CN104590593A - Method for calibrating central gravitational forces of spacecraft ground microgravity experiment - Google Patents
Method for calibrating central gravitational forces of spacecraft ground microgravity experiment Download PDFInfo
- Publication number
- CN104590593A CN104590593A CN201510023887.0A CN201510023887A CN104590593A CN 104590593 A CN104590593 A CN 104590593A CN 201510023887 A CN201510023887 A CN 201510023887A CN 104590593 A CN104590593 A CN 104590593A
- Authority
- CN
- China
- Prior art keywords
- experiment
- spacecraft
- simulator
- ground
- gravitation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a method for calibrating central gravitational forces of a spacecraft ground microgravity experiment. The method comprises the steps of calculating the running situation of a spacecraft under different central gravitational force indexes in the ground experiment by utilizing a numerical simulation method; calculating the indexes and determining the upper bound and the lower bound of confidence coefficient by utilizing an observation system; calculating the real movement of space, calculating the confidence coefficient of an experiment result obtained by the numerical simulation method by combining the ground experiment result; comparing the confidence coefficient with the required confidence coefficient in the experiment, determining that a central gravitational force simulator can meet the experiment requirement if the confidence coefficient meets the experiment confidence coefficient index, ending the calculation, submitting a feasible experiment scheme and recording the technical indexes of the central gravitational force simulator; otherwise, restarting the experiment by using a higher-precision central gravitational force simulator. According to the method disclosed by the invention, an analysis means is selected based on experiment equipment for probability calculation and analysis, and thus the selection problem of the central gravitational force simulator for the spacecraft ground experiment can be solved.
Description
Technical field
The invention belongs to spacecraft technology field, particularly spacecraft ground microgravity experiment center gravitational calibration method.
Background technology
At present, spacecraft ground experiment is the another emerging study hotspot of space industry.Spacecraft ground experiment can represent the flow process of space mission and the complete process of space mission gordian technique intuitively, therefore it is subject to every country and more and more pays close attention to and pay attention to, each spacefaring nation all has oneself spacecraft ground experimental system, as the neutral buoyancy tank experiments system etc. of the large-scale air floating platform of U.S. NASA, the spatial manipulation experimental system of Germany etc. and China.In ground environment, carry out the experiment of microgravity spacecraft dynamics often need to use center gravitation simulator, simulator can by producing electromagnetic force Simulated Spacecraft gravity suffered under orbital environment.But the precision of electromagnetic force is different and different from mechanism with design, therefore how to select the center gravitation simulator of corresponding precision to be the difficult point of spacecraft ground dynamic experiment always.
Summary of the invention
The present invention relates to for existing spacecraft ground experimental center gravitation simulator select permeability, proposes a kind of experimental facilities selection analysis means analyzed based on probability calculation, and then solves real spacecraft ground experimental center gravitation simulator select permeability.
For achieving the above object, the present invention takes following technical scheme:
Spacecraft ground microgravity experiment center gravitational calibration method, comprises the following steps:
Numerical value emulation method is utilized to calculate the motion conditions of spacecraft under not concentricity gravitation index in ground experiment;
Utilize the upper bound and the lower bound of observation system parameter determination confidence level;
Computer memory real motion, and combined ground experimental result calculates the confidence level of the experimental result that described numerical simulation obtains;
Described confidence level and the confidence indicator required in testing compare, if meet experiment confidence indicator, Ze Gai center gravitation simulator can meet requirement of experiment, calculates end, submits feasible experimental program to, and records center gravitation simulator technology index; Otherwise, then use more high-precision center gravitation simulator instead and restart.
As a further improvement on the present invention, before described calculating confidence level, also comprise experimental result similarity analysis step, judge especially by (1) formula:
||x(t)-x
0(t)||＜ε (1)
In formula, the state value that in x representative experiment, the measurement of spacecraft simulator obtains, x
0represent the quantity of state that ideally spacecraft is corresponding, ε represents the observational error of measuring system;
If experimental result does not meet formula (1), then abandon data;
If experimental result meets formula (1), then carry out the step calculating confidence level.
As a further improvement on the present invention, the index of described center gravitation simulator comprises center gravitation size deviation and center gravitation points to deviation.
