CN104122800B - Robot for space Electricity Federation examination ATD system - Google Patents
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Abstract
The present invention is applicable to aviation field, provide robot for space Electricity Federation examination ATD system, described system includes on-board equipment system and ground equipment system, wherein, described on-board equipment system includes: number pipe computer, attitude dynamics of orbits computer, signal processing computer, Object measuring system electric simulator, miniature object machine spaceborne electromechanical analogy device, GPS electric simulator, flywheel electric simulator and acceleration electric simulator；Described ground equipment system includes: test main frame, dispatching, database server, data display computer, detection and control terminal simulator and real-time animation demonstration computer.The present invention is capable of the emulation testing of robot for space, and compared to the prior art, it is relatively low that the present invention realizes cost.
Description
Technical field
The invention belongs to aviation field, particularly relate to robot for space Electricity Federation examination ATD system.
Background technology
Space environment has microgravity, the feature of ultra-clean and an abundant space resources, thus becomes mankind's 21 century and manage
The scientific research environment thought and Space-time idea base.In following space operation, will there be substantial amounts of Space processing, Space-time idea, empty
Between assemble, space science experiment and the work such as space maintenance to complete.Additionally, severe spatial environments to the mankind in the life of space
Survival is dynamic brings huge threat.The mankind to be made survive at space, need to set up huge and complex environment control system, life
Safeguards system, goods and materials feed system and life saving system etc., these huge and systems of complexity not only himself technical difficulty is big,
Cost is the hugest.Therefore robot for space be must make full use of and space exploration and the task of space research and production completed.
At present, the technology that robot for space technology is representative in having become as high-tech sector.Along with electronics, meter
The further development of calculation machine science, artificial intelligence and robotics, the robot for space of perfect in shape and function is by the space the mankind
Environment plays its huge effect.The main task of robot for space includes: the building of space structure and assembling, satellite and its
The maintenance and repair of its spacecraft, Space-time idea and scientific experiments etc..Maintenance work includes the most in-orbit: the recovery of inert satellite,
The spot repair of satellite failure and the supply etc. of space goods and materials.
Emulation technology has consequence in scientific research and is widely applied value.Robot for space emulation technology
Research, in addition to the common feature possessing emulation technology, also because of its special working environment, there is the distinguishing feature of himself:
(1) robot for space microgravity, fine vacuum, ultralow temperature, intense radiation, illumination difference spatial environments in work, construct such one
Individual for robot for space research ground experiment environment himself technical difficulty will substantially exceed robot for space research
Technical difficulty, it is not easy to realize；(2) the funds volume needed for constructing such a ground experiment environment also will substantially exceed space machine
The funds volume that the institute of device people own needs, cost is the highest.
Summary of the invention
The purpose of the embodiment of the present invention is to provide robot for space Electricity Federation examination ATD system, existing to solve
Technology is not easily accomplished robot for space emulation and realizes the problem that cost is the highest.
