CN104833466A - Spacecraft ground test and on-orbit micro-vibration mechanical environment mapping method - Google Patents
Spacecraft ground test and on-orbit micro-vibration mechanical environment mapping method Download PDFInfo
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Abstract
The invention discloses a spacecraft ground test and on-orbit micro-vibration mechanical environment mapping method. The method comprises following steps: firstly establishing a ground test spacecraft finite element model and an on-orbit spacecraft finite element model; extracting frequency and vibration mode data after modal analysis, and determining the one-to-one correspondence of frequencies and vibration modes of the two models; establishing reduction models and determining the correctness of the reduction models; achieving the map of the frequencies and vibration modes between a ground micro-vibration test state and an on-orbit state through a BP network; and performing dynamic response analysis on the on-orbit model according to the frequency and the vibration mode, achieved through mapping, of the on-orbit model. By employing the method, the influence on a ground micro-vibration test by air, gravity and suspension restraints under a ground micro-vibration test state is eliminated, and actual on-orbit state micro-vibration characteristics can be predicted through the ground test, a comparison between ground micro-vibration test data and on-orbit test data can be carried out, and the effectiveness of the ground micro-vibration test can be verified.
Description
Technical field
The present invention is the test of a kind of spacecraft ground and micro-vibration mechanics environment method in-orbit, by the method, realizes the indication of ground test state to the reality micro-vibration characteristics of state in-orbit.
Background technology
Along with socioeconomic development, high resolving power spacecraft is undoubtedly the direction of spacecraft development, and as the KH series military observation satellite of the U.S., from KH-1 to KH-13, its resolution brings up to 0.05m from 12m.Survey of deep space remote-sensing spacecraft is compared with earth observation satellite, and its resolution will exceed 1 ~ 2 order of magnitude, as Hubble Space Telescope (0.1 rad, nineteen ninety).Space telescope James Webb Telescope resolution of future generation reaches 0.004 rad.
Micro-vibration refers to spacecraft period in orbit, rotatable parts high-speed rotation on star, large-scale controlled member driving mechanism step motion, become rail posture adjustment during thruster ignition operation, large-size pliable structure turnover shade alternating hot and cold brings out disturbance etc. that celestial body all can be made to produce the shaking response that a kind of amplitude is less, frequency is higher.All there is micro-vibrational perturbation source in most of spacecraft.Because micro-vibration mechanics environmental effect amplitude is little, frequency is high, obvious impact can not be produced on most of spacecraft, usually be ignored.But the important performance indexes such as useful load pointing accuracy, degree of stability and resolution will be had a strong impact on to high precision spacecraft, so the impact of micro-vibration must be considered in high resolving power Spacecraft guidance and control.
Because dynamics environment residing during spacecraft operation on orbit is extremely complicated, in addition the cost of Orbital detection is high, and attitude control system cannot observing and controlling to micro-vibratory response, therefore the current research to the micro-vibration of spacecraft mainly adopts the micro-vibration-testing of numerical simulation and ground two kinds of methods.Research work is carried out according to external disclosed document, larger and technology the is more ripe ground micro-vibration-testing platform in current various countries mainly contains the micro-vibration test table in SCT ground, the micro-vibration test table in MPI ground in JPL laboratory and the micro-vibration test table in OT ground in SSL laboratory of Honeywell company.But ground test and in-orbit spacecraft mechanical environment still exist very large difference, the factor such as the gravity field in the micro-vibration-testing environment in ground, air, constraint (suspender) may make ground test result and the micro-vibration characteristics of spacecraft in-orbit occur bigger difference.Therefore, the micro-Results of Vibration in ground only can be for assessment of, can not accurate analysis spacecraft micro-vibration characteristics in-orbit.
In order to obtain micro-vibration characteristics of spacecraft in-orbit, and spacecraft structure is complicated, is difficult to the analytic solution obtaining the micro-vibration of spacecraft, and therefore mainly adopt the method for numerical simulation at present, the scientific research institutions such as the U.S. have carried out large quantifier elimination to this.MIT space system development in laboratory micro-vibration integrated moulding and comprehensive evaluation analysis software DOCS; NASA develops and can carry out buffeting and structure/heat/optical analysis system IME.Although at present numerical simulation can obtain micro-vibration characteristics of spacecraft to a certain extent, the problem such as there is counting yield difference and range of application is narrow.
Summary of the invention
The invention provides the test of a kind of spacecraft ground and micro-vibration mechanics environment mappings method in-orbit, described method eliminates air under ground test state, gravity, constraint to the impact of micro-vibration characteristics, realizes the indication of ground test to the reality micro-vibration characteristics of state in-orbit.
