CN104122800A - Space robot electric integration test technology demonstration verification system - Google Patents
Space robot electric integration test technology demonstration verification system Download PDFInfo
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Abstract
The invention is suitable for the field of aviation and provides a space robot electric integration test technology demonstration verification system. The system comprises an on-satellite device system and a ground device system, wherein the on-satellite device system comprises a digital tube computer, an attitude orbit dynamics computer, a signal processing computer, an objective measuring system electric simulator, a micro target satellite-borne electric simulator, a GPS electric simulator, a flywheel electric simulator and an acceleration electric simulator; and the ground device system comprises a testing host, a dispatching computer, a database server, a data display computer, a test and control terminal simulator and a real-time animation demonstration computer. The space robot electric integration test technology demonstration verification system can achieve simulation testing of a space robot, and compared with the prior art, the system is low in implementation cost.
Description
Technical field
The invention belongs to aviation field, relate in particular to robot for space Electricity Federation examination ATD system.
Background technology
Space environment has microgravity, super clean feature and abundant space resources, thereby becomes mankind's 21 century desirable scientific research environment and production base, space.In following space operation, will there be a large amount of Space processings, space to produce, the work such as Space configuration, space science experiment and space maintenance will complete.In addition, severe space environment is brought huge threat to the mankind at the survival activity of space.The mankind are survived at space, need to set up huge and complex environment control system, life-support systems, goods and materials feed system and life saving system etc., these huge and complicated systems not only himself technical difficulty are large, and cost is also very huge.Therefore must make full use of robot for space and complete the task of space exploration and space research and production.
At present, robot for space technology has become representative technology in high-tech sector.Along with further developing of electronics, computer science, artificial intelligence and Robotics, the robot for space of perfect in shape and function will be brought into play its huge effect in the mankind's space environment.The main task of robot for space comprises: the maintenance and repair of the building of space structure and assembling, satellite and other spacecraft, space production and scientific experiment etc.Wherein maintenance work comprises in-orbit: the supply of the recovery of inert satellite, the spot repair of satellite failure and space goods and materials etc.
Emulation technology has consequence and using value widely in scientific research.The research of robot for space emulation technology, except possessing the common feature of emulation technology, also there is the distinguishing feature of himself because of its special working environment: (1) robot for space is worked in the space environment of microgravity, high vacuum, ultralow temperature, intense radiation, illumination difference, construct himself technical difficulty of such ground experiment environment for robot for space research and will substantially exceed the technical difficulty of robot for space research, be not easy to realize; (2) the funds volume of constructing such ground experiment environment and need also will substantially exceed robot for space itself and study needed funds volume, and cost is very high.
Summary of the invention
The object of the embodiment of the present invention is to provide robot for space Electricity Federation examination ATD system, is not easy implementation space robot simulation and realizes the problem that cost is very high to solve prior art.
The embodiment of the present invention is achieved in that robot for space Electricity Federation examination ATD system, and described system comprises on-board equipment system and ground equipment system, wherein,
Described on-board equipment system comprises: number pipe computing machine, attitude dynamics of orbits computing machine, signal process computer, target measurement system electric simulator, the spaceborne electromechanical analogy device of miniature object machine, GPS electric simulator, flywheel electric simulator and acceleration electric simulator;
Described ground equipment system comprises: Test Host, dispatching, database server, data Display control computer, detection and control terminal simulator, emulation network switch, data management network switch and real-time animation demonstration computer;
The ground steering order that described several pipe computing machine sends for receiving detection and control terminal simulator, and described ground steering order is distributed to attitude dynamics of orbits computing machine, signal process computer, GPS electric simulator and Test Host, described attitude dynamics of orbits computing machine is according to the described ground steering order receiving, utilize GNC algorithm to calculate described ground steering order, produce associated magnetic Torque Control signal and send to described signal process computer, flywheel electric simulator and Test Host, described signal process computer is according to described magnetic torque control signal, produce and drive signal to be sent to Test Host, the driving signal that the signal that the attitude dynamics of orbits computing machine that Test Host is comprehensively received sends and signal process computer send, thereby drive described target measurement system electric simulator, the spaceborne electromechanical analogy device of miniature object machine, GPS electric simulator and acceleration simulator, described acceleration transducer further feeds back to simulating signal signal process computer, thereby the running status of analog satellite under different condition,
Described dispatching, Test Host, database server and real-time animation demonstration computer are connected with described emulation network switch, and data Display control computer is connected with described Data Management Network switch with database server; Described dispatching arranges the state initial value of each kinetic model by human-computer interaction interface, and by described emulated switch, described state initialization is arrived to Test Host, so that Test Host is distributed to corresponding described target measurement system electric simulator, the spaceborne electromechanical analogy device of miniature object machine, GPS electric simulator or acceleration simulator; After on-board equipment system is carried out relevant action, the Real-time dynamics model data that on-board equipment system produces can be received by Test Host, and be forwarded to database server and real-time animation demonstration computer by emulation network switch, database server receives and storage real time data, and providing data, services by data management network switch for data Display control computer, data Display control computer shows according to the data that receive.
