CN103818567B - Design method of unconstrained suspension system with center of mass automatic alignment function - Google Patents
Design method of unconstrained suspension system with center of mass automatic alignment function Download PDFInfo
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- CN103818567B CN103818567B CN201410109898.6A CN201410109898A CN103818567B CN 103818567 B CN103818567 B CN 103818567B CN 201410109898 A CN201410109898 A CN 201410109898A CN 103818567 B CN103818567 B CN 103818567B
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Abstract
The invention discloses a design method of an unconstrained suspension system with the center of mass automatic alignment function. The system comprises a three-degree-of-freedom rotating follow-up module, a fastening module, a center of mass alignment module and a data acquisition and control module. The three-degree-of-freedom rotating follow-up module can guarantee that a spacecraft conducts approximately unconstrained pitching, yawing and rolling motion under low friction interference; the fastening module can adjust the degree of the suspension system for clamping the spacecraft under the action of a motor; the center of mass alignment module can be matched with the fastening module to automatically align the center of mass of the spacecraft and automatically clamp the spacecraft when the structure of the spacecraft changes and guarantee that an equivalent suspension point always coincides with the center of mass; the data acquisition and control module is used for system signal transmission and coordination control of the modules and achieves the automatic alignment of the center of mass and unconstrained suspension of the spacecraft of the variable structure. The method has the advantages that three-rotational-degree-of-freedom motion of the spacecraft of the variable structure can be guaranteed only through single-point suspension, no coupling exists in the system, the system is easy to control, the center of the mass can be automatically aligned, and clamping force can be automatically adjusted.
Description
Art
The invention belongs to verification technique field, spacecraft Navigation, Guidance and Control system ground, be specifically related to a kind of barycenter for the checking of structure changes spacecraft ground and automatically find accurately without constraint suspension network system realization.
Background technology
Space engineering is an excessive risk, high investment, high repayment, high complexity and high-precision system engineering, and can its development degree determine seize high-tech commanding elevation, farthest utilize space resources.Certainly, actively develop space technology research in China extremely urgent, but space environment is extremely severe, in order to complete space mission smoothly, must test fully on ground, therefore domestic and international each space flight mechanism all pays much attention to the experimental verification of spacecraft on ground.
A most important feature of space environment is microgravity, but, ground experiment room is for there being gravity environment, in order to reproduce the real motion situation in spacecraft space microgravity environment on ground, improve the confidence level of ground validation Navigation, Guidance and Control system experimentation, need to be that spacecraft six-freedom motion is set up a nothing close with space real conditions and retrained microgravity environment on ground.Realize this target, its core compensates spacecraft gravity suffered in ground experiment room environmental, provide the translation of spacecraft three degree of freedom and three degree of freedom to rotate without constraint environment.The existing means realizing this target have liquid float glass process, weight-loss method, By Bubble-floating Method, suspension method.What weight-loss method was common is parabolic flight and free-falling body, and the shortcoming of the method is that time space that is short, that take is large, the limited space that can provide and cost is high; The damping of liquid float glass process is large, maintenance cost is high and be only suitable for the situation of low-speed motion, and By Bubble-floating Method is relative with suspension method system architecture simple, be easy to set up in laboratory without constraint microgravity environment.If number of patent application is CN201220400797, " the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure " discloses a kind of gravity by gas foot thrust-compensating analog satellite and spacecraft, provides spacecraft to be similar to unconfined three attitude axle rotational freedoms by air-bearing; Number of patent application is that " a kind of without constraint suspension formula initiatively gravity compensation system " of CN201310466806 discloses a kind of gravity being hung compensation spacecraft by hang spring tension force, by providing spacecraft to be similar to unconfined three rotational freedoms without constraint link block.Consider the space tasks such as such as Technique in Rendezvous and Docking, need spacecraft to stretch out docking mechanism, its structure changes, and the overall barycenter of spacecraft is offset.But the pilot system attitude motion unrestrained structure part that above-mentioned two patents are announced cannot be applicable to the certification testing of structure changes Spacecraft During Attitude Maneuver.