As a further improvement on the present invention, described spacecraft motion conditions and spacecraft simulation device measuring state are kinetic parameter, and it comprises position and speed.
As a further improvement on the present invention, described more high-precision center gravitation simulator of using instead restarts specifically to comprise: utilize split-half method to carry out the raising of experimental facilities precision, described split-half method refers to and the precision of experimental facilities is doubled each time, and utilize numerical simulation to calculate its confidence level, if confidence level meets the demands, current precision precision needed for experimental facilities can being set, if do not met the demands, then repeating above split-half method step.
As a further improvement on the present invention, described ground experiment environment is: it is inner that center gravitation simulator is placed in neutral buoyancy pond, neutral buoyancy pond makes satellite simulator be in neutral buoyancy state by buoyancy trim and electromagnetic force trim, installed thrust device on satellite simulator, need the moment by the gravitation under center gravitation simulator generation electromagnetic force and then Reality simulation orbital environment suffered by spacecraft in experimentation, and final entry ground experiment result.
Relative to prior art, the present invention has the following advantages:
Spacecraft ground microgravity experiment center of the present invention gravitational calibration method, utilize numerical analysis method and Confidence Analysis theory to set up center gravitation and affect the distribution of results situation of testing, and reference experiment scheme confidence level technical index calculates the center gravitation simulator technology index met the demands, and then the choosing of guiding experiment equipment.Utilize similarity theory to instruct the analytical technology of spacecraft ground dynamic experiment center gravitation body precision calibration, computer numerical analytical technology means can be utilized to demarcate ground experiment center gravitation precision index and then utilize this technology to propose the technical index of center gravitation size deviation.The technical index of experiment center simulator can be provided before spacecraft ground experiment starts, and then instruct choosing of ground experiment center simulator device.This method is simple and practical, for obtaining the technical index of ground experiment center simulator, provides a new useful direction.
Accompanying drawing explanation
Fig. 1 is spacecraft ground experimental center gravitation simulator schematic diagram;
Fig. 2 is that diagram of circuit selected by spacecraft ground experimental center gravitation simulator;
Fig. 3 is that diagram of circuit is selected in the accuracy requirement of spacecraft ground experimental facilities.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
See Fig. 2, for diagram of circuit selected by spacecraft ground experimental center of the present invention gravitation simulator, its concrete steps are as follows:
1) initial experiment task;
2) initial experiment method;
3) numerical simulation experiment;
4) ground test data is recorded;
5) confidence calculations;
6) computer memory real motion;
7) whether the confidence indicator required in judgment experiment meets similarity requirement, does not meet and then carry out step 8), satisfied then carry out step 9);
8) improve center gravitation simulator technology index, return step 2);
9) feasible experimental program is submitted to, and records center gravitation simulator technology index;
Wherein, step 3) numerical simulation experiment carries out in the environment of fig. 1, and being specially center gravitation simulator, to be placed in neutral buoyancy pond inner.During experiment, neutral buoyancy pond makes satellite simulator be in neutral buoyancy state by buoyancy trim and electromagnetic force trim, thus offsets the Action of Gravity Field of satellite simulator in ground experiment environment.Satellite simulator needs installed thrust device simultaneously, and then make satellite simulator keep stable and simulate the application force in space environment.Need the moment by the gravitation under center gravitation simulator generation electromagnetic force and then Reality simulation orbital environment suffered by spacecraft in experimentation, and final entry ground experiment result.
Before spacecraft ground experiment starts, utilize numerical simulation means can obtain a large amount of emulated datas, these data can reflect the characteristic of this cover ground experiment.At this owing to only considering the deviation that center gravitation simulator brings, thus the error source of numerical simulation only have center gravitation size deviation this.Judge consequently noly can meet requirement of experiment with following formula after obtaining Numerical Simulation Results.
||x(t)-x
0(t)||＜ε (1)
In above formula, the state value that in x representative experiment, the measurement of spacecraft simulator obtains, as position, speed etc., x
0represent the quantity of state that ideally (i.e. zero-error) spacecraft is corresponding, ε represents the observational error of measuring system.If above formula all can be satisfied in whole numerical simulation process, then in whole numerical simulation process, spacecraft state all can follow the tracks of gedanken experiment process accurately, and namely this experiment meets the demands.
