CN103606332A - Spacecraft rendezvous and docking multi-degree-of-freedom semi-physical simulation method and device thereof - Google Patents

Abstract

The invention provides a spacecraft rendezvous and docking multi-degree-of-freedom semi-physical simulation method and a device thereof. The device comprises a machine body, a cross beam, a vertical beam, a three-shaft turntable, a motion simulation device controller, a GNC system and a measurement system. The machine body is mounted on a ground base. The cross beam is placed on the guide rail of the machine body. The vertical beam is installed on the guide rail of the cross beam. The three-shaft turntable is installed on a vertical beam guide rail. The motion simulation device controller, the GNC system and the measurement system are placed next to a system. Based on a similarity theorem and a scaling ratio criterion, the effective travel range of a simulation device is determined according to an aircraft actual flight range, and assuming that a scaling parameter is k, according to the actual flight condition of the aircraft, assuming that an aircraft true maximum speed, an acceleration, an angular speed and an angular acceleration are v[max], a[max], omega[max], and alpha[max] respectively, the maximum speed, the acceleration, the angular speed and the angular acceleration of the simulation device are determined as k*v[max], k*a[max], omega[max], and alpha[max]. The method and the device have the advantages of a wide application range, a simple structure, and multi degrees of freedom.

Description

Space Rendezvous And Docking docking multiple degrees of freedom semi-physical simulation method and device thereof

Technical field

The present invention relates to emulation technology, is exactly semi-physical simulation method and device thereof to section tracking aircraft far away and target aircraft relative motion and control method in Technique in Rendezvous and Docking specifically.

Background technology

Space Rendezvous And Docking docking technique is complicated, because environment of living in is special, need to guarantee its reliability and precision, therefore must carry out on ground emulation.Although since the sixties in last century, the numerous and confused Technique in Rendezvous and Docking Simulation system of setting up separately in various countries, at present in the research of emulation mode of section far away rare.But in the final intersection docking of the result direct relation result of section far away, therefore in the research of emulation mode of section far away there is important practical significance and using value.

Through searching document, find, Chinese invention patent application number: 200910243276.1, patent name Manual Control Rendezvous and Docking semi-physical simulation system, this invention adopts the motion of Three-degree of Freedom Rotational Platform simulated target aircraft, and the present invention adopts the motion of a Three-degree of Freedom Rotational Platform and a common simulated target aircraft of Three Degree Of Freedom translational motion simulator.Two aircraft have ten two degrees of freedom in real space, and former invention is also adopting the design of nine-degree of freedom to carry out analog simulation, so former invention is not high to the simulation degree of Technique in Rendezvous and Docking, precision is limited.And this invention adopts the applicable measuring distance minimum of laser rendezvous radar at 50 meters, so application scenario is very limited.The present invention adopts the sensor of vision guided navigation camera and laser range finder to substitute laser rendezvous radar, has improved precision and the range of application of measuring emulation.

Chinese invention patent application number: 200910243277.6, patent name is a kind of human control intersection docking operation method, this patent has mainly designed in a kind of intersection docking test, experimenter's method of operating, mainly to use for personnel training, be not emulation test method involved in the present invention, the two is not same class invention.

Summary of the invention

The object of the present invention is to provide a kind of multiple degrees of freedom Space Rendezvous And Docking docking semi-physical simulation method and device thereof.

Device of the present invention is achieved in that a kind of Space Rendezvous And Docking docking multiple degrees of freedom semi-physical simulation device, comprise lathe bed, crossbeam, vertical beam, three-axle table, motion simulator controller, GNC system and measuring system, lathe bed is installed on ground, crossbeam is placed on the guide rail of lathe bed, vertical beam is arranged on the guide rail of crossbeam, three-axle table is installed on vertical beam guide rail, and motion simulator controller, GNC system and measuring system are placed in system side.

Method of the present invention is: based on correspondence theorem and contracting, compare criterion, according to aerocraft real flight range, determine the effective travel of simulator, suppose that contracting is k than parameter, according to aerocraft real flight situation, suppose that the true maximal rate of aircraft, acceleration, angular velocity and angular acceleration are respectively v _max, a _max, ω _max, α _max, determine that maximal rate, acceleration, angular velocity and the angular acceleration of simulator is kv _max, ka _max, ω _max, α _max.

The invention has the beneficial effects as follows: applied range, simple in structure, multiple degrees of freedom.

Accompanying drawing explanation

Fig. 1 is the key diagram to respective angles in coordinate system;

Fig. 2 is ground experiment system principle diagram;

Fig. 3 is for adopting cross beam frame in the schematic diagram of earth construction.