In order to overcome the deficiency of existing spacecraft ground test method when tackling structure changes spacecraft centroid generation skew, the present invention propose a kind of be applicable to structure changes spacecraft ground checking without constraint suspension network system realization, skew can be there is in spacecraft centroid automatically to find accurately it, be combined with suspension type active gravity compensation system, can be structure changes spacecraft and an approximate microgravity environment without constraint six-freedom motion is provided, and then reproduce its real motion under space microgravity environment, ensure the validity of ground validation Navigation, Guidance and Control system.
Summary of the invention
The present invention propose a kind of can barycenter automatically find accurately without constraint suspension system, object realizes spacecraft to roll, constraint not by suspension connection device when pitching and yaw attitude adjust, ensure that spacecraft is when any posture position recurring structure change simultaneously, system automatically finding accurately spacecraft centroid is realized when not changing its attitude, equivalent hitch point is overlapped with spacecraft centroid all the time, do not induce one additional eccentric torque, guarantee that spacecraft is in the state of neutral equilibrium all the time, for structure changes spacecraft provides an approximate unconfined three degree of freedom Attitude control environment.
The present invention is based on hitch point to overlap with the object mass center that is draped, the object that is draped is in neutral equilibrium state, object gravity does not produce additional torque, precise rolling bearing friction force is little simultaneously, the additional torque that force of rolling friction produces adjusts moment much smaller than spacecraft attitude, thus the collection three degree of freedom that the present invention proposes rotates servo-actuated module, fastened die block, barycenter find accurately module and data acquisition and control module in one a kind of can barycenter automatically find accurately without constraint suspension system, structure changes spacecraft can be embodied as well approximate unconfined this intended target of three degree of freedom Attitude control environment is provided.
Technical scheme of the present invention:
A kind of can barycenter three degree of freedom rotates servo-actuated module, fastened die block, barycenter find module and data acquisition and control module accurately comprising without constraint suspension system of automatically finding accurately.
Described three degree of freedom rotates servo-actuated module can ensure that spacecraft does approximate unconfined pitching, driftage, rolling movement under low-frictional force interference; Described fastened die block under the effect of motor adjustable suspension to the clamping degree of spacecraft; Described barycenter finds module accurately can complete automatically finding accurately and Automatic-clamping spacecraft centroid when spacecraft structure changes under the cooperation of described fastened die block, ensures that equivalent hitch point overlapped with the barycenter moment, and the gravity of spacecraft does not affect its Attitude control; Described data acquisition and control module is responsible for system signal transmission and cooperation control, makes each module of system by system work, completes automatically to find accurately the barycenter of structure changes spacecraft and without constraint suspension.
Further, described three degree of freedom rotates servo-actuated module and comprises thrust baring inner fixing member, thrust baring, thrust baring extenal fixation part, overall fixed frame, gusset, pitching stud, pitching antifriction-bearing box, bearing threads cover, force-applying piece, rolling bearing axis, antifriction-bearing box and bolt of rear end plate.Antifriction-bearing box directly and spacecraft surface contact, it is fixed on force-applying piece by rolling bearing axis, pitching stud one end is connected with force-applying piece, and control by the bearing threads cover be fixed in pitching antifriction-bearing box the tightness degree that antifriction-bearing box and spacecraft fit, under the compression of pitching stud, when spacecraft does rolling movement, the antifriction-bearing box contacted with it follows rolling; Pitching antifriction-bearing box is fixed on overall fixed frame, inside be connected with bearing threads cover, when spacecraft does luffing, under the low friction support that pitching antifriction-bearing box provides, antifriction-bearing box, force-applying piece, pitching stud, bearing threads cover do luffing thereupon together; Thrust baring upper end is arranged on overall fixed frame by thrust baring extenal fixation part, its lower end is connected with thrust baring inner fixing member, when spacecraft do yawing rotation namely rotate around thrust baring axis time, except thrust baring lower end and thrust baring inner fixing member, remainder, with spacecraft yawing rotation, achieves three rotational freedoms of spacecraft not by the constraint of connecting device.Overall fixed frame is provided with gusset, increases the stability of system.