In embodiments of the present invention, the state initial value of kinetic model is set by human-computer interaction interface by the dispatching of ground equipment system, guidance command ground staff being sent by detection and control terminal simulator sends to several pipe computing machines of on-board equipment system, be forwarded to attitude dynamics of orbits computing machine by several pipe computing machines, calculate steering order by attitude dynamics of orbits computing machine according to GNC algorithm, produce associated magnetic Torque Control signal and issue signal process computer, and be sent to each simulator by Test Host, drive the external condition under each simulator analog satellite motion state, Test Host receives the kinetic model data of being simulated by each simulator, and be forwarded to database server and real-time animation demonstration computer, database server receives and stores real time data, and provide data, services for data Display control computer, described data Display control computer shows according to the data that receive.Thereby make the emulation testing that the present invention can implementation space robot, and compared to the prior art, it is lower that the present invention realizes cost.
Brief description of the drawings
Fig. 1 is the realization flow figure of the robot for space Electricity Federation examination ATD system that provides of the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The embodiment of the present invention is by arranging on-board equipment system and ground equipment system, and by on-board equipment system and ground equipment system alternately, can effectively realize the emulation testing to robot for space, and do not need to spend huge cost and set up ground experiment environment, greatly reduced emulation cost.
As shown in Figure 1, the robot for space Electricity Federation examination ATD system described in the embodiment of the present invention, comprises on-board equipment system and ground equipment system, wherein,
Described on-board equipment system comprises: number pipe computing machine, attitude dynamics of orbits computing machine, signal process computer, target measurement system electric simulator, the spaceborne electromechanical analogy device of miniature object machine, GPS electric simulator, flywheel electric simulator and acceleration electric simulator;
Described ground equipment system comprises: Test Host, dispatching, database server, data Display control computer, detection and control terminal simulator, emulation network switch, data management network switch and real-time animation demonstration computer;
The ground steering order that described several pipe computing machine sends for receiving detection and control terminal simulator, and described ground steering order is distributed to attitude dynamics of orbits computing machine, signal process computer, GPS electric simulator and Test Host, described attitude dynamics of orbits computing machine is according to the described ground steering order receiving, utilize GNC algorithm to calculate described ground steering order, produce associated magnetic Torque Control signal and send to described signal process computer, flywheel electric simulator and Test Host, described signal process computer is according to described magnetic torque control signal, produce and drive signal to be sent to Test Host, the driving signal that the signal that the attitude dynamics of orbits computing machine that Test Host is comprehensively received sends and signal process computer send, thereby drive described target measurement system electric simulator, the spaceborne electromechanical analogy device of miniature object machine, GPS electric simulator and acceleration simulator, described acceleration transducer further feeds back to simulating signal signal process computer, thereby the running status of analog satellite under different condition,
Described dispatching, Test Host, database server and real-time animation demonstration computer are connected with described emulation network switch, and data Display control computer is connected with described Data Management Network switch with database server; Described dispatching arranges the state initial value of each kinetic model by human-computer interaction interface, and by described emulated switch, described state initialization is arrived to Test Host, so that Test Host is distributed to corresponding described target measurement system electric simulator, the spaceborne electromechanical analogy device of miniature object machine, GPS electric simulator or acceleration simulator; After on-board equipment system is carried out relevant action, the Real-time dynamics model data that on-board equipment system produces can be received by Test Host, and be forwarded to database server and real-time animation demonstration computer by emulation network switch, database server receives and storage real time data, and providing data, services by data management network switch for data Display control computer, data Display control computer shows according to the data that receive.
Wherein, described on-board equipment system and ground equipment system are described below respectively:
Described on-board equipment system comprises:
Number pipe computing machines: cocoa is made up of one or above CPU board taking high-performance arm processor as kernel and polylith (three or more than) the identical intelligent I/O plate of hardware configuration, arbitration process module.Every block I/O plate can be configured separately to adapt to different peripheral hardwares;
Attitude dynamics of orbits computing machine: structure is substantially identical with number pipe computing machine, but its processor is for calculating steering order by GNC algorithm;
Signal process computer: can be formed by acceleration collection plate, sun sensor head treatment circuit, infrared earth sensor head treatment circuit and magnetic torquer driving circuit.