If instead have any time t in whole numerical simulation process
iabove formula can not be satisfied, namely || and x (t
i)-x
0(t
i) ||>=ε then thinks that this numerical simulation can not obtain correct result, namely thinks that experiment does not meet the demands.
Utilize a large amount of numerical simulation experiments, can obtain a large amount of emulated datas, can two are divided into tire out numerical experiment results by above-mentioned determination methods, a class can meet requirement of experiment, and a class can not meet requirement of experiment.According to the requirement of experiment confidence level, the part proportion that can meet requirement of experiment in experiment must be more than or equal to experiment confidence indicator, therefore before experiment starts, preliminary calculating and analysis can be carried out to confidence level by numerical experiment, and improve choosing of center gravitation equipment.
Such as certain spacecraft ground requirement of experiment confidence level is greater than 90%, and the result calculating the corresponding numerical simulation of center gravitation equipment of different technologies index is as shown in table 1.
Table 1 gravitation equipment numerical value experimental result picture
| Equipment serial number | Center gravitation size deviation (%) | Center gravitation points to deviation (°) | Numerical experiment confidence level (%) |
| 1 | 10 | 5 | 0.03 |
| 2 | 5 | 1 | 0.14 |
| 3 | 2 | 1 | 10.87 |
| 4 | 2 | 0.1 | 50.24 |
| 5 | 1 | 0.1 | 60.79 |
| 6 | 0.5 | 0.01 | 93.21 |
| 7 | 0.1 | 0.005 | 96.71 |
In analytical table 1, data can find, center gravitation simulator the key technical indexes comprises center gravitation size deviation and center gravitation points to deviation.The reduction of these two deviations all can improve the confidence level of numerical experiment.Because spacecraft ground requirement of experiment confidence level is greater than 90%, thus this be merely able to select sequence number be 6 or 7 Liang Ge center gravitation equipment test, otherwise experiment will not meet confidence level requirement.Generally for cost-effective consideration, when multiple experimental facilities all can meet requirement of experiment, the experimental apparatus that prioritizing selection technical index is relatively low, therefore at this prioritizing selection equipment 6.
If the precision of existing experimental facilities cannot meet experiment demand, then need to improve experimental facilities technical index, mainly utilize split-half method to carry out the raising of experimental facilities precision at this.The main raising flow process of split-half method as shown in Figure 3, each time the precision of experimental facilities is doubled, if and utilize numerical simulation to calculate its confidence level confidence level to meet the demands, current precision precision needed for experimental facilities can being set, if do not met the demands, needing to improve experimental facilities precision further; Until be met the equipment precision of requirement.
Claims (6)
1. spacecraft ground microgravity experiment center gravitational calibration method, is characterized in that: comprise the following steps:
Numerical value emulation method is utilized to calculate the motion conditions of spacecraft under not concentricity gravitation index in ground experiment;
Utilize the upper bound and the lower bound of observation system parameter determination confidence level;
Computer memory real motion, and combined ground experimental result calculates the confidence level of the experimental result that described numerical simulation obtains;
Described confidence level and the confidence indicator required in testing compare, if meet experiment confidence indicator, Ze Gai center gravitation simulator can meet requirement of experiment, calculates end, submits feasible experimental program to, and records center gravitation simulator technology index; Otherwise, then use more high-precision center gravitation simulator instead and restart.
2. the ground equivalent experimental design method of spacecraft space motion according to claim 1, is characterized in that: before described calculating confidence level, also comprise experimental result similarity analysis step, judges especially by (1) formula:
||x(t)-x
0(t)||＜ε (1)
In formula, the state value that in x representative experiment, the measurement of spacecraft simulator obtains, x
0represent the quantity of state that ideally spacecraft is corresponding, ε represents the observational error of measuring system;
If experimental result does not meet formula (1), then abandon data;
If experimental result meets formula (1), then carry out the step calculating confidence level.
3. the ground equivalent experimental design method of spacecraft space motion according to claim 1, is characterized in that: the index of described center gravitation simulator comprises center gravitation size deviation and center gravitation points to deviation.