Mapping method provided by the invention comprises the following steps:
(1) ground test spacecraft finite element model and the spacecraft finite element model in-orbit of simulation ground micro-vibration-testing mechanical environment is set up;
(2) by ground test spacecraft finite element model and in-orbit spacecraft finite element model carry out model analysis respectively, extract frequency, Data of Mode, set up respectively ground test modal coordinate reduce model and in-orbit modal coordinate reduce model, and determine ground test spacecraft finite element model and the frequency of spacecraft finite element model, the one-to-one relationship of the vibration shape in-orbit.
(3) reduce the corresponding contrast of model and ground test spacecraft finite element model according to ground test modal coordinate, determine that ground test modal coordinate reduces the correctness of model; Reduce the response contrast of model and spacecraft finite element model in-orbit according to modal coordinate in-orbit, determine that modal coordinate reduces the correctness of model in-orbit;
(4) consider the mapping gravity, constraint, the frequency from ground test state of aeromechanics environmental factor, the vibration shape to the frequency and the vibration shape of state in-orbit by BP (Back Propagation) real-time performance, obtain the frequency of spacecraft finite element model in-orbit, the vibration shape.
(5) according to the frequency, the vibration shape that map the finite element model of spacecraft in-orbit obtained, the dynamic response analysis of spacecraft finite element model is in-orbit carried out.
Mapping method advantage provided by the invention is:
Achieve spacecraft ground test and micro-vibration mechanics environment mappings in-orbit, eliminate air under the micro-vibration-testing state of ground, gravity, constraint to the impact of the micro-vibration-testing in ground, realize the indication of ground test to the reality micro-vibration characteristics of state in-orbit.This mapping method can realize mutually comparing of the micro-vibration-testing data in ground and Orbital detection data simultaneously, the validity of the micro-vibration-testing in checking ground.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of mapping method of the present invention;
Fig. 2 is that spacecraft of the present invention compares with ground test mechanical environment in-orbit;
Fig. 3 is the process flow diagram that the present invention three grades maps;
Fig. 4 is that the time domain response that example ground of the present invention modal coordinate reduces model and finite element model contrasts;
Fig. 5 is the micro-vibration time domain response in example ground of the present invention relative error variation diagram in time;
Fig. 6 is that example of the present invention micro-vibration time domain response that modal coordinate reduces model and finite element model in-orbit contrasts;
Fig. 7 is example of the present invention micro-vibration time domain response relative error variation diagram in time in-orbit;
Fig. 8 is example of the present invention prediction micro-vibration time domain response in-orbit;
Fig. 9 be example of the present invention prediction respond in-orbit with reduce model respond compared with relative error variation diagram in time.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
The invention provides the test of a kind of spacecraft ground and micro-vibration mechanics environment mappings method in-orbit, flow process as shown in Figure 1, described mapping method comprises the steps:
(1) set up spacecraft finite element model, comprise ground test spacecraft finite element model and spacecraft finite element model in-orbit;
Set up spacecraft finite element model in-orbit: according to given typical space device structural parameters, carry out spacecraft finite element model in-orbit and set up.By carrying out parametric type Modifying model as material stiffness, spring rate and damping ratios etc. after modeling completes, make the mathematical model after adjustment reflect the dynamics (as frequency response function, natural frequency etc.) of spacecraft structure as much as possible comprehensively.
Set up ground test spacecraft finite element model: due to when carrying out ground test, need to increase boundary condition imitation to satellite, as carried out lifting rope suspension, the impact of gravity, air can be subject to simultaneously, therefore on the finite element model of the spacecraft in-orbit basis after parametric type Modifying model completes, adopt beam element simulation to set up lifting rope, the impact of gravity is simulated by increasing prestress, and the impact of air is simulated by additional mass.
(2) set up ground test modal coordinate reduce model and in-orbit modal coordinate reduce model, determine ground test spacecraft finite element model and the frequency of spacecraft finite element model, the one-to-one relationship of the vibration shape in-orbit.
