CN103676956A - Space-based tracking and aiming demonstration instrument - Google Patents
Space-based tracking and aiming demonstration instrument Download PDFInfo
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- CN103676956A CN103676956A CN201410001175.4A CN201410001175A CN103676956A CN 103676956 A CN103676956 A CN 103676956A CN 201410001175 A CN201410001175 A CN 201410001175A CN 103676956 A CN103676956 A CN 103676956A
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Abstract
The invention provides a space-based tracking and aiming demonstration instrument with the advantages that a liquid floating casing is used for replacing a three-shaft air floating rotating table, the cost is low, and the popularization is convenient. The space-based tracking and aiming demonstration instrument comprises a water tank and a spherical casing, wherein the upper bottom surface of the water tank is provided with an opening, the spherical casing floats in the water tank, three momentum wheels, three direct current motors, a wireless camera module, a Bluetooth communication module, a motor driving module and a single chip microcomputer module are arranged inside the spherical casing, the three momentum wheels are respectively connected with the three direct current motors, the Bluetooth communication module and the motor driving module are respectively connected with the single chip microcomputer module, and the three direct current motors are respectively connected with the motor driving module. The demonstration instrument can be used for theoretical study of a satellite attitude control system, and can also provide good hardware support for the daily practice teaching.
Description
Technical field
The present invention relates to a kind of space-based pointing demonstrator, especially by momenttum wheel, carry out the space-based pointing demonstrator of attitude control.
Background technology
The attitude of satellite of three-axis stabilization is controlled jet and two kinds of forms of momentum exchange device conventionally.For high-precision three-axis attitude stabilization satellite of long-life, while normally working in orbit, generally adopt angular momentum exchange device (comprising hard-wired momenttum wheel, control-moment gyro and framework momenttum wheel) as the topworks of attitude control system.The angular momentum exchange device of installing on celestial body, when its numerical value and direction change according to certain rules, generation acts on the needed moment of reaction on satellite, thereby realizes the stepless control to the attitude of satellite, and the angular momentum of momentum train can be synthetic by the angular momentum of a plurality of momenttum wheels.Since the end of the sixties in last century, the control effect of a plurality of momenttum wheel mounting meanss to the attitude of satellite abroad just begins one's study.The mounting means of a plurality of momenttum wheel routines of the angular momentum exchange device that three-axis attitude stabilization satellite adopts is now generally three axle quadratures and installs.
Exploitation to satellite attitude control system, except theoretical research, also to carry out hardware experiments, the theory that the simultaneously above attitude of satellite is controlled all can have introduction in the relevant speciality course of university, the better understanding that can have above-mentioned knowledge for student, except carrying out, the knowledge-transference and theoretical research of preach formula, also needing to carry out hardware experiments, in order to simulate weightlessness and the low friction moment state of satellite on space orbit, often need three axle air-float turntables.Be subject to the restriction of three axle air-float turntable weight, volume and cost, this experimental facilities cannot be easily many covers promote, thereby also cannot control and provide effect and support for practical teaching and the attitude of satellite, and three axle air-float turntables exist center of gravity to be difficult for the problem regulating.
Summary of the invention
For above problem, the object of this invention is to provide a kind of with the floating housing of liquid replace three axle air-float turntables low cost, be convenient to the space-based pointing demonstrator promoted, can show intuitively the accurate control of the momenttum wheel moment of reaction to the attitude of satellite, and add image processing program, thereby realize the tracking of specific objective and aiming.This demonstrator not only can be for the theoretical research of Satellite Attitude Control System, and can provide good hardware supported for everyday practice teaching.
The technical solution adopted in the present invention is: a kind of space-based pointing demonstrator, it is characterized in that: the fluid box that includes upper shed, and swim in the spherical shell in fluid box, utilize the spherical shell self gravitation described in the liquid buoyancy balance in fluid box, and information acquisition unit, arithmetic element, signal transmission unit, control module;
Described information acquisition unit comprises the wireless camera head module that is arranged on described spherical shell inside, described wireless camera head module is comprised of radio receiving transmitting module and the image pick-up card of chip camera, 1.2GHZ, be responsible for Real-time Obtaining about the light stream image of external object position, and the light stream image about this external object position is passed to arithmetic element;
Described arithmetic element is computing machine, and the light stream image about this external object position of being responsible for information acquisition unit to gather is processed, and utilizes image algorithm to obtain error angle, and obtains instruction moment by control algolithm; And described instruction moment is passed to control module with the form of DC MOTOR CONTROL signal by signal transmission unit;
Described signal transmission unit comprises bluetooth communication, the DC MOTOR CONTROL signal sending for receiving computer end, and this DC MOTOR CONTROL signal is sent to control module;
Described control module produces corresponding moment according to the DC MOTOR CONTROL signal receiving, comprise the one-chip computer module, motor drive module and the execution module that are arranged on described spherical shell inside, described one-chip computer module is responsible for receiving the DC MOTOR CONTROL signal from signal transmission unit, and after this DC MOTOR CONTROL signal is processed, export rotating signal and PWM waveform to motor drive module; Described execution module comprises the first momenttum wheel being connected with the first direct current generator, the second momenttum wheel being connected with the second direct current generator, the 3rd momenttum wheel being connected with the 3rd direct current generator, the first described direct current generator, the second direct current generator, the 3rd direct current generator are connected with motor drive module respectively, and according to the rotary state of motor drive module control momenttum wheel, thereby produce corresponding moment, realize the control to spherical shell attitude.