Further, described fastened die block comprises fastening gear, single-tooth gear and fastening servomotor.Single-tooth gear is arranged on fastening servomotor, and fastening servomotor often rotates one week, and the radian corresponding with the fastening pinion rotation that single-tooth gear engages monodentate, the pitching stud that fastening gear and three degree of freedom rotate in servo-actuated module is connected.By the control of rotating fastening servomotor, described three degree of freedom can be controlled and rotate the tightness degree that in servo-actuated module, antifriction-bearing box and spacecraft are fitted.Adopt single-tooth gear can avoid introducing additional friction torque when space flight luffing, its principle is, if gear is full-depth tooth, when spacecraft luffing followed by fastening gear, be engaged with the gear be arranged on fastening servomotor and follow rotation, thus drive the rotation of fastening servomotor motor shaft, introduce the drag torque that motor shaft rotates, if monodentate, when fastened die block does not work, servomotor drive single-tooth gear turn to not with the position of fastening gears meshing, then can avoid the introducing of additional friction torque.
Further, described barycenter is found module accurately and is comprised lower end carriage, gusset, line slideway, slide block, clamping servomotor, adjustment gear, traveling gear, stud, guide rail servomotor, synchronizing wheel, synchronizing wheel fixed mount, Timing Belt and be arranged on line slideway, slide block, clamping servomotor, stud, traveling gear, adjustment gear that overall fixed frame coordinates with it.Clamping servomotor, stud, traveling gear and adjustment gear form clamping group.The line slideway of below is arranged on the carriage of lower end, it is combined with the slide block that can move along it, slide block is provided with clamping servomotor and stud, adjustment gear is arranged on clamping servomotor, engage with the traveling gear being arranged on stud, traveling gear can be driven to move fastening spacecraft along stud axis direction; The symmetrical mechanism be arranged on overall fixed frame has coordinated the tightening action to spacecraft with said mechanism.After spacecraft is clamped and fixes, the guide rail servomotor be arranged on line slideway drives by the transmission of synchronizing wheel and Timing Belt the slide block movement be arranged on line slideway, thus drives spacecraft motion, completes finding accurately barycenter.Lower end carriage has installed gusset, ensures stability.
Further, described data acquisition and control module comprises host computer PC, capture card, drived control card, rang sensor and obliquity sensor.Obliquity sensor is arranged on spacecraft, and rang sensor is arranged on the traveling gear that barycenter finds accurately in module.Data acquisition module cooperation control barycenter is found module and fastened die block accurately and is completed adjustment to spacecraft hanging position, ensures that equivalent hitch point overlaps with the barycenter of spacecraft all the time.
According to above-mentioned mechanical construction and control system, the present invention propose a kind of can barycenter automatically find accurately can realize spacecraft suspension without constraint suspension system time three rotational freedoms and the changing without constrained motion and spacecraft structure of pose adjustment time the barycenter of spacecraft is found accurately and automated exchanged cutter.Wherein the rotating servo-actuated module without constrained motion principle of work at three degree of freedom and be described in detail of spacecraft three rotational freedoms, carries out barycenter to it when introducing now spacecraft structure change and finds accurately and automated exchanged cutter process.When the signal that system acceptance will change to spacecraft structure, be arranged on spaceborne obliquity sensor and be arranged on the rang sensor that barycenter finds accurately on module traveling gear and current demand signal is passed to host computer PC through capture card, when spacecraft structure changes, host computer PC is according to the information of obliquity sensor and rang sensor, control fastened die block works, unclamp the clamping to spacecraft, when control barycenter adjusting module clamping group keeps spacecraft current pose constant simultaneously, clamped, then according to the quality of spacecraft launching site ring and the acceleration/accel of motion, speed, the situation of estimation spacecraft centroid change, control the position that barycenter finds module adjustment spacecraft accurately, carry out barycenter to find accurately, after spacecraft structure has changed, clamping group unclamps spacecraft, spacecraft clamps by fastened die block effect, consistent before whether the numerical value judging on obliquity sensor changes with spacecraft structure and existing attitude can be ensured, if consistent and keep existing attitude, proceed checking work, maybe existing attitude can not be kept as inconsistent, fastened die block abandons effect, barycenter adjusting module starts, again adjust the position of spacecraft, until find the barycenter of spacecraft accurately, after the barycenter of spacecraft is overlapped with hitch point of equal value, carry out checking work.