Multi-Degree Damping System meets equation below:
Wherein, M, K, C are respectively mass matrix, stiffness matrix, damping matrix,
u (t) represents the acceleration of t, speed, displacement respectively, u
0,
represent initial displacement, initial velocity respectively, the external force that f (t) is t.Therefore, ground test spacecraft finite element model and the mapping relations in-orbit between spacecraft finite element model, can regard the mapping relations between two model quality matrixes, stiffness matrix, damping matrix as.Introduce coordinate transform u (t)=Φ q (t), q (t) with natural mode of vibration matrix Φ and represent modal coordinate, then equation (1) is converted to:
By the natural mode of vibration matrix chosen about modal mass normalization, then have,
M
q＝Φ
TMΦ＝I，K
q＝Φ
TKΦ＝diag[ω
2]，C
q＝Φ
TCΦ (3)
M
q, C
q, K
qbe respectively the mass matrix under modal coordinate, damping matrix, stiffness matrix, I representation unit battle array, diag [ω
2] represent with each order frequency ω square to be cornerwise diagonal matrix, be proportional damping by damping approximate processing, now equation (2) is converted to n single-degree-of-freedom damping system:
Q
j,
ζ
j, ω
jrepresent the generalized displacement of a jth modal coordinate, generalized velocity, generalized acceleration, damping ratio, frequency respectively, system of equations (4) is arranged from small to large according to frequency, get the system of equations that front m (1<m<n) rank are corresponding, introduce state vector X
X＝[x
11,x
22,…,x
1j,x
2j,…,x
1m,x
2m] (5)
Wherein
then formula (4) can be rewritten into the differential system containing 2m differential equation of first order of expressing with vector form:
X'＝f(X) (6)
Solved by Runge-Kutta numerical integration, obtaining the displacement of system under physical coordinates is:
From above derivation, set up ground test spacecraft finite element model and the mapping relations in-orbit between spacecraft finite element model, be equivalent to and set up ground test spacecraft finite element model and mapping relations of eigenwert, proper vector between spacecraft finite element model in-orbit.For ground test spacecraft finite element model and spacecraft finite element model in-orbit, utilize Nastran secondary development language DMAP, extract frequency, the Data of Mode of ground test spacecraft finite element model and spacecraft finite element model in-orbit respectively, set up respectively respective ground test modal coordinate reduce model and in-orbit modal coordinate reduce model.To ground test spacecraft finite element model and in-orbit spacecraft finite element model carry out model analysis respectively, wherein ground test spacecraft finite element model adopts prestressed modal analysis, and ground test spacecraft finite element model is determined in contrast and the frequency of spacecraft finite element model, the vibration shape exist one-to-one relationship in-orbit.
(3) RESPONSE CALCULATION, determine ground test modal coordinate reduce model and in-orbit modal coordinate reduce the correctness of model.
Model is reduced to ground test modal coordinate and ground test spacecraft finite element model carries out time domain response analysis, reduced the time domain response of model and ground test spacecraft finite element model by com-parison and analysis ground test modal coordinate; To modal coordinate in-orbit reduce model and in-orbit spacecraft finite element model carry out time domain response analysis, by com-parison and analysis in-orbit modal coordinate reduce the time domain response of model and spacecraft finite element model in-orbit; If time domain response result display response analysis error is lower than 20%, then it is correct for showing that described ground test modal coordinate reduces model or modal coordinate reduces model in-orbit.
(4) foundation of the micro-vibration mechanics mapping relations of spacecraft.
Spacecraft and ground test mechanical environment have larger difference in-orbit, as shown in Figure 2, the working environment of spacecraft is vacuum, weightless free flight in-orbit, spacecraft in ground test is subject to the impact of gravity, constraint (referring to that the lifting rope adopted in ground test spacecraft finite element model hangs constraint), air ambient noise factor, need consider that these factors affect magnitude, by adopting BP neural network mapping relations to frequency and the vibration shape.By BP neural fusion from the mapping the frequency of ground test spacecraft, the vibration shape to the frequency and the vibration shape of spacecraft in-orbit.
Complicated mechanical environment is mapped and is decomposed into three grades of mappings, as shown in Figure 3.First the frequency obtained according to ground test, Data of Mode (by only considering the mapping relations of air impact) obtain frequency, the Data of Mode of air-free state (namely comprising gravity, effect of constraint value).In like manner, by only considering the mapping relations of gravity, obtain frequency, the Data of Mode without air agravic (comprising restrained condition).Last basis only considers that the mapping relations retrained obtain unconfined frequency, Data of Mode in-orbit.Three grades of mapping specific implementation steps are as follows:
A) the mapping relations research of air impact is considered;
Use BP neural net method to set up to consider air impact from ground test to the mapping relations of air-free state eigenfrequncies and vibration models.Do not consider the change of gravity, constraint, only consider the impact of air, calculate frequency, Data of Mode in different atmospheric density situation, set up mapping relations according to these data, data under (without air, namely atmospheric density is the state of 0) state are obtained in-orbit by these mapping relations.
B) the mapping relations research of gravity effect is considered;
Establishment of Neural Model is used to consider the mapping relations from ground test to state eigenfrequncies and vibration models in-orbit of gravity effect.On the basis considering air, consider the impact of gravity, calculate frequency, the vibration shape in different acceleration of gravity situation, set up mapping relations according to these data, obtain in-orbit data under (0g) state by these mapping relations.
