
The data produced during storage emulation as required.
In enforcement, during the data produced during storage emulation as required, C++ can be used to write, utilize oracle database that the data of storage are written and read by odbc database interconnection technique.
In enforcement, can carry out data transmission by UDP or by CAN protocol.
From above-mentioned enforcement, lacking emulation and the three dimensional display in robot for space remote guiding stage for current robot for space dynamic simulation system, the emulation tool function as the full task phase of robot for space is imperfect.Do not account for storage and the management of simulation result.Can only emulate on one computer, three dimensional display and simulation calculation realize at same computer, simulation velocity can be slower etc. problem.Robot for space task simulation is divided into by the embodiment of the present invention three Main Stage: remote guiding stage, independent navigation target are close to the stage with to the destination service stage, and introduce satellite Toolkit Software STK to supplement the emulation in robot for space remote guiding stage, and after utilizing STK to carry out the orbit prediction of robot for space remote guiding section, it is achieved that emulate fast and accurately.Also to robot for space remote guiding section, the three dimensional display of independent navigation target Approach phase, STK technology is used to realize.Three dimensional display to destination service section, uses OSG technology to realize, uses OSG technological development three dimensional display module, and it is more true to nature that robot for space closely services display.By UDP procotol communication between module, can Dynamic simulation on one computer, also can on multiple stage computer Dynamic simulation.Use database technology to simulation result classification storage, in order to follow-up assessment and analysis.
For convenience of description, each several part of apparatus described above is divided into various module or unit to be respectively described with function.Certainly, the function of each module or unit can be realized in same or multiple softwares or hardware when implementing the present invention.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program.Therefore, the form of the embodiment in terms of the present invention can use complete hardware embodiment, complete software implementation or combine software and hardware.And, the present invention can use the form at one or more upper computer programs implemented of computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) wherein including computer usable program code.
The present invention is to describe with reference to method, equipment (system) and the flow chart of computer program according to embodiments of the present invention and/or block diagram.It should be understood that can be by the flow process in each flow process in computer program instructions flowchart and/or block diagram and/or square frame and flow chart and/or block diagram and/or the combination of square frame.These computer program instructions can be provided to produce a machine to the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device so that the instruction performed by the processor of computer or other programmable data processing device is produced for realizing the device of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and can guide in the computer-readable memory that computer or other programmable data processing device work in a specific way, the instruction making to be stored in this computer-readable memory produces the manufacture including command device, and this command device realizes the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, make to perform sequence of operations step on computer or other programmable devices to produce computer implemented process, thus the instruction performed on computer or other programmable devices provides the step of the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame for realization.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creative concept, then these embodiments can be made other change and amendment.So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification without departing from the spirit and scope of the present invention to the present invention.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a robot for space dynamic simulation system, it is characterised in that including:
Robot for space dynamics module, in the remote guiding stage, is subject to according to robot for space platform
Control power, control moment, and the control moment in mechanical arm system joint, use solution room robot
The mode of kinetics and the kinesiology differential equation obtains kinestate, exports table to robot for space control module
Showing the numerical value of the kinestate of robot for space, kinestate includes position and the speed of platform, attitude and appearance
State rate of change, mechanical arm system joint angle and joint angle speed；And receiving robot for space control module
After the controlled quentity controlled variable returned, to the motion of robot for space control module output subsequent time representation space robot
The numerical value of state；
Robot for space control module, robot for space control module is used for exporting the control of robot for space platform
Power processed and control moment, and the control moment in mechanical arm system joint, use Simulink simulation toolbox
Build and realize, in the remote guiding stage, at the table receiving the input of robot for space dynamics module
After showing the numerical value of kinestate of robot for space, return controlled quentity controlled variable to robot for space dynamics module；Defeated
Enter robot for space control module is the kinestate of robot for space kinestate and extraterrestrial target；
For control power and the control moment of the output of robot for space control module, with robot for space kinetics
The kinestate of module output, at emulation initial time, is first exported fortune by robot for space dynamics module
Dynamic state, robot for space control module receives kinestate, exports controlled quentity controlled variable, robot for space kinetics
Module receives controlled quentity controlled variable, completes calculating and the output of subsequent time kinestate, such recursion, completes emulation
Process；
STK long term orbit forecast module, in the remote guiding stage, initial according to the motion representing target
State, the numerical value of kinestate of representation space robot and the change rail sequence of robot for space, export space
Robot and the kinestate of target.