Algorithm is drawn by said system structure and working principle:
(1) thrust baring inner fixing member and the external world are fixed;
(2) adjust fastened die block, spacecraft is arranged on can barycenter automatically find accurately without in constraint suspension system, the position of first coarse adjustment spacecraft, the axle of antifriction-bearing box on adjustment force-applying piece, makes each shaft strength evenly, guarantees spacecraft firm grip;
(3) can checking system follow the rolling of spacecraft, pitching, yawing rotation flexibly;
(4) after above step completes, system electrification, host computer PC is according to the information of obliquity sensor, and cooperation control barycenter finds module and fastened die block co-ordination accurately, finds the barycenter of spacecraft accurately, completes the suspension that hitch point of equal value overlaps with barycenter;
(5) after barycenter is found accurately and is automatically fixed, start the associated verification work of spacecraft, in experimental verification process, after host computer PC receives the information of spacecraft structure change, coordination fastened die block and barycenter find module work accurately, adjust the hanging position of spacecraft at any time, the barycenter meeting equivalent hitch point overlaps with the barycenter of spacecraft all the time;
(6), after completing associated verification or work, PTO Power Take Off, unloads spacecraft.
The present invention contrasts prior art method and has following characteristics:
1, single-point hang can ensure structure changes spacecraft three rotational freedoms approximate without constrained motion, structure is simple, fitting operation is convenient, there is not coupling between system, easy to control;
2, low friction, little to the attitude motion drag torque of spacecraft;
3, the barycenter achieving structure changes spacecraft is found accurately automatically, and it is high, applied widely to find precision accurately;
The structure of spacecraft is not changed, without the need to accessory device when 4, hanging;
5, gripping power can adjust automatically.
Accompanying drawing explanation
Fig. 1 is that the present invention is a kind of can the barycenter front elevation without constraint suspension system of automatically finding accurately:
Number in the figure:
1: adjustment gear; 2: slide block; 3: clamping servomotor; 4: line slideway; 5: traveling gear; 6: stud; 7: rang sensor; 8: lower end carriage; 9: spacecraft; 10: antifriction-bearing box; 11: rolling bearing axis; 12: force-applying piece; 13: fastening servomotor; 14: single-tooth gear; 15: fastening gear; 16: pitching stud; 17: bearing threads cover; 18: pitching antifriction-bearing box; 19: gusset; 20: overall fixed frame; 21: obliquity sensor; 22: thrust baring; 23: thrust baring inner fixing member; 24: thrust baring extenal fixation part.
Fig. 2 is that the present invention is a kind of can the barycenter lateral plan without constraint suspension system of automatically finding accurately:
Number in the figure:
25: synchronizing wheel fixed mount; 26: Timing Belt; 27: bolt of rear end plate; 28: synchronizing wheel; 29: guide rail servomotor; 30: spacecraft launching site ring.
Fig. 3 be the present invention a kind of can barycenter automatically find accurately without constraint suspension system A direction view.
Number in the figure:
1: bolt of rear end plate; 2: rolling bearing axis; 3: force-applying piece; 4: force-applying piece rectangular through holes.
Fig. 4 be the present invention a kind of can barycenter automatically find accurately without constraint suspension system block diagram.
Fig. 5 be the present invention a kind of can barycenter automatically find accurately without constraint suspension system clamping group work front elevation.
Fig. 6 be the present invention a kind of can barycenter automatically find accurately without constraint suspension system clamping group active side view.
Fig. 7 is that the present invention is a kind of can the barycenter control block diagram without constraint suspension system of automatically finding accurately.