C) the mapping relations research of effect of constraint value is considered;
Establishment of Neural Model is used to consider the mapping relations from ground test to state eigenfrequncies and vibration models in-orbit of effect of constraint value.On the basis considering air, gravity, consider the impact of constraint, calculate frequency, the Data of Mode in different lifting rope sectional area situation.Set up mapping relations according to these data, thus mapping relations obtain in-orbit (without constraint, being equivalent to lifting rope sectional area is 0mm
2state) data under state.
(5) RESPONSE CALCULATION in-orbit.According to the frequency, the vibration shape that map the finite element model of spacecraft in-orbit obtained, the dynamic response carrying out spacecraft finite element model in-orbit calculates.Reality data in-orbit can be contrasted, verify the validity of this mapping method and ground test.
Carry out prestressed modal analysis to example ground test spacecraft finite element model of the present invention, the seven to ten order frequency is 140.904Hz, 146.906Hz, 149.918Hz, 160.582Hz.Before state, fourth order frequency is 140.852Hz, 146.830Hz, 149.841Hz, 160.504Hz in-orbit.The simultaneously vibration shape also all one_to_one corresponding, therefore can to ground test spacecraft finite element model and the frequency of spacecraft finite element model and the vibration shape set up mapping relations in-orbit.
To ground test spacecraft finite element model and in-orbit spacecraft finite element model carry out response analysis, get respectively front 20 rank Elastic modes to ground test spacecraft finite element model and in-orbit spacecraft finite element model reduce, ground test modal coordinate reduces the time domain response of model and ground test spacecraft finite element model as shown in Figure 4, ground test time domain response relative error changes as shown in Figure 5 in time, Fig. 6 is that modal coordinate reduces model and contrasts with micro-vibration time domain response of spacecraft finite element model in-orbit in-orbit, Fig. 7 is micro-vibration time domain response relative error variation diagram in time in-orbit.Be less than 20% by the known relative error of Fig. 5, Fig. 7, therefore to ground test and in-orbit reducing of spacecraft finite element model be correct.
Table 1 is frequency map result of calculation, what this two list of air was shown is only consider front fourth order frequency compared with testing with ground vibration in-orbit in air impact situation relative change and by mapping the relative error obtaining frequency and reality frequency in-orbit, in like manner the situation only considering acceleration of gravity and constraint, last two be classified as consider simultaneously air, acceleration of gravity, the impact of constraint three kinds of mechanical environment factors relative change and by three grades map obtain the relative error of frequency values compared with model frequency value in-orbit.As seen from table, compared with the relative change under complicated mechanical environment, little more than 3 orders of magnitude of the relative error order of magnitude, therefore frequency map is effective.
Table 1 frequency map result of calculation
The vibration shape is mapped and can obtain same conclusion.Table 2 changes and error relatively for front four first order mode maximum displacements.Compared with the relative change under complicated mechanical environment, little more than 2 orders of magnitude of relative error, therefore the mapping of the vibration shape is also effective.
Four first order mode maximum displacement mapping calculation results before table 2
According to frequency, the vibration shape of the finite element model of spacecraft in-orbit obtained, with step 3, the dynamic response that can carry out spacecraft finite element model in-orbit calculates.Be illustrated in figure 8 and predict time domain response in-orbit, Fig. 9 to reduce with modal coordinate for prediction responds in-orbit model respond compared with relative error variation diagram in time, response prediction relative error is within 7% as seen from Figure 9, therefore predicts it is correct.
Claims (4)
1. spacecraft ground test and in-orbit a micro-vibration mechanics environment mappings method, is characterized in that:
The first step, sets up ground test spacecraft finite element model and the spacecraft finite element model in-orbit of simulation ground micro-vibration-testing mechanical environment;
Second step, by to ground test spacecraft finite element model and in-orbit spacecraft finite element model carry out model analysis respectively, extract frequency, Data of Mode, set up respectively ground test modal coordinate reduce model and in-orbit modal coordinate reduce model, and determine ground test spacecraft finite element model and the frequency of spacecraft finite element model, the one-to-one relationship of the vibration shape in-orbit;
3rd step, reduces the response contrast of model and ground test spacecraft finite element model, determines that ground test modal coordinate reduces the correctness of model according to ground test modal coordinate; Reduce the response contrast of model and spacecraft finite element model in-orbit according to modal coordinate in-orbit, determine that modal coordinate reduces the correctness of model in-orbit;
4th step, considers gravity by BP real-time performance, hangs constraint, mapping the frequency from ground test state of aeromechanics environmental factor, the vibration shape to the frequency and the vibration shape of state in-orbit, obtains the frequency of spacecraft finite element model in-orbit, the vibration shape;
5th step, according to the frequency, the vibration shape that map the finite element model of spacecraft in-orbit obtained, carries out the dynamic response analysis of spacecraft finite element model in-orbit.