Target measurement system electric simulator case: can be formed by mechanical arm electric simulator, infrared camera electric simulator, microwave radar electric simulator, laser range finder electric simulator, intersection camera electric simulator, visible ray electric simulator;
The spaceborne electromechanical analogy device of miniature object machine: can be formed by the industrial computer of the real-time control algolithm software of the miniature object machine attitude of dry run dynamics of orbits, count pipe machine by inter-satellite link and robot for space and carry out data communication;
GPS electric simulator: can be according to the work of GPS receiver data transmission format simulating GPS receiver;
Flywheel electric simulator case: for setting up the transfer function model of flywheel, can simulate the work of 4 counteraction flybacks.
Acceleration electric simulator: for simulating the work of accelerometer on star, and provide with star on the identical interface data form of accelerometer.
Described ground equipment system comprises:
Test Host: can signalization source on described Test Host, star power source, ground power supply;
Dispatching: can adopt the multi-purpose computer based on Windows XP operating system;
Database server: can comprise the high-performance server of Windows 2000 Server operating systems, intelligent exchange and related network device in system, move SQL Server2000 database software on described data server;
Data Display control computer: can adopt the multi-purpose computer based on Windows XP operating system, in order to ensure the server resource that takies of exceeding, data Display control computer software application Delphi language compilation.
Detection and control terminal simulator: adopt the multi-purpose computer based on Windows XP operating system, remote software uses LabWindows/CVI to write;
Real-time animation demonstration computer: can adopt 2 stylobates in the multi-purpose computer of Windows XP operating system.Can receive the real time data bag that the main test machine of emulation dynamics sends, data after unpacking can the English full name of Real Time Drive STK(be Satellite Tool Kit, be satellite kit) robot for space platform and miniature object machine model carry out flash demo, the data after simultaneously unpacking also can be carried out real-time animation demonstration by Real Time Drive Manipulator Model.
The man-machine interface that dispatching can be worked out by MULTIPROG configuration software can handled easily personnel arrange various state initial values to kinetic model; Producing multi-form sensing data exports to facilitate and carries out the test of system failure pattern; Under this interface, also can monitor the internal operation state of Test Host.
Test Host is in 25ms control cycle, dynamics software based on the establishment of VxWorks real time operating system will complete whole attitudes and dynamics of orbits is calculated, comprise external environment condition under analog satellite running status, according to various sensors, topworks's model, each simulator generates corresponding data etc.; Send the data of generation to electrical interface case, then produced the signal of simulation sensor electrical characteristics by the output of electrical interface case; Also receive by electrical interface board simultaneously and pass the output signal of the topworks coming to drive kinetic model.
Electrical interface board in Test Host and signal source case receive the each sensor data generating from Test Host, according to the opering characteristic of electric apparatus of corresponding sensor or direct output block circuit signal (as serial ports, pulsed quantity etc.); Other is made up of standalone chassis respectively as GPS electric simulator, flywheel electric simulator and accelerometer electric simulator.All sensors simulating signal is divided into two groups, and one group is connected with signal process computer, and one group directly enters attitude dynamics of orbits computing machine.
Signal process computer is made up of standalone chassis, and there is each one of sun head treatment circuit, infrared horizon head treatment circuit and magnetic torquer driving circuit inside; An other CPU board is also responsible for the electric control that adds to some parts except gathering accelerometer signal.The sensor signal of reception is given attitude dynamics of orbits computer casing by signal treatment box, receives the magnetic torquer control signal that attitude dynamics of orbits computing machine produces simultaneously.
Attitude dynamics of orbits computing machine is made up of 2 CPU board and 4 blocks of intelligent I/O plates.In order to improve system reliability, the signal of parts of the same race is connected on different I/O plates.CPU board receives the sensor signal from I/O plate by inner CAN bus (being independent of system CAN bus), the control drawing through GNC algorithm also outputs to signal treatment box, independent electric simulator and ground electrical interface case by these I/O plates, and these are controlled output and finally enter the motion of dynamics main control computer driving model.
Number pipe computing machine is for carrying out two-way converting to the guidance command between attitude dynamics of orbits computing machine and detection and control terminal simulator and telemetry.
Detection and control terminal simulator receives and shows that telemetry, the guidance command simultaneously ground controller being sent send to several pipe computing machines.
Database server receives and stores kinetic model, the data that the every 25ms of each simulator produces, and while logarithm according to the show computing machine provides data, services.
Data Display control computer provides the online or off-line of test data to show, significant data is carried out to figure demonstration.
Star power source in Test Host, ground power supply be responsible for whole stars, the power supply of equipment.