Described liquid is water.
Described spherical shell is the sealing spherical shell that two hemisphere that consist of transparent material are spliced.
The first described momenttum wheel, the second momenttum wheel and the 3rd momenttum wheel adopt the mounting means of three axle quadratures; The moment of reaction that the momenttum wheel of installing according to three axle quadratures produces is adjusted attitude.
Described motor drive module is for controlling the L298N of two-way direct current generator.
Described bluetooth communication is HC-06 bluetooth transparent transmission module.
The invention has the beneficial effects as follows, with the floating housing of liquid, replace three axle air-float turntables, between Cost And Performance, average out, simple in structure, be convenient to many covers and promote, solve three axle air-float turntable centers of gravity simultaneously and be difficult for the problem regulating, both can be used for theoretical research, for example verify attitude control algolithm, Target Recognition Algorithms and the track algorithm of some satellites, can be again practical teaching and improve hardware supported, give student to be familiar with intuitively.
Accompanying drawing explanation
Fig. 1 is one-piece construction figure of the present invention.
Fig. 2 is the structural representation in spherical shell of the present invention.
Fig. 3 is that signal of the present invention transmits schematic diagram.
1. water tanks in figure, 2. spherical shell, 3. momenttum wheel, 4. wireless camera, 5. external object.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
Shown in structure of the present invention sees figures.1.and.2: space-based pointing demonstrator of the present invention comprises the water tank 1 of opening above, and swim in the spherical shell 2 in water tank.Spherical shell 2 inside are provided with momentum wheels 3, and these momentum wheels comprise the first momenttum wheel, the second momenttum wheel, the 3rd momenttum wheel, control the direct current generator of momentum wheels, wireless camera 4, bluetooth communication, motor drive module, one-chip computer module.Momenttum wheel is all connected with independent direct current generator, and direct current generator is all connected with motor drive module.Bluetooth communication, motor drive module are all connected with one-chip computer module.Spherical shell 2 is the sealing spherical shell that two hemisphere that consist of transparent material are spliced.Three momenttum wheels adopt the mounting means of three axle quadratures.Wireless camera is comprised of radio receiving transmitting module and the image pick-up card of chip camera, 1.2GHZ, is convenient to the picture of the real-time receiving chip camera collection of computer terminal.Bluetooth communication is HC-06 bluetooth transparent transmission module, the DC MOTOR CONTROL signal sending for receiving computer end.One-chip computer module receives the signal that bluetooth communication spreads out of, and after processing, exports rotating signal and PWM waveform to motor drive module, thereby controls the rotary state of momentum wheels.Motor drive module is L298N, can control two-way direct current generator.
Signal transduction process of the present invention is with reference to shown in Fig. 3: the picture of chip camera collection external object 5, and by radio receiving transmitting module and image pick-up card and the computer terminal maintenance real-time Transmission of 1.2GHZ.Computer terminal receives after picture, obtains the relative deviation at current goal point and picture center, and draw by difference the relative velocity that impact point is current through image processing program.By the comprehensive analysis of logarithm value, DC MOTOR CONTROL signal is sent to the bluetooth slave being connected with one-chip computer module by computer terminal bluetooth host.Single-chip microcomputer receives after signal analyzing and processing, exports correct rotating signal and PWM waveform to motor drive module, thereby controls the rotary state of momentum wheels.Momentum wheels are realized the control to spherical shell attitude by the moment of reaction, and the wireless camera that drive and spherical shell are connected rotates, thereby realize the tracking and aiming to fixed target.