Fig. 8 be the present invention a kind of can barycenter automatically find accurately automatically find workflow diagram accurately without constraint suspension system barycenter.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described: three degree of freedom rotates servo-actuated module and utilizes bearing that slip is converted into rolling, achieves following flexibly spacecraft three rotational freedoms; Fastened die block, under the effect of servomotor, utilizes the size of the self-locking performance adjustment force of screw thread; Barycenter finds the state keeping neutral equilibrium when module utilizes the barycenter of spacecraft to overlap with hitch point of equal value accurately, under the cooperation control of relevant data acquisition control module, finding accurately barycenter is completed when not affecting the existing attitude of spacecraft together with fastened die block, ensure that hitch point overlaps with spacecraft centroid all the time, the dynamics of gravity to spacecraft of spacecraft does not have an impact.
Specifically, the bearing set of eight antifriction-bearing box 10 compositions directly contacts with spacecraft 9, under the compression of pitching stud 16, bearing set can follow the rolling movement of spacecraft 9, bearing set is fixed on force-applying piece 12 by rolling bearing axis 11 under the effect of bolt of rear end plate 27, rolling bearing axis 11 can move among a small circle (specific implementation method as shown in Figure 4, rolling bearing axis 2 is arranged in the force-applying piece rectangular through holes 4 on force-applying piece 3, can move within the scope of through hole along force-applying piece rectangular through holes, after position is adjusted, utilize bolt of rear end plate 1 that it is fastening.), position is fixed on force-applying piece 12 by bolt of rear end plate 27 after determining, the assembly of the similar dolly that they are formed is connected with pitching stud 16, pitching stud 16 is arranged on the bearing threads imbedding pitching antifriction-bearing box 18 and overlaps in 17, under the low friction support that pitching antifriction-bearing box 18 provides, the luffing of spacecraft 9 can be followed.Pitching stud 16 upper end is provided with fastening gear 15, fastening gear 15 engages with single-tooth gear 14, rotate under the drive being arranged on the fastening servomotor 13 on overall fixed frame 20, drive the side-to-side movement of pitching stud 16, control laminating degree and the clamping degree of bearing set and spacecraft 9.Pitching antifriction-bearing box 18 is arranged on overall fixed frame 20, in order to ensure the stability of overall system architecture, overall fixed frame 20 is provided with gusset 19.Thrust baring 22 is arranged on overall fixed frame 20 by thrust baring extenal fixation part 24, and the other end is connected with the external world by thrust baring inner fixing member 23, and thrust baring ensures that entire system can follow the yawing rotation of spacecraft 9.The structure that the structure of barycenter adjusting module rotates servo-actuated module and fastened die block relative to three degree of freedom is comparatively independent, line slideway 4 is arranged on lower end carriage 8, it is combined with the slide block 2 that can move along it, slide block 2 is provided with stud 6 and clamping servomotor 3, clamping servomotor 3 can drive adjustment gear 1 mounted thereto to rotate, thus drive the traveling gear 5 be arranged on stud 6 to move, traveling gear 5 is provided with rang sensor 7, the moment measures the distance of spacecraft 9.The assembly totally four groups that stud 6, clamping servomotor 3, adjustment gear 1, traveling gear 5 are formed with rang sensor 7, they together constitute the clamping group of barycenter adjusting module as shown in Figure 2, and clamping group can complete to the clamping of spacecraft any attitude as shown in Figure 5, Figure 6.Timing Belt 26 is fixed on slide block 2, respectively there is a synchronizing wheel at the two ends of Timing Belt, synchronizing wheel 28 is arranged on guide rail servomotor 29, guide rail servomotor 29 is arranged on line slideway 4, another synchronizing wheel is fixed on line slideway 4 by synchronizing wheel fixed mount 25, in the position being provided with the overall fixed frame 20 of the symmetry of guide rail 4 with lower end carriage 8, servo-actuated line slideway and slide block are installed, under the drive of servomotor 29, slide block 2 can linearly guide rail movement, spacecraft 9 is driven to move, complete finding accurately barycenter, specific works flow process as shown in Figure 8.