The concrete following characteristics of robot for space of the present invention Electricity Federation examination ATD system:
1. have and the interface of space manipulator electric simulator, space-based target measurement system electric simulator and miniature object machine electric simulator, meet communication protocol requirement;
2. robot for space Electricity Federation examination ATD system ground equipment system comprises Test Host, the sensor of robot for space attitude control system and the simulator of topworks, Managed Data Network composition; Test kernel is embedded system, utilizes real time operating system exploitation emulation testing software, is in rigid model situation at robot for space and miniature object machine, and Surface power drive is learned calculating step-length and is better than 25ms;
3. ground equipment system has perfect data management function, can real time record and the playback remote measuring and controlling data of counting pipe computing machine, attitude dynamics of orbits computing machine, meet the high-speed data warehouse-in of 100ms cycle and 1s cycle data and the big data quantity of 10G data and inquire about;
4. ground checkout equipment is graphic display system spare interface and exports in real time driving data by the 100ms cycle, and hardware reaches following index in the rail control real-time simulation test in loop:
-attitude control accuracy: three axles are all better than 0.5 °
-attitude stability: three axles are all better than 0.02 °/s
After orbital rendezvous is motor-driven, and given Target Location Error: be less than 2km, relative velocity is less than 2m/s.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. robot for space Electricity Federation examination ATD system, is characterized in that, described system comprises on-board equipment system and ground equipment system, wherein,
Described on-board equipment system comprises: number pipe computing machine, attitude dynamics of orbits computing machine, signal process computer, target measurement system electric simulator, the spaceborne electromechanical analogy device of miniature object machine, GPS electric simulator, flywheel electric simulator and acceleration electric simulator;
Described ground equipment system comprises: Test Host, dispatching, database server, data Display control computer, detection and control terminal simulator, emulation network switch, data management network switch and real-time animation demonstration computer;
The ground steering order that described several pipe computing machine sends for receiving detection and control terminal simulator, and described ground steering order is distributed to attitude dynamics of orbits computing machine, signal process computer, GPS electric simulator and Test Host, described attitude dynamics of orbits computing machine is according to the described ground steering order receiving, utilize GNC algorithm to calculate described ground steering order, produce associated magnetic Torque Control signal and send to described signal process computer, flywheel electric simulator and Test Host, described signal process computer is according to described magnetic torque control signal, produce and drive signal to be sent to Test Host, the driving signal that the signal that the attitude dynamics of orbits computing machine that Test Host is comprehensively received sends and signal process computer send, thereby drive described target measurement system electric simulator, the spaceborne electromechanical analogy device of miniature object machine, GPS electric simulator and acceleration simulator, described acceleration transducer further feeds back to simulating signal signal process computer, thereby the running status of analog satellite under different condition,
Described dispatching, Test Host, database server and real-time animation demonstration computer are connected with described emulation network switch, and data Display control computer is connected with described Data Management Network switch with database server; Described dispatching arranges the state initial value of each kinetic model by human-computer interaction interface, and by described emulated switch, described state initialization is arrived to Test Host, so that Test Host is distributed to corresponding described target measurement system electric simulator, the spaceborne electromechanical analogy device of miniature object machine, GPS electric simulator or acceleration simulator; After on-board equipment system is carried out relevant action, the Real-time dynamics model data that on-board equipment system produces can be received by Test Host, and be forwarded to database server and real-time animation demonstration computer by emulation network switch, database server receives and storage real time data, and providing data, services by data management network switch for data Display control computer, data Display control computer shows according to the data that receive.
2. system according to claim 1, is characterized in that, described dispatching also, for generation of multi-form sensing data output, to carry out the test of system failure pattern, and monitors the running status of main frame inside.
3. system according to claim 1, is characterized in that, the analog signal data that described attitude dynamics of orbits computing machine also generates for receiving each Test Host.
4. system according to claim 3, it is characterized in that, described Test Host is connected with signal process computer, and the analog signal data that described Test Host generates sends to described signal process computer, and is forwarded to attitude dynamics of orbits computing machine by described signal process computer.
5. system according to claim 3, is characterized in that, described Test Host is connected with attitude dynamics of orbits computing machine, and the analog signal data that described Test Host generates directly sends to described attitude dynamics of orbits computing machine.
6. system according to claim 1, it is characterized in that, described target measurement system electric simulator comprises: mechanical arm electric simulator, infrared camera electric simulator, microwave radar electric simulator, laser range finder electric simulator, intersection camera electric simulator, visible ray electric simulator.
7. system according to claim 1, it is characterized in that, described Test Host calculates specifically for completing attitude and dynamics of orbits, comprise that the external environment condition under analog satellite running status, each simulator running status generate corresponding dynamics data, export signal process computer or attitude dynamics of orbits computing machine to by electrical interface board, and receive steering order by electrical interface board.
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