4. the ground equivalent experimental design method of spacecraft space motion according to claim 1, is characterized in that: described spacecraft motion conditions and spacecraft simulation device measuring state are kinetic parameter, and it comprises position and speed.
5. the ground equivalent experimental design method of spacecraft space motion according to claim 1, it is characterized in that: described in use more high-precision center gravitation simulator instead and restart specifically to comprise: utilize split-half method to carry out the raising of experimental facilities precision, described split-half method refers to and the precision of experimental facilities is doubled each time, and utilize numerical simulation to calculate its confidence level, if confidence level meets the demands, current precision precision needed for experimental facilities can being set, if do not met the demands, then repeating above split-half method step.
6. the ground equivalent experimental design method of spacecraft space motion according to claim 1, it is characterized in that: described ground experiment environment is: it is inner that center gravitation simulator is placed in neutral buoyancy pond, neutral buoyancy pond makes satellite simulator be in neutral buoyancy state by buoyancy trim and electromagnetic force trim, installed thrust device on satellite simulator, need the moment by the gravitation under center gravitation simulator generation electromagnetic force and then Reality simulation orbital environment suffered by spacecraft in experimentation, and final entry ground experiment result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510023887.0A CN104590593B (en) | 2015-01-16 | 2015-01-16 | Spacecraft ground microgravity experiment center gravitational calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510023887.0A CN104590593B (en) | 2015-01-16 | 2015-01-16 | Spacecraft ground microgravity experiment center gravitational calibration method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104590593A true CN104590593A (en) | 2015-05-06 |
| CN104590593B CN104590593B (en) | 2016-05-11 |
Family
ID=53116736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510023887.0A Active CN104590593B (en) | 2015-01-16 | 2015-01-16 | Spacecraft ground microgravity experiment center gravitational calibration method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104590593B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107065564A (en) * | 2017-05-18 | 2017-08-18 | 西北工业大学 | A kind of neutral buoyancy robot pose and method for controlling trajectory based on active disturbance rejection |
| CN107145640A (en) * | 2017-04-12 | 2017-09-08 | 西北工业大学 | The Dynamic Scaling planing method of pedestal and mechanical arm is floated in Neutral buoyancy test |
| CN108181914A (en) * | 2017-12-11 | 2018-06-19 | 西北工业大学 | A kind of neutral buoyancy robot pose and track Auto-disturbance-rejection Control |
| CN109224434A (en) * | 2018-07-26 | 2019-01-18 | 西北工业大学 | Space environment gaming platform based on microgravity effect analog and line-controlled robot people |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01182200A (en) * | 1988-01-18 | 1989-07-20 | Toshiba Corp | Ground testing device for space device |
| JPH0826200A (en) * | 1994-07-19 | 1996-01-30 | Taisei Corp | Zero-weight generator |
| CN101551301A (en) * | 2009-04-24 | 2009-10-07 | 哈尔滨工业大学 | Satellite orbit motion ground simulation system and method |
| CN101823564A (en) * | 2010-03-31 | 2010-09-08 | 北京航空航天大学 | Super-elasticity coiled space-developable mechanism using precision U hinge |
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
| DE102012217485A1 (en) * | 2012-09-26 | 2014-03-27 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Device for compensating gravitational force affecting test object e.g. deployment device of sun yachtsman, has compensation unit that transfers compensation force to compensate gravitational force and freely moves through test object |
-
2015
- 2015-01-16 CN CN201510023887.0A patent/CN104590593B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01182200A (en) * | 1988-01-18 | 1989-07-20 | Toshiba Corp | Ground testing device for space device |
| JPH0826200A (en) * | 1994-07-19 | 1996-01-30 | Taisei Corp | Zero-weight generator |
| CN101551301A (en) * | 2009-04-24 | 2009-10-07 | 哈尔滨工业大学 | Satellite orbit motion ground simulation system and method |
| CN101823564A (en) * | 2010-03-31 | 2010-09-08 | 北京航空航天大学 | Super-elasticity coiled space-developable mechanism using precision U hinge |