Basic step in conjunction with above-mentioned illustrative system work is:
1) thrust baring inner fixing member and the external world are fixed;
2) adjust fastened die block, spacecraft is arranged on can barycenter automatically find accurately without in constraint suspension system, the position of first coarse adjustment spacecraft, the axle of little bearing on adjustment force-applying piece, makes each shaft strength evenly, guarantees spacecraft firm grip;
3) can checking system follow the rolling of spacecraft, pitching, yawing rotation flexibly;
4) after above step completes, system electrification, host computer PC is according to the information of obliquity sensor, and cooperation control barycenter finds module and fastened die block co-ordination accurately, finds the barycenter of spacecraft accurately, completes the suspension that hitch point of equal value overlaps with barycenter;
5) after barycenter is found accurately and is automatically fixed, start the associated verification work of spacecraft, in experimental verification process, after PC receives the information of spacecraft structure change, coordination fastened die block and barycenter find module accurately, adjust the hanging position of spacecraft at any time, the barycenter meeting equivalent hitch point overlaps with the barycenter of spacecraft all the time;
6), after completing associated verification or work, PTO Power Take Off, unloads spacecraft.
Claims (5)
1. can barycenter automatically find accurately without a constraint suspension system, it is characterized in that: system comprises that three degree of freedom rotates servo-actuated module, fastened die block, barycenter find module and data acquisition and control module accurately;
Described three degree of freedom rotates servo-actuated module and comprises thrust baring inner fixing member, thrust baring, thrust baring extenal fixation part, overall fixed frame, gusset, pitching stud, pitching antifriction-bearing box, bearing threads cover, force-applying piece, rolling bearing axis, antifriction-bearing box and bolt of rear end plate; Antifriction-bearing box directly and spacecraft surface contact, it is fixed on force-applying piece by rolling bearing axis, rolling bearing axis can move within the scope of the square through hole on force-applying piece, pitching stud one end is connected with force-applying piece, and control by the bearing threads cover be fixed in pitching antifriction-bearing box the tightness degree that antifriction-bearing box and spacecraft fit, under the compression of pitching stud, when spacecraft does rolling movement, the antifriction-bearing box contacted with it follows rolling; Pitching antifriction-bearing box is fixed on overall fixed frame, inside be connected with bearing threads cover, when spacecraft does luffing, under the low friction support that pitching antifriction-bearing box provides, antifriction-bearing box, force-applying piece, pitching stud, bearing threads cover do luffing thereupon together; Thrust baring upper end is arranged on overall fixed frame by thrust baring extenal fixation part, its lower end is connected with thrust baring inner fixing member, when spacecraft do yawing rotation namely rotate around thrust baring axis time, except thrust baring lower end and thrust baring inner fixing member, remainder is with spacecraft yawing rotation; Overall fixed frame is provided with gusset.
2. according to claim 1 a kind of can barycenter automatically find accurately without constraint suspension system, it is characterized in that: described barycenter find accurately module comprise lower end carriage, gusset, line slideway, slide block, clamping servomotor, adjustment gear, traveling gear, stud, guide rail servomotor, synchronizing wheel, synchronizing wheel fixed mount and Timing Belt; Clamping servomotor, stud, traveling gear and adjustment gear form clamping group; The line slideway of below is arranged on the carriage of lower end, it is combined with the slide block that can move along it, slide block is provided with clamping servomotor and stud, adjustment gear is arranged on clamping servomotor, engage with the traveling gear be arranged on stud, traveling gear can be driven to move fastening spacecraft along stud axis direction; The symmetrical mechanism be arranged on overall fixed frame has coordinated the tightening action to spacecraft with said mechanism; After spacecraft is clamped and fixes, the guide rail servomotor be arranged on line slideway drives by the transmission of synchronizing wheel and Timing Belt the slide block movement be arranged on line slideway, thus drives spacecraft motion, completes finding accurately barycenter.