2. a kind of spacecraft ground test according to claim 1 and in-orbit micro-vibration mechanics environment mappings method, is characterized in that: described ground test spacecraft finite element model and in-orbit spacecraft finite element model have set up laggard line parameter type Modifying model; Described ground test spacecraft finite element model, on spacecraft finite element model basis in-orbit, adopts beam element simulation to set up lifting rope, and the impact of gravity is simulated by increasing prestress, and the impact of air is simulated by additional mass.
3. a kind of spacecraft ground test according to claim 1 and in-orbit micro-vibration mechanics environment mappings method, it is characterized in that: response contrast in the 3rd described step, if time domain response analytical error is lower than 20%, then it is correct for showing that described ground test modal coordinate reduces model or modal coordinate reduces model in-orbit.
4. a kind of spacecraft ground test according to claim 1 and micro-vibration mechanics environment mappings method in-orbit, is characterized in that: described mapping relations be established as three grades of mappings, specific implementation step is as follows:
A) use BP neural net method to set up to consider air impact from ground test to the mapping relations of air-free state eigenfrequncies and vibration models; Do not consider the change of gravity, constraint, only consider the impact of air, calculate frequency, the Data of Mode in different atmospheric density situation, set up mapping relations according to these data, obtain data under state in-orbit by these mapping relations; Described state in-orbit refers to without air, and namely atmospheric density is the state of 0;
B) mapping relations from ground test to state eigenfrequncies and vibration models in-orbit of gravity effect are used BP neural net method to set up to consider; On the basis considering air, consider the impact of gravity, calculate frequency, the vibration shape in different acceleration of gravity situation, set up mapping relations according to these data, obtain data under state in-orbit by these mapping relations, described state in-orbit refers to that gravity is 0g;
C) use BP neural net method to set up to consider the mapping relations from ground test to state eigenfrequncies and vibration models in-orbit hanging effect of constraint value; On the basis considering air, gravity, consider the impact of hanging constraint, calculate frequency, the Data of Mode in different lifting rope sectional area situation; Set up mapping relations according to these data, mapping relations obtain data under state in-orbit thus, and described state in-orbit refers to that being equivalent to lifting rope sectional area is 0mm without constraint
2state.
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| CN106469256A (en) * | 2016-09-05 | 2017-03-01 | 重庆大学 | The determination method of the prestress annular film maximum stress of uniform load lower band hard core |
| CN106469256B (en) * | 2016-09-05 | 2019-02-05 | 重庆大学 | The determination method of prestress annular film maximum stress under uniform load with hard core |
| CN106599480A (en) * | 2016-12-16 | 2017-04-26 | 中国科学院长春光学精密机械与物理研究所 | Modification method of space camera on-orbit micro-vibration simulation model |
| CN108061660A (en) * | 2017-10-23 | 2018-05-22 | 上海卫星工程研究所 | The in-orbit thrust real-time calibration method of satellite engine based on linearly coupled measurement |
| CN107941441A (en) * | 2017-11-14 | 2018-04-20 | 北京卫星环境工程研究所 | Determine the method that the in-orbit border of simulation influences the in-orbit dynamics of spacecraft |
| CN107941441B (en) * | 2017-11-14 | 2019-12-03 | 北京卫星环境工程研究所 | Determine the method that in-orbit boundary influences the in-orbit kinetic characteristics of spacecraft of simulating |
| CN111444648A (en) * | 2020-01-15 | 2020-07-24 | 北京理工大学 | Method for quickly estimating structural dynamic characteristics of modular spacecraft |
| CN111444648B (en) * | 2020-01-15 | 2022-02-08 | 北京理工大学 | Method for quickly estimating structural dynamic characteristics of modular spacecraft |
| CN113340404A (en) * | 2021-06-21 | 2021-09-03 | 上海航天计算机技术研究所 | Low-vacuum modal measuring device for flexible antenna |
| CN114813004A (en) * | 2022-06-29 | 2022-07-29 | 中国飞机强度研究所 | Loading attitude control method in airplane vertical fin vibration fatigue test |
| CN114813004B (en) * | 2022-06-29 | 2022-09-13 | 中国飞机强度研究所 | Loading attitude control method in airplane vertical fin vibration fatigue test |
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