The embodiment of the present invention is achieved in that ATD system, described system bag are tried in robot for space Electricity Federation
Include on-board equipment system and ground equipment system, wherein,
Described on-board equipment system includes: number pipe computers, attitude dynamics of orbits computer, signal processing computer,
Object measuring system electric simulator, miniature object machine spaceborne electromechanical analogy device, GPS electric simulator, flywheel electric simulator and add
Speed electric simulator；
Described ground equipment system includes: test main frame, dispatching, database server, data display computer,
Detection and control terminal simulator, emulation network switch, data management network switch and real-time animation demonstration computer；
Described several pipe computer is for receiving the ground control instruction that detection and control terminal simulator sends, and is controlled on described ground
Instruction processed is distributed to attitude dynamics of orbits computer, signal processing computer, GPS electric simulator and test main frame；Described
Attitude dynamics of orbits computer, according to the described ground control instruction received, utilizes GNC algorithm to calculate described ground and controls
Instruction, produces associated magnetic Torque Control signal and is sent to described signal processing computer, flywheel electric simulator and test main frame,
Described signal processing computer, according to described magnetic torque control signal, produces and drives signal to send to testing main frame, test main frame
The driving signal that the signal of the attitude dynamics of orbits computer transmission comprehensively received and signal processing computer send, thus
Drive described Object measuring system electric simulator, miniature object machine spaceborne electromechanical analogy device, GPS electric simulator and acceleration simulation
Device, analogue signal is fed back to signal processing computer by described acceleration transducer further, thus analog satellite is at different bars
Running status under part；
Described dispatching, test main frame, database server and real-time animation demonstration computer and described emulation net
Switch connects, and data display computer and database server are connected with described Data Management Network switch；Described scheduling
Computer arranges the state initial value of each kinetic model by human-computer interaction interface, and by described emulated switch by described
State initialization is to test main frame, so that test main frame is distributed to the described Object measuring system electric simulator, miniature of correspondence
Object machine spaceborne electromechanical analogy device, GPS electric simulator or acceleration simulator；On-board equipment system perform relevant action it
After, Real-time dynamics model data produced by on-board equipment system can be received by test main frame, and by emulation network switch
Being forwarded to database server and real-time animation demonstration computer, database server receives and storage real time data, and passes through
Data management network switch provides data, services, data display computer to come according to the data received for data display computer
Show.
In embodiments of the present invention, by the dispatching of ground equipment system, power is set by human-computer interaction interface
Learn the state initial value of model, detection and control terminal simulator guidance command ground staff sent is sent to on-board equipment system
Number pipe computers, several pipe computers be forwarded to attitude dynamics of orbits computer, by attitude dynamics of orbits computer according to
GNC algorithm calculates control instruction, produces associated magnetic Torque Control signal and issues signal processing computer, and by test main frame
Send to each simulator, drive the external condition under each simulator analog satellite kinestate, test main frame to receive by each simulation
The kinetic model data of device simulation, and it is forwarded to database server and real-time animation demonstration computer, database server
Receiving and store real time data, and provide data, services for data display computer, described data display computer is according to reception
Data show.So that the present invention is capable of the emulation testing of robot for space, and compared to the prior art,
It is relatively low that the present invention realizes cost.
Accompanying drawing explanation
Fig. 1 is the flowchart of the robot for space Electricity Federation examination ATD system that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
The embodiment of the present invention by arranging on-board equipment system and ground equipment system, and by on-board equipment system with
Ground equipment system mutual, can effectively realize the emulation testing to robot for space, and need not spend huge one-tenth
This sets up ground experiment environment, greatly reduces emulation cost.
As it is shown in figure 1, the robot for space Electricity Federation examination ATD system described in the embodiment of the present invention, including on star
Device systems and ground equipment system, wherein,
Described on-board equipment system includes: number pipe computers, attitude dynamics of orbits computer, signal processing computer,
Object measuring system electric simulator, miniature object machine spaceborne electromechanical analogy device, GPS electric simulator, flywheel electric simulator and add
Speed electric simulator；
Described ground equipment system includes: test main frame, dispatching, database server, data display computer,
Detection and control terminal simulator, emulation network switch, data management network switch and real-time animation demonstration computer；
Described several pipe computer is for receiving the ground control instruction that detection and control terminal simulator sends, and is controlled on described ground
Instruction processed is distributed to attitude dynamics of orbits computer, signal processing computer, GPS electric simulator and test main frame；Described
Attitude dynamics of orbits computer, according to the described ground control instruction received, utilizes GNC algorithm to calculate described ground and controls
Instruction, produces associated magnetic Torque Control signal and is sent to described signal processing computer, flywheel electric simulator and test main frame,
Described signal processing computer, according to described magnetic torque control signal, produces and drives signal to send to testing main frame, test main frame
The driving signal that the signal of the attitude dynamics of orbits computer transmission comprehensively received and signal processing computer send, thus
Drive described Object measuring system electric simulator, miniature object machine spaceborne electromechanical analogy device, GPS electric simulator and acceleration simulation
Device, analogue signal is fed back to signal processing computer by described acceleration transducer further, thus analog satellite is at different bars
Running status under part；
Described dispatching, test main frame, database server and real-time animation demonstration computer and described emulation net
Switch connects, and data display computer and database server are connected with described Data Management Network switch；Described scheduling
Computer arranges the state initial value of each kinetic model by human-computer interaction interface, and by described emulated switch by described
State initialization is to test main frame, so that test main frame is distributed to the described Object measuring system electric simulator, miniature of correspondence
Object machine spaceborne electromechanical analogy device, GPS electric simulator or acceleration simulator；On-board equipment system perform relevant action it
After, Real-time dynamics model data produced by on-board equipment system can be received by test main frame, and by emulation network switch
Being forwarded to database server and real-time animation demonstration computer, database server receives and storage real time data, and passes through
Data management network switch provides data, services, data display computer to come according to the data received for data display computer
Show.