3. according to claim 1 a kind of can barycenter automatically find accurately without constraint suspension system, it is characterized in that: described fastened die block comprises fastening gear, single-tooth gear and fastening servomotor; Single-tooth gear to be arranged on fastening servomotor and with fastening gears meshing, the pitching stud that fastening gear and three degree of freedom rotate in servo-actuated module is connected; By the control of rotating fastening servomotor, described three degree of freedom can be controlled and rotate the tightness degree that in servo-actuated module, antifriction-bearing box and spacecraft are fitted; Single-tooth gear is adopted to avoid introducing additional friction torque when space flight luffing.
4. according to claim 2 a kind of can barycenter automatically find accurately without constraint suspension system, it is characterized in that described data acquisition and control module comprises host computer PC, capture card, drived control card, rang sensor and obliquity sensor; Obliquity sensor is arranged on spacecraft, and rang sensor is arranged on the traveling gear that barycenter finds accurately in module; Data acquisition module cooperation control barycenter is found module and fastened die block accurately and is completed adjustment to spacecraft hanging position, ensures that equivalent hitch point overlaps with the barycenter of spacecraft all the time.
5. according to claim 3 or 4 a kind of can barycenter automatically find accurately without constraint suspension system, it is characterized in that: the algorithm of this system is as follows:
(1) thrust baring inner fixing member and the external world are fixed;
(2) adjust fastened die block, spacecraft is arranged on can barycenter automatically find accurately without in constraint suspension system, the position of first coarse adjustment spacecraft, the axle of antifriction-bearing box on adjustment force-applying piece, makes each shaft strength evenly, guarantees spacecraft firm grip;
(3) can checking system follow the rolling of spacecraft, pitching, yawing rotation flexibly;
(4) after above step completes, system electrification, host computer PC is according to the information of obliquity sensor, and cooperation control barycenter finds module and fastened die block co-ordination accurately, finds the barycenter of spacecraft accurately, completes the suspension that hitch point of equal value overlaps with barycenter;
(5) after barycenter is found accurately and is automatically fixed, start the associated verification work of spacecraft, in experimental verification process, after host computer PC receives the information of spacecraft structure change, coordination fastened die block and barycenter find module accurately, adjust the hanging position of spacecraft at any time, the barycenter meeting equivalent hitch point overlaps with the barycenter of spacecraft all the time;
(6), after completing associated verification or work, PTO Power Take Off, unloads spacecraft.
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| CN105173125B (en) * | 2015-07-31 | 2017-03-08 | 上海卫星工程研究所 | Scalable air-floating apparatus for the eccentric deployable adnexa of satellite and its using method |
| CN105551366B (en) * | 2015-12-16 | 2018-08-07 | 北京精密机电控制设备研究所 | Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device and experimental method |
| CN106005495B (en) * | 2016-06-12 | 2018-01-02 | 北京航空航天大学 | It is a kind of to maintain system without constraint suspension posture |
| CN106005497B (en) * | 2016-06-13 | 2018-01-02 | 北京航空航天大学 | A kind of suspension type six degree of freedom microgravity environment simulation system |
| CN106081172B (en) * | 2016-06-13 | 2018-02-06 | 北京航空航天大学 | A kind of irregular spacecraft attitude servomechanism with inertia compensation |
| CN105947237B (en) * | 2016-06-13 | 2017-11-10 | 北京航空航天大学 | A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change |
| CN105905320B (en) * | 2016-06-13 | 2017-11-10 | 北京航空航天大学 | A kind of active gravity compensation system for having driftage servo-actuated |
| CN106441795B (en) * | 2016-08-30 | 2018-12-21 | 北京精密机电控制设备研究所 | A kind of Three Degree Of Freedom air bearing simulator end indicator device based on arc guide rail |
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| JP2668030B2 (en) * | 1988-06-07 | 1997-10-27 | 株式会社日立製作所 | Weightless simulator |
| CN102442437B (en) * | 2010-10-09 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Gravity balanced suspension device |
| CN103482089B (en) * | 2013-10-09 | 2015-04-08 | 北京航空航天大学 | Unrestricted suspension type initiative gravity compensation system |
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