2. the system as claimed in claim 1, it is characterised in that STK long term orbit forecast module enters
Step is come according to representing the motion original state of target, representation space for using STK satellite Toolkit Software
The numerical value of the kinestate of robot and the change rail sequence of robot for space, output robot for space and target
Kinestate.
3. system as claimed in claim 1 or 2, it is characterised in that farther include:
STK three dimensional display module, for showing the robot for space that STK long term orbit forecast module exports
Kinestate with target.
4. system as claimed in claim 3, it is characterised in that STK three dimensional display module is used further
STK long term orbit forecast module is realized in the ActiveX assembly using C++ routine call STK to provide
The robot for space of output and the display of the kinestate of target.
5. system as claimed in claim 4, it is characterised in that farther include:
Target dynamics module, in independent navigation target close to the stage, according to initial kinestate,
Target dynamics parameter and simulation time, represent target state to the output of robot for space control module
Numerical value；
Robot for space control module was further used in independent navigation target close to the stage, was receiving space
The numerical value of the kinestate of the representation space robot of robot dynamics's module input and target dynamics mould
After the numerical value representing target state of block input, return controlled quentity controlled variable to robot for space dynamics module.
6. system as claimed in claim 3, it is characterised in that
STK three dimensional display module is further used for display in independent navigation target close to the stage, the long-term rail of STK
The robot for space of road forecast module output and the kinestate of target.
7. system as claimed in claim 6, it is characterised in that farther include:
OSG three dimensional display module, for display in the destination service stage, robot for space dynamics module is defeated
The kinestate of the target of the kinestate of the robot for space gone out and the output of target dynamics module.
8. system as claimed in claim 7, it is characterised in that OSG three dimensional display module is used further
In using C++ to write, utilize the built-in function that OSG provides to realize the motion shape of robot for space and target
The display of state.
9. system as claimed in claim 8, it is characterised in that farther include:
Emulation data memory module, the data produced during storage emulation as required.
10. system as claimed in claim 9, it is characterised in that each module passes through UDP UDP
Or carry out communication by controller area network agreement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210265824.2A CN103576558B (en) | 2012-07-30 | 2012-07-30 | A kind of robot for space dynamic simulation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210265824.2A CN103576558B (en) | 2012-07-30 | 2012-07-30 | A kind of robot for space dynamic simulation system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103576558A CN103576558A (en) | 2014-02-12 |
| CN103576558B true CN103576558B (en) | 2016-10-12 |
Family
ID=50048575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210265824.2A Active CN103576558B (en) | 2012-07-30 | 2012-07-30 | A kind of robot for space dynamic simulation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103576558B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103995476A (en) * | 2014-05-22 | 2014-08-20 | 清华大学深圳研究生院 | Method for simulating movement of space target through industrial robot |
| CN104122800B (en) * | 2014-07-22 | 2016-12-07 | 清华大学深圳研究生院 | Robot for space Electricity Federation examination ATD system |
| CN104914733B (en) * | 2014-12-31 | 2017-11-03 | 中国航天科技集团公司第五研究院第五一三研究所 | A kind of space manipulator Three-dimensional Simulation System |
| CN105093963B (en) * | 2015-08-12 | 2018-05-04 | 上海交通大学 | Modular robot selfreparing analogue system and method |
| CN105404744B (en) * | 2015-11-26 | 2018-05-22 | 北京精密机电控制设备研究所 | A kind of space manipulator total state dynamics semi-physical system |
| CN106527177B (en) * | 2016-10-26 | 2019-07-12 | 北京控制工程研究所 | The multi-functional one-stop remote operating control design case of one kind and analogue system and method |
| CN109213306B (en) * | 2017-06-30 | 2022-02-01 | 沈阳新松机器人自动化股份有限公司 | Robot remote control platform and design method thereof |