Embodiment

Below in conjunction with Figure of description, the invention will be further described:

Embodiment 1

In conjunction with Fig. 1, this example is set up the process of kinetic model mainly for illustrative system, after system modelling, and stressed in the time of can clear and definite flight simulator motion, and people is for applying this power, and the truth to aircraft in space is simulated.In addition, in the computation process of the topworks's index to analogue system, also need the kinetic model of the system that is applied to.

According to spatial dynamics principle, rendezvous and docking system is carried out to modeling, obtains Technique in Rendezvous and Docking kinetic model:

$\left\{\begin{array}{c}\stackrel{..}{x}-2\mathrm{\ω}\stackrel{.}{y}=a_x\\ \stackrel{..}{y}+2\mathrm{\ω}\stackrel{.}{x}-3{\mathrm{\ω}}^{2}y=a_y\\ \stackrel{..}{z}+{\mathrm{\ω}}^{2}z=a_z\end{array}\right.$

Intersection Docking simulation model:

$\left\{\begin{array}{c}\stackrel{..}{x}-2\mathrm{\ω}\stackrel{.}{y}=\frac{a_x}{k}\\ \stackrel{..}{y}+2\mathrm{\ω}\stackrel{.}{x}-3{\mathrm{\ω}}^{2}y=\frac{a_y}{k}\\ \stackrel{..}{z}+{\mathrm{\ω}}^{2}z=\frac{a_z}{k}\end{array}\right.$

Wherein k is emulation contracting ratio.

And intersection docking measurement model:

$\left\{\begin{array}{c}\mathrm{\&rho;}=\sqrt{x_4^2+{\mathrm{<figure-callout\; id="4"\; label="y"\; filenames="HSA0000097364620000011.png"\; state="\{\{state\}\}">y</figure-callout>}}_4^2+{\mathrm{<figure-callout\; id="4"\; label="z"\; filenames="HSA0000097364620000011.png"\; state="\{\{state\}\}">z</figure-callout>}}_4^2}\\ \mathrm{\&alpha;}=\arctan \frac{z_4}{x_4}\\ \mathrm{\&beta;}=\arctan \frac{y_4}{\sqrt{x_4^2+{\mathrm{<figure-callout\; id="4"\; label="y"\; filenames="HSA0000097364620000011.png"\; state="\{\{state\}\}">y</figure-callout>}}_4^2}}\end{array}\right.$

ρ: passive space vehicle for the distance of pursuit spacecraft (can be understood as in Fig. 1 | O ₁o ₂|);

α: passive space vehicle is the angle of pitch in the coordinate system of spaceborne measuring system for pursuit spacecraft.Its angle of pitch be defined as passive space vehicle for pursuit spacecraft the projection in pursuit spacecraft body coordinate system X4Z4 plane and the angle between X4 axle positive axis, X4 axle positive dirction is just (can with reference to figure 1);

β: passive space vehicle is the position angle in the coordinate system of spaceborne measuring system for pursuit spacecraft.Its position angle be defined as passive space vehicle for pursuit spacecraft line the angle between pursuit spacecraft body coordinate system X4Z4 plane projection, face upward as just.

Embodiment 2

Definite method of the main explanation of this example emulation contracting ratio.Emulation contracting represents with k than in this article, refers to that laboratory simulations environmental field is to Technique in Rendezvous and Docking Simulation scope a ratio, and generally it is one and is less than 1 positive number.

First according to simulation requirements, determine the selection scheme of sensor; Meanwhile, according to sensor accuracy, want in the derivation of equation and Technique in Rendezvous and Docking section real data far away and in conjunction with self laboratory condition, determine that suitable emulation contracting compares.

For example: in space, section tracking aircraft far away and the true relative distance of target aircraft are probably 10km.The precision satisfied with analogue system compared in emulation contracting, should meet following relation:

$\left\{\begin{array}{c}{\mathrm{\&rho;}}_2\&GreaterEqual;{\mathrm{k\&rho;}}_1\\ \mathrm{\&Delta;}{\mathrm{\&rho;}}_2\&le;\mathrm{k\&Delta;}{\mathrm{\&rho;}}_1\end{array}\right.$

Wherein, Δ ρ ₁, Δ ρ ₂be respectively the measuring error of sensor replacement scheme and laser rendezvous radar, ρ ₁, ρ ₂be respectively the measurement maximum magnitude of sensor replacement scheme and laser rendezvous radar.Table 4-1 has provided the measurement of correlation parameter of the laser rendezvous radar of aerocraft real employing, according to the precision of emulation demand (ground short distance cannot be used laser rendezvous radar) and actual available sensors, determine that the sensor plan by vision camera and laser range finder combination substitutes the laser rendezvous radar sensor plan on star.Table 4-2 has provided the laser range finder of analogue system plan employing and the measurement of correlation parameter of vision sensor.