Claims (6)
1. a space-based pointing demonstrator, it is characterized in that: the fluid box that includes upper shed, and swim in the spherical shell in fluid box, utilize the spherical shell self gravitation described in the liquid buoyancy balance in fluid box, and information acquisition unit, arithmetic element, signal transmission unit, control module;
Described information acquisition unit comprises the wireless camera head module that is arranged on described spherical shell inside, described wireless camera head module is comprised of radio receiving transmitting module and the image pick-up card of chip camera, 1.2GHZ, be responsible for Real-time Obtaining about the light stream image of external object position, and the light stream image about this external object position is passed to arithmetic element;
Described arithmetic element is computing machine, and the light stream image about this external object position of being responsible for information acquisition unit to gather is processed, and utilizes image algorithm to obtain error angle, and obtains instruction moment by control algolithm; And described instruction moment is passed to control module with the form of DC MOTOR CONTROL signal by signal transmission unit;
Described signal transmission unit comprises bluetooth communication, the DC MOTOR CONTROL signal sending for receiving computer end, and this DC MOTOR CONTROL signal is sent to control module;
Described control module produces corresponding moment according to the DC MOTOR CONTROL signal receiving, comprise the one-chip computer module, motor drive module and the execution module that are arranged on described spherical shell inside, described one-chip computer module is responsible for receiving the DC MOTOR CONTROL signal from signal transmission unit, and after this DC MOTOR CONTROL signal is processed, export rotating signal and PWM waveform to motor drive module; Described execution module comprises the first momenttum wheel being connected with the first direct current generator, the second momenttum wheel being connected with the second direct current generator, the 3rd momenttum wheel being connected with the 3rd direct current generator, the first described direct current generator, the second direct current generator, the 3rd direct current generator are connected with motor drive module respectively, and according to the rotary state of motor drive module control momenttum wheel, thereby produce corresponding moment, realize the control to spherical shell attitude.
2. a kind of space-based pointing demonstrator according to claim 1, is characterized in that: described liquid is water.
3. a kind of space-based pointing demonstrator according to claim 1, is characterized in that: described spherical shell is the sealing spherical shell that two hemisphere that consist of transparent material are spliced.
4. a kind of space-based pointing demonstrator according to claim 1, is characterized in that: the first described momenttum wheel, the second momenttum wheel and the 3rd momenttum wheel adopt the mounting means of three axle quadratures; The moment of reaction that the momenttum wheel of installing according to three axle quadratures produces is adjusted attitude.
5. a kind of space-based pointing demonstrator according to claim 1, is characterized in that: described motor drive module is for controlling the L298N of two-way direct current generator.
6. a kind of space-based pointing demonstrator according to claim 1, is characterized in that: described bluetooth communication is HC-06 bluetooth transparent transmission module.
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Citations (7)
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| US5963166A (en) * | 1998-07-23 | 1999-10-05 | Space Systems/Loral, Inc. | Precise spacecraft camera image navigation and registration |
| CN101226058A (en) * | 2008-01-31 | 2008-07-23 | 航天东方红卫星有限公司 | Method for implementing satellite side-sway automotive image live transmission |
| CN101493701A (en) * | 2008-12-24 | 2009-07-29 | 南京航空航天大学 | Bias momentum control emulation method and device based on ground magnetic field |
| CN101633411A (en) * | 2009-08-24 | 2010-01-27 | 哈尔滨工业大学 | Actuating mechanism of spacecraft for integrating heat control and liquid momentum wheel |
| CN102030112A (en) * | 2010-11-19 | 2011-04-27 | 哈尔滨工业大学 | Integrated actuating mechanism for realizing satellite attitude control and electric energy acquisition by combining liquid momentum wheel loop with solar array |
| CN102354123A (en) * | 2011-07-18 | 2012-02-15 | 北京航空航天大学 | Cross-platform extendible satellite dynamic simulation test system |
| CN102589555A (en) * | 2010-12-10 | 2012-07-18 | 索尼移动通信日本株式会社 | Portable navigation device and method with active elements |
-
2014
- 2014-01-02 CN CN201410001175.4A patent/CN103676956B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5963166A (en) * | 1998-07-23 | 1999-10-05 | Space Systems/Loral, Inc. | Precise spacecraft camera image navigation and registration |
| CN101226058A (en) * | 2008-01-31 | 2008-07-23 | 航天东方红卫星有限公司 | Method for implementing satellite side-sway automotive image live transmission |
| CN101493701A (en) * | 2008-12-24 | 2009-07-29 | 南京航空航天大学 | Bias momentum control emulation method and device based on ground magnetic field |
| CN101633411A (en) * | 2009-08-24 | 2010-01-27 | 哈尔滨工业大学 | Actuating mechanism of spacecraft for integrating heat control and liquid momentum wheel |
| CN102030112A (en) * | 2010-11-19 | 2011-04-27 | 哈尔滨工业大学 | Integrated actuating mechanism for realizing satellite attitude control and electric energy acquisition by combining liquid momentum wheel loop with solar array |
| CN102589555A (en) * | 2010-12-10 | 2012-07-18 | 索尼移动通信日本株式会社 | Portable navigation device and method with active elements |
| CN102354123A (en) * | 2011-07-18 | 2012-02-15 | 北京航空航天大学 | Cross-platform extendible satellite dynamic simulation test system |
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Effective date of registration: 20200331 Address after: 100160 413, floor 4, building 1, yard 8, Automobile Museum West Road, Fengtai District, Beijing Patentee after: Beijing micro motion Technology Co., Ltd Address before: 100091 No. 37, Haidian District, Beijing, Xueyuan Road Patentee before: BEIHANG University |
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