| CN107901037B (en) * | 2017-10-30 | 2020-09-15 | 北京精密机电控制设备研究所 | Robot joint dynamic model correction method |
| CN109001986B (en) * | 2018-09-20 | 2022-05-03 | 南京邮电大学 | Networked flexible mechanical arm control simulation platform and working method thereof |
| CN109760057A (en) * | 2019-02-25 | 2019-05-17 | 太仓中科信息技术研究院 | The method and computer storage medium of cameras people's path planning |
| CN112828895B (en) * | 2021-02-04 | 2023-07-21 | 武汉联影智融医疗科技有限公司 | Robot simulation system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733749A (en) * | 2009-12-22 | 2010-06-16 | 哈尔滨工业大学 | Multidomain uniform modeling and emulation system of space robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3437608B2 (en) * | 1993-09-14 | 2003-08-18 | 株式会社東芝 | Robot remote control device |
| US6745089B2 (en) * | 2000-02-01 | 2004-06-01 | California Institute Of Technology | Adaptable state based control system |
-
2012
- 2012-07-30 CN CN201210265824.2A patent/CN103576558B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733749A (en) * | 2009-12-22 | 2010-06-16 | 哈尔滨工业大学 | Multidomain uniform modeling and emulation system of space robot |
Non-Patent Citations (4)
| Title |
|---|
| 基于STK的SAR卫星轨道预报设计与仿真;代明鑫等;《现代防御技术》;20080228;第36卷(第1期);期刊第7-8页 * |
| 空间交会远程导引变轨任务规划;张进;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20100515(第05期);论文第1、55、71-77页 * |
| 空间机器人协调控制与地面实验研究;颜世佐;《中国博士学位论文全文数据库 信息科技辑》;20120715(第07期);论文第69、90-97页 * |
| 自由飞行空间机器人遥操作三维预测仿真系统研究;王学谦等;《宇航学报》;20090131;第30卷(第1期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103576558A (en) | 2014-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103576558B (en) | A kind of robot for space dynamic simulation system and method | |
| CN111123889B (en) | Aircraft guidance control simulation test method and device | |
| CN102789171A (en) | Method and system for semi-physical simulation test of visual unmanned aerial vehicle flight control | |
| CN101286058B (en) | Robot modularized distribution type adaptive control system and method | |
| CN103870665B (en) | Space manipulator aids in docking operation three dimension dynamic simulation method | |
| CN108681264A (en) | A kind of intelligent vehicle digitalized artificial test device | |
| CN106647335A (en) | Digital satellite attitude and orbit control algorithm ground simulation verification system | |
| CN104267614A (en) | Unmanned aerial vehicle real-time simulation system and developing method thereof | |
| CN102354123A (en) | Cross-platform extendible satellite dynamic simulation test system | |
| CN109858111A (en) | RLV virtual emulation Platform Designing and implementation method | |
| CN110321000B (en) | Virtual simulation system for complex tasks of intelligent system | |
| CN104777758A (en) | General purpose simulator for microsatellite equipment | |
| CN105511295B (en) | A kind of satellite what comes into a driver's real-time emulation system and its method based on STKX component | |
| CN101645101B (en) | General unmanned aerial vehicle simulation modeling method | |
| CN112799312A (en) | Self-navigation unmanned aerial vehicle testing method and system, communication equipment and storage medium | |
| Poulakis et al. | 3DROV: A planetary rover system design, simulation and verification tool | |
| Rossmann | erobotics: The symbiosis of advanced robotics and virtual reality technologies | |
| CN113985920A (en) | Portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator | |
| CN113348764B (en) | System and method for overall process digital simulation of lunar aircraft | |
| CN106909762A (en) | A kind of method for designing of the visualization system for simulating aircraft | |
| CN114019824B (en) | Modelica-based planet car movement process simulation system and construction method | |
| Brito et al. | Virtual laboratory for automation combining inventor 3D models and Simulink control models: Virtual laboratory for automation | |
| Alejo et al. | Simulation engineering tools for algorithm development and validation applied to unmanned systems | |
| Zhang et al. | Development of an OpenGL based multi-robot simulating platform | |
| Erdoğmuş et al. | Development of Virtual Robotic Laboratory and Materials for Education and Research |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518000 whole building of satellite building, 61 Gaoxin South Jiudao, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Aerospace Dongfanghong Satellite Co.,Ltd. Address before: Room d904-911, 9 / F, block D, Shenzhen technological innovation building, South ten road, Science Park, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: AEROSPACE DONGFANGHONG DEVELOPMENT Ltd. |