Table 1 laser rendezvous radar measurement of correlation parameter list

Table 2 laser range finder and vision sensor measurement of correlation parameter list

With reference to the vision camera providing above, laser range finder, the precision parameter of laser rendezvous radar, and the formula proposing, can determine that contracting is 0.003≤k≤0.02 than k scope.Now, can also be according to actual conditions, and formula

determine the three-dimensional scope of simulator.For example according to our actual conditions in laboratory, get k=0.0043, obtain crossbeam length 39m, vertical beam length 5m, lathe bed length 17m, can simulate in the middle of real space $\left\{\begin{array}{c}x=9304m\\ y=3489m\\ z=1163m\end{array}\right.$ Motion in scope.

Embodiment 3

This routine article is for the computing method of analogue system topworks index.

Introduced the kinetic model of system above, it meets Hill's equation.Separate Hill's equation, can obtain the movement position of system and the ideal solution of speed.

Separate position:

$\left\{\begin{array}{c}x=x_0+6(\mathrm{\&theta;}-\sin \mathrm{\&theta;})y_0+(4\sin \mathrm{\&theta;}-3\mathrm{\&theta;})\frac{\stackrel{.}{x_0}}{n}+2(1-\cos \mathrm{\&theta;})\frac{\stackrel{.}{y_0}}{n}+[4(1-\cos \mathrm{\&theta;})-1.5{\mathrm{\&theta;}}^2]\frac{a_x}{n^2}+2(\mathrm{\&theta;}-\sin \mathrm{\&theta;})\frac{a_y}{n^2}\\ y=(4-3\cos \mathrm{\&theta;})y_0-2(1-\cos \mathrm{\&theta;})\frac{\stackrel{.}{x_0}}{n}+\frac{\sin \mathrm{\&theta;}}{n}{y}_0+2(\sin \mathrm{\&theta;}-\mathrm{\&theta;})\frac{a_x}{n^2}+(1-\cos \mathrm{\&theta;})\frac{a_y}{n^2}\\ z=z_0\cos \mathrm{\&theta;}+\frac{\sin \mathrm{\&theta;}}{n}\stackrel{.}{z_0}+(1-\cos \mathrm{\&theta;})\frac{a_z}{n^2}\end{array}\right.$

Velocity solution:

$\left\{\begin{array}{c}\stackrel{.}{x}=6n(1-\cos \mathrm{\&theta;})y_0+(4\cos \mathrm{\&theta;}-3)x_0+2y_0\sin \mathrm{\&theta;}+(4\sin \mathrm{\&theta;}-3\mathrm{\&theta;})\frac{a_x}{n}+2(1-\cos \mathrm{\&theta;})\frac{a_y}{n}\\ \stackrel{.}{y}=3n{y}_0\sin \mathrm{\&theta;}-2\stackrel{.}{x_0}\sin \mathrm{\&theta;}+\stackrel{.}{y_0}\cos \mathrm{\&theta;}+2(\cos \mathrm{\&theta;}-1)\frac{a_x}{n}+\frac{a_y}{n}\sin \mathrm{\&theta;}\\ \stackrel{.}{z}=-{\mathrm{nz}}_0\sin \mathrm{\&theta;}+{\stackrel{.}{z}}_0\cos \mathrm{\&theta;}+\frac{a_z}{n}\sin \mathrm{\&theta;}\end{array}\right.$

The angle that θ in formula---pursuit spacecraft turns over around passive space vehicle (rad) is π;

The rotational angular velocity of n---pursuit spacecraft (rad/s).

The moment cartesian coordinate system upper/lower positions for t is separated in position, and velocity solution is corresponding speed under t moment cartesian coordinate system.Can be according to kepler's third law for rotational angular velocity n:

$\frac{2\mathrm{\&pi;}}{T}=\sqrt{\frac{\mathrm{\&mu;}}{a^3}}$

A in formula---shift elliptical orbit center to apogean distance, i.e. a=(r ₁+ r ₀)/2;

R ₁---the earth's core is to the distance of passive space vehicle track, 6768km;

R ₀---the earth's core is to the distance of the motor-driven front track of pursuit spacecraft, 6778km;

T---the orbital period;

μ---Gravitational coefficient of the Earth, numerical value is 3.986 * 105km3/s ².

Initial error x while simultaneously considering Technique in Rendezvous and Docking, carries out error y and measuring error z, adopts the geometric mean counting method in statistical mathematics can obtain total error,

can then to position solution and velocity solution, carry out mathematical computations respectively by maximum positive error and the movement position of negative error substitution system and the ideal solution of speed, can calculate the extreme value of system motion parameter.By the contrast of the system motion parameter extreme value in two kinds of situations, get the motion index that maximal value can obtain system actuator.

Such as, for certain space flight intersection docking mission, known initial error x and execution error y are as follows: X axis position initial error is x _x=4.3mm, Y direction position initial error is x _y=8.6mm, X-direction speed initial error

y direction speed initial error

x axis executing location error is y _x=8.6mm, velocity deviation is

y-axis position deviation is y _y=4.3mm, velocity deviation is

and the survey sensor that measuring error z can select according to oneself is determined, the survey sensor positional precision that this example is selected is z=21.5mm, and velocity accuracy is

adopt the geometric mean counting method in statistical mathematics can obtain total error,

respectively by maximum positive error (+σ=13.59mm,

) and negative error (σ=-13.59mm,

) in the movement position of substitution system and the ideal solution of speed.

Known starting condition and final state condition:

$\left\{\begin{array}{c}y=y_1=0\\ \stackrel{.}{y}=\stackrel{.}{y_1}=0\end{array}\right.$

Can obtain the starting condition with error:

$\left\{\begin{array}{c}y=y\&PlusMinus;\mathrm{\&sigma;}=\&PlusMinus;13.59\mathrm{mm}\\ \stackrel{.}{y}=\stackrel{.}{y}\&PlusMinus;\stackrel{.}{\mathrm{\&sigma;}}=\&PlusMinus;2.13\mathrm{mm}/s\end{array}\right.$

By MATLAB, programme respectively in the ideal case again $\left(\left\{\begin{array}{c}y=y_1=0\\ \stackrel{\&CenterDot;}{y}={\stackrel{\&CenterDot;}{y}}_1=0\end{array}\right.\right)$ With with under error condition $\left(\left\{\begin{array}{c}y=y\&PlusMinus;\mathrm{\&sigma;}=\&PlusMinus;13.59\mathrm{mm}\\ \stackrel{\&CenterDot;}{y}=\stackrel{\&CenterDot;}{y}\&PlusMinus;\stackrel{\&CenterDot;}{\mathrm{\&sigma;}}=\&PlusMinus;2.13\mathrm{mm}/s\end{array}\right.\right)$ Position solution and velocity solution are carried out to mathematical computations, can calculate the extreme value of system motion parameter.By the contrast of the system motion parameter extreme value in two kinds of situations, get the motion index that maximal value can obtain system actuator.Specific targets are as following table:

Table 3

Note: speed and unit of error: mm/s; Acceleration and unit of error: mm/s ².

Embodiment 4

In conjunction with Fig. 2-Fig. 3, the frame mode that analogue system adopts is set up in the main explanation of this example, it adopts console mode driving scheme, by lathe bed (1), crossbeam (2), vertical beam (3), three-axle table (4), motion simulator controller (5), GNC system (6), measuring system (7) forms, it is characterized in that: lathe bed (1) is installed on ground, crossbeam (2) is placed on the guide rail of lathe bed (1), vertical beam (3) is arranged on the guide rail of crossbeam (2), three-axle table (4) is installed on vertical beam (3) guide rail, motion simulator controller (5), GNC system (6) is placed in system side with measuring system (7).

The sensor such as radar, photoelectric follow-up is measured the motion state of spacecraft simulation mechanism in real time, and is sent to GNC control analogue system.GNC control analogue system according to the current motion state of the dynamics of aircraft, kinematics and spacecraft simulation mechanism according to the navigation algorithm of implanting, send movement instruction to motion simulator controller, motion simulator controller is controlled output by execution units such as its drive motor according to the current pose of analogue means and expection pose through calculating, and drives the motion of multiple degrees of freedom flight simulator.Ground observing and controlling system by system significant data show, storage etc., thereby facilitate designer can be in real time, the motion state data of recovering and analysis process of the test.

Claims (2)

1. a Space Rendezvous And Docking docks multiple degrees of freedom semi-physical simulation device, comprise lathe bed (1), crossbeam (2), vertical beam (3), three-axle table (4), motion simulator controller (5), GNC system (6) and measuring system (7), it is characterized in that: lathe bed (1) is installed on ground, crossbeam (2) is placed on the guide rail of lathe bed (1), vertical beam (3) is arranged on the guide rail of crossbeam (2), three-axle table (4) is installed on vertical beam (3) guide rail, motion simulator controller (5), GNC system (6) is placed in system side with measuring system (7).

2. a Space Rendezvous And Docking docks multiple degrees of freedom semi-physical simulation method, it is characterized in that: based on correspondence theorem and contracting, compare criterion, according to aerocraft real flight range, determine the effective travel of simulator, suppose that contracting is k than parameter, according to aerocraft real flight situation, suppose that the true maximal rate of aircraft, acceleration, angular velocity and angular acceleration are respectively v _max, a _msx, ω _max, α _max, determine that maximal rate, acceleration, angular velocity and the angular acceleration of simulator is kv _max, ka _max, ω _max, α _max.

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