Wherein, described on-board equipment system and ground equipment system are described below respectively:
Described on-board equipment system includes:
Number pipe computers: cocoa is by the CPU board with high-performance arm processor as kernel of a piece or more than a piece and polylith
(three pieces or more than) hardware configuration identical intelligence I/O plate, arbitration process module composition.Every block I/O plate can individually be carried out
Configuration is to adapt to different peripheral hardwares；
Attitude dynamics of orbits computer: structure is essentially identical with number pipe computer, but its processor is by GNC algorithm
Calculate control instruction；
Signal processing computer: circuit, infrared earth sensor can be processed by acceleration collection plate, sun sensor head
Head processes circuit and magnetic torquer drive circuit composition.
Object measuring system electric simulator case: can be by mechanical hand electric simulator, infrared camera electric simulator, microwave radar electricity
Simulator, laser range finder electric simulator, intersection camera electric simulator, visible ray electric simulator form；
Miniature object machine spaceborne electromechanical analogy device: can be real-time by a dry run miniature object machine attitude dynamics of orbits
The industrial computer composition of control algolithm software, carries out data communication by inter-satellite link and robot for space number pipe machine；
GPS electric simulator: can be according to the work of GPS data transmission format simulation GPS；
Flywheel electric simulator case: for setting up the transfer function model of flywheel, the work of 4 counteraction flybacks can be simulated.
Acceleration electric simulator: for simulating the work of accelerometer on star, and provide phase complete with accelerometer on star
Same interface data format.
Described ground equipment system includes:
Test main frame: signal source, star power source, ground power supply can be set on described test main frame；
Dispatching: general purpose computer based on Windows XP operating system can be used；
Database server: the high performance service of a Windows 2000 Server operating system can be included in system
Device, an intelligent exchange and related network device, described data server runs SQL Server2000 database software；
Data display computer: general purpose computer based on Windows XP operating system can be used, in order to ensure only
Many takies server resource, and data display computer software uses Delphi language to write.
Detection and control terminal simulator: using general purpose computer based on Windows XP operating system, remote software makes
Write with LabWindows/CVI；
Real-time animation demonstration computer: 2 stylobates can be used in the general purpose computer of Windows XP operating system.Can receive
The real time data bag that the emulation main test machine of kinetics sends, the data after unpacking can Real Time Drive STK(English full name be
Satellite Tool Kit, i.e. satellite tool kit) robot for space platform and miniature object machine model carry out flash demo,
Data after simultaneously unpacking also can be carried out real-time animation and show by Real Time Drive Manipulator Model.
The man machine interface that dispatching can be worked out by MULTIPROG configuration software can facilitate operator to kinetics
Model arranges various state initial value；The sensing data output producing multi-form carries out system failure mode test to facilitate；
Also the internal operation state of test main frame can be monitored under this interface.
Test main frame is within the 25ms control cycle, and dynamics software based on the establishment of VxWorks real time operating system is complete
Whole attitude is become to calculate with dynamics of orbits, including the external environment condition under analog satellite running status, according to various sensings
Device, actuator model, each simulator generates corresponding data etc.；Send the data of generation to electrical interface case, then connect by electricity
Mouth case output produces the signal of simulation sensor electrical characteristics；The most also receive the defeated of the actuator that is transmitted through by electrical interface board
Go out signal to drive kinetic model.