| DE102012217485A1 (en) * | 2012-09-26 | 2014-03-27 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Device for compensating gravitational force affecting test object e.g. deployment device of sun yachtsman, has compensation unit that transfers compensation force to compensate gravitational force and freely moves through test object |
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107145640A (en) * | 2017-04-12 | 2017-09-08 | 西北工业大学 | The Dynamic Scaling planing method of pedestal and mechanical arm is floated in Neutral buoyancy test |
| CN107145640B (en) * | 2017-04-12 | 2020-11-06 | 西北工业大学 | Dynamic scale planning method for floating base and mechanical arm in neutral buoyancy experiment |
| CN107065564A (en) * | 2017-05-18 | 2017-08-18 | 西北工业大学 | A kind of neutral buoyancy robot pose and method for controlling trajectory based on active disturbance rejection |
| CN107065564B (en) * | 2017-05-18 | 2020-04-14 | 西北工业大学 | Neutral buoyancy robot posture and track control method based on active disturbance rejection |
| CN108181914A (en) * | 2017-12-11 | 2018-06-19 | 西北工业大学 | A kind of neutral buoyancy robot pose and track Auto-disturbance-rejection Control |
| CN108181914B (en) * | 2017-12-11 | 2020-04-14 | 西北工业大学 | Neutral buoyancy robot posture and track active disturbance rejection control method |
| CN109224434A (en) * | 2018-07-26 | 2019-01-18 | 西北工业大学 | Space environment gaming platform based on microgravity effect analog and line-controlled robot people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104590593B (en) | 2016-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Hu et al. | Optimization design of satellite separation systems based on multi-island genetic algorithm | |
| CN104590593A (en) | Method for calibrating central gravitational forces of spacecraft ground microgravity experiment | |
| CN105115692B (en) | The pneumatic Forecasting Methodology that a kind of CFD numerical simulations are combined with wind tunnel test | |
| Zhehan et al. | Research on uncertainty in measurement assisted alignment in aircraft assembly | |
| CN102508692A (en) | Simulation and verification method of control method of near space aircraft | |
| CN106094565B (en) | A kind of autonomous rendezvous control system ground simulation test method of spacecraft | |
| CN104077490A (en) | Aircraft navigation guidance and control ground simulation system performance evaluating method | |
| CN104182272A (en) | Simulation testing platform and controlling method for hypersonic flight vehicle assessment | |
| CN104298128A (en) | Ground simulation method for spacecraft navigation guidance technology | |
| CN107423508A (en) | Satellite navigation system verification experimental verification assesses the method for building up of mathematical modeling with test | |
| CN104899448A (en) | Adaptive compensation method for static localization scheme of ensemble Kalman filter | |
| CN104881363A (en) | Test method for control law software | |
| CN104834795B (en) | Band connection structure nonlinear contact with friction simulated behavior method and system | |
| CN103616024B (en) | A kind of planetary detection approach section autonomous navigation system observability degree is determined method | |
| CN103268070A (en) | Space multi-motion-body relative motion scaling semi-physical simulation system | |
| Clifton et al. | Determining the stability and control characteristics of high-performance maneuvering aircraft using high-resolution CFD simulation with and without moving control surfaces | |
| CN107665616B (en) | A kind of nine-degree of freedom motion simulator relative motion equivalent method and system | |
| CN106250649A (en) | Pointing accuracy predicting method is deformed in-orbit for spaceborne high accuracy load mounting structure | |
| CN113837451B (en) | Method, device, equipment and storage medium for constructing digital twin body of oil and gas pipeline | |
| CN104598731A (en) | Method for designing ground equivalent experiment for space motion of spacecraft | |
| Purdon et al. | F-35 pre-flight store separation analyses: innovative techniques for affordability | |
| CN104598745A (en) | Lunar-earth high-speed reentry and return flying quality evaluation method | |
| Park et al. | Teaching a verification and validation course using simulations and experiments with paper helicopters | |
| Watanabe et al. | Towards EFD/CFD integration: development of DAHWIN-digital/analog-hybrid wind tunnel | |
| CN105243247A (en) | Component partitioning simulation method based on lunar probe landing mechanical environment prefiguration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |