CN104833466B - 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 a kind of spacecraft ground test and in-orbit micro-vibration mechanical environment method, by the method, realizes ground
Indication of the face test mode to actual in-orbit state micro-vibration characteristic.
Background technology
With the development of social economy, high-resolution spacecraft is undoubtedly the direction of spacecraft development, such as the KH systems in the U.S.
Row military observation satellite, its resolution ratio brings up to 0.05m from 12m from KH-1 to KH-13.Survey of deep space remote-sensing spacecraft with over the ground
Observation satellite is compared, and its resolution ratio will be higher by 1～2 order of magnitude, such as Hubble Space Telescope (0.1 rad, nineteen ninety).It is next
For space telescope James's Webb Telescope resolution ratio up to 0.004 rad.
During micro-vibration refers to spacecraft in orbit, rotatable parts high-speed rotation, large-scale controllable member driving mechanism on star
Thruster ignition operation, large-size pliable structure turnover shade alternating hot and cold induce disturbance etc. all during step motion, change rail posture adjustment
Celestial body can be made to produce a kind of shaking response that amplitude is less, frequency is higher.All there is micro-vibration disturbing source in most of spacecrafts.By
In micro-vibration mechanical environment effect amplitude is little, frequency is high, most of spacecraft will not be produced and significantly affected, generally be neglected
Slightly.But the important performance indexes such as payload pointing accuracy, stability and resolution ratio, institute will be had a strong impact on to high accuracy spacecraft
Must take into the impact of micro-vibration in high-resolution Spacecraft guidance and control.
Due to dynamics environment residing during spacecraft operation on orbit it is extremely complex, the cost of Orbital detection in addition
Height, and attitude control system to micro-vibration response cannot observing and controlling, therefore at present the research to spacecraft micro-vibration mainly adopts number
Two methods of value simulation and ground micro-vibration test.According to disclosed in foreign countries document carry out research work, current various countries' scale compared with
Ground micro-vibration test platform big and that technology is more ripe mainly has the SCT ground micro-vibration testboard of Honeywell companies,
The MPI ground micro-vibration testboard in JPL laboratories and the OT ground micro-vibration testboard in SSL laboratories.But ground test
Very big difference, gravitational field, air, the constraint in the micro-vibration test environment of ground are yet suffered from in-orbit spacecraft mechanical environment
Factors such as (suspension arrangements) may make ground test result bigger difference occur with in-orbit spacecraft micro-vibration characteristic.Therefore,
Ground micro-vibration test result can be only used to assessment, can not accurately analyze the in-orbit micro-vibration characteristic of spacecraft.
In order to obtain the micro-vibration characteristic of in-orbit spacecraft, and spacecraft structure is complicated, it is difficult to obtain spacecraft micro-vibration
Analytic solutions, therefore the at present main method using numerical simulation, the scientific research institution such as U.S. carried out substantial amounts of research to this.
MIT space system development in laboratory micro-vibration integrated moulding and comprehensive evaluation analysis software DOCS；NASA is developed can be entered
Row is buffeted and structure/heat/optical analysis system IME.Although at present numerical simulation can to a certain extent obtain spacecraft
Micro-vibration characteristic, but there are problems that computational efficiency difference and range of application.
The content of the invention
The present invention provides a kind of spacecraft ground test and in-orbit micro-vibration mechanical environment mapping method, and methods described is eliminated
The impact of air, gravity, constraint to micro-vibration characteristic under ground test state, realizes that ground test is micro- to actual in-orbit state and shakes
The indication of dynamic characteristic.
The mapping method that the present invention is provided is comprised the following steps：
(1) the ground test spacecraft FEM model and in-orbit boat of simulation ground micro-vibration test mechanical environment are set up
Its device FEM model；
(2) by carrying out mode point respectively to ground test spacecraft FEM model and in-orbit spacecraft FEM model
Analysis, extracts frequency, Data of Mode, sets up that ground test modal coordinate reduces model and in-orbit modal coordinate reduces model respectively,
And determine that ground test spacecraft FEM model and the frequency of in-orbit spacecraft FEM model, the one-to-one corresponding of the vibration shape are closed
System.
(3) the corresponding contrast of model and ground test spacecraft FEM model is reduced according to ground test modal coordinate,
Determine that ground test modal coordinate reduces the correctness of model；Model is reduced according to in-orbit modal coordinate and in-orbit spacecraft is limited
The response contrast of meta-model, determines that in-orbit modal coordinate reduces the correctness of model；
(4) by BP (Back Propagation) real-time performance consider gravity, constraint, aeromechanics environmental factor from
The frequency of ground test state, the mapping between the frequency and the vibration shape of the vibration shape to in-orbit state, obtain in-orbit spacecraft finite element
The frequency of model, the vibration shape.
(5) frequency, the vibration shape of the in-orbit spacecraft FEM model obtained according to mapping, carries out in-orbit spacecraft finite element
The dynamic response analysis of model.
The present invention provide mapping method advantage be：
Spacecraft ground test and the mapping of in-orbit micro-vibration mechanical environment are realized, ground micro-vibration test mode is eliminated
The impact that lower air, gravity, constraint are tested ground micro-vibration, realizes ground test to actual in-orbit state micro-vibration characteristic
Indication.Simultaneously the mapping method can realize being compared to each other for ground micro-vibration test data and Orbital detection data, checking ground
The validity of face micro-vibration test.
Description of the drawings
Fig. 1 is the flow chart of mapping method of the present invention；
Fig. 2 is that spacecraft of the present invention is in-orbit and ground test mechanical environment compares；
Fig. 3 is the flow chart of three-level mapping of the present invention；
Fig. 4 is the time domain response contrast that present example ground modal coordinate reduces model and FEM model；
Fig. 5 is that present example ground micro-vibration time domain response relative error changes over figure；
Fig. 6 is the micro-vibration time domain response contrast that the in-orbit modal coordinate of present example reduces model and FEM model；
Fig. 7 is that the in-orbit micro-vibration time domain response relative error of present example changes over figure；
Fig. 8 is that present example predicts in-orbit micro-vibration time domain response；
Fig. 9 is that the in-orbit response of present example prediction relative error compared with reducing model and responding changes over figure.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in detail.
The present invention provides a kind of spacecraft ground test and in-orbit micro-vibration mechanical environment mapping method, as shown in Figure 1 stream
Journey, the mapping method comprises the steps：
(1) set up spacecraft FEM model, including ground test spacecraft FEM model and in-orbit spacecraft it is limited
Meta-model；
Set up in-orbit spacecraft FEM model：According to given typical space device structural parameters, carrying out in-orbit spacecraft has
Limit meta-model is set up.By carrying out parametric type Modifying model such as material stiffness, spring rate and modal damping after the completion of modeling
Than etc., make the Mathematical Modeling after adjustment reflect dynamics (such as the frequency response function, intrinsic of spacecraft structure comprehensively as far as possible
Frequency etc.).
Set up ground test spacecraft FEM model：Due to when ground test is carried out, needing to increase border to satellite
Condition simulation, such as carries out lifting rope suspension, while can be affected by gravity, air, therefore after the completion of parametric type Modifying model
In-orbit spacecraft FEM model on the basis of, lifting rope is set up using beam element simulation, the impact of gravity can in advance should by increasing
Simulating, the impact of air can be simulated power by additional mass.
(2) set up that ground test modal coordinate reduces model and in-orbit modal coordinate reduces model, determine that ground test navigates
The frequency of its device FEM model and in-orbit spacecraft FEM model, the one-to-one relationship of the vibration shape.
Multi-Degree Damping System meets following equation