Electrical interface board in test main frame receives, with signal source case, each sensor data that self-test main frame generates, and presses
The opering characteristic of electric apparatus of sensor or direct output block circuit signal (such as serial ports, pulsed quantity etc.) are answered in photograph；Other is such as GPS electrical analogue
Device, flywheel electric simulator and accelerometer electric simulator are made up of standalone chassis respectively.All sensors analogue signal is divided into
Two groups, one group is connected with signal processing computer, and one group is directly entered attitude dynamics of orbits computer.
Signal processing computer is made up of standalone chassis, and inside has sun head to process at circuit, infrared horizon head
Reason circuit and each one piece of magnetic torquer drive circuit；Other one piece of CPU board is also responsible for certain in addition to gathering accelerometer signal
A little parts add electric control.The sensor signal of reception is given attitude dynamics of orbits computer casing by signal processing case, simultaneously
Receive the magnetic torquer control signal that attitude dynamics of orbits computer produces.
Attitude dynamics of orbits computer is made up of the intelligent I/O plate of 2 pieces of CPU boards and 4 blocks.In order to improve system reliability,
Being signally attached on different I/O plates of parts of the same race.CPU board is received by internal CAN (independent of system CAN bus)
From the sensor signal of I/O plate, the control drawn through GNC algorithm exports signal processing case, solely also by these I/O plates
Vertical electric simulator and ground electrical interface case, these control output and eventually enter into the motion of kinetics main control computer driving model.
Number pipe computers for the guidance command between attitude dynamics of orbits computer and detection and control terminal simulator and
Telemetry carries out two-way converting.
Detection and control terminal simulator receives and shows telemetry, and the guidance command simultaneously ground controller sent sends
To number pipe computer.
Database server receives and stores kinetic model, i.e. the data that the every 25ms of each simulator produces, the most right
Data display computer provides data, services.
Data display computer provides the online of test data or off-line to show, significant data is carried out figure and shows.
Star power source in test main frame, ground power supply be responsible for whole star, the power supply of equipment.
The robot for space Electricity Federation of the present invention examination concrete following characteristics of ATD system:
1. have and space manipulator electric simulator, space-based Object measuring system electric simulator and miniature object machine electrical analogue
The interface of device, meets communication protocol requirements；
2. examination ATD system ground equipment system in robot for space Electricity Federation includes testing main frame, robot for space
The sensor of attitude control system and the simulator of actuator, Managed Data Network composition；Test kernel is embedded system
System, utilizes real time operating system to develop simulation testing software, in the case of robot for space and miniature object machine are rigid model,
Surface power drive material calculation is better than 25ms；
3. ground equipment system has perfect data management function, it is possible to real time record and play back number pipe computer,
The remote measuring and controlling data of attitude dynamics of orbits computer, meet 100ms cycle and 1s cycle data high-speed data warehouse-in and
The big data quantity inquiry of 10G data；
4. ground checkout equipment is graphic display system spare interface and exports driving data in real time, firmly by the 100ms cycle
The part rail control real-time simulation in loop is tested and is reached following index:
-attitude control accuracy: three axles are superior to 0.5 °
-attitude stability: three axles are superior to 0.02 °/s
After orbital rendezvous is motor-driven, with given Target Location Error: less than 2km, relative velocity is less than 2m/s.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (7)
1. robot for space Electricity Federation examination ATD system, it is characterised in that described system include on-board equipment system and
Ground equipment system, wherein,
Described on-board equipment system includes: number pipe computer, attitude dynamics of orbits computer, signal processing computer, target
Measurement system electric simulator, miniature object machine spaceborne electromechanical analogy device, GPS electric simulator, flywheel electric simulator and acceleration
Electric simulator；
Described ground equipment system includes: test main frame, dispatching, database server, data display computer, observing and controlling
Terminal emulator, emulation network switch, data management network switch and real-time animation demonstration computer；
Described several pipe computer is for receiving the ground control instruction that detection and control terminal simulator sends, and controls to refer to by described ground
Order is distributed to attitude dynamics of orbits computer, signal processing computer, GPS electric simulator and test main frame；Described attitude
Dynamics of orbits computer, according to the described ground control instruction received, utilizes GNC algorithm to calculate described ground control instruction,
Produce associated magnetic Torque Control signal and be sent to described signal processing computer, flywheel electric simulator and test main frame, described
Signal processing computer, according to described magnetic torque control signal, produces and drives signal to send to testing main frame, and test main frame is comprehensive
The driving signal that the signal of the attitude dynamics of orbits computer transmission received and signal processing computer send, thus drive
Described Object measuring system electric simulator, miniature object machine spaceborne electromechanical analogy device, GPS electric simulator and acceleration electrical analogue
Device, analogue signal is fed back to signal processing computer by described acceleration electric simulator further, thus analog satellite is in difference
Under the conditions of running status；
Described dispatching, test main frame, database server and real-time animation demonstration computer and described emulation net exchange
Machine connects, and data display computer and database server are connected with described data management network switch；Described dispatching
The state initial value of each kinetic model is set by human-computer interaction interface, and by described emulation network switch by described state
Initialization is to test main frame, so that test main frame is distributed to the described Object measuring system electric simulator of correspondence, miniature target
Device spaceborne electromechanical analogy device, GPS electric simulator or acceleration electric simulator；After on-board equipment system performs relevant action,
Real-time dynamics model data produced by on-board equipment system is received by testing main frame, and is forwarded to by emulation network switch
Database server and real-time animation demonstration computer, database server receives and storage real time data, and by data pipe
Reason network switch provides data, services, data display computer to show according to the data received for data display computer
Show.
System the most according to claim 1, it is characterised in that described dispatching is additionally operable to produce the sensing of multi-form
Device data export, and to carry out system failure mode test, and monitor test running status within main frame.
System the most according to claim 1, it is characterised in that described attitude dynamics of orbits computer is additionally operable to receive test
The analog signal data that main frame generates.
System the most according to claim 3, it is characterised in that described test main frame is connected with signal processing computer, described
The analog signal data that test main frame generates is sent to described signal processing computer, and is forwarded by described signal processing computer
To attitude dynamics of orbits computer.
System the most according to claim 3, it is characterised in that described test main frame and attitude dynamics of orbits computer phase
Even, the analog signal data that described test main frame generates is transmitted directly to described attitude dynamics of orbits computer.
System the most according to claim 1, it is characterised in that described Object measuring system electric simulator includes: machinery torch
Simulator, infrared camera electric simulator, microwave radar electric simulator, laser range finder electric simulator, intersection camera electric simulator,
Visible ray electric simulator.
System the most according to claim 1, it is characterised in that described test main frame is specifically for completing attitude and track power
Learn and calculate, generate corresponding kinetics including the external environment condition under analog satellite running status, each simulator running status
Data, are exported to signal processing computer or attitude dynamics of orbits computer by electrical interface board, and pass through electrical interface
Board receives control instruction.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105467462A (en) * | 2015-12-17 | 2016-04-06 | 西安测绘研究所 | Low-low tracking gravity measuring satellite ground demonstration verification system |
| CN106054913B (en) * | 2016-08-10 | 2019-12-10 | 上海微小卫星工程中心 | Verification system of autonomous orbit control algorithm |
| CN106681175A (en) * | 2017-02-24 | 2017-05-17 | 上海航天控制技术研究所 | Discretization method for shortening delay generated when reaction wheel is connected into semi-physical system |
| CN110824508B (en) * | 2019-11-27 | 2020-08-04 | 中国科学院微小卫星创新研究院 | Reconfigurable navigation satellite simulator |
| CN113473001B (en) * | 2021-04-07 | 2022-11-11 | 北京控制工程研究所 | Hardware-in-loop system verification system and method based on digital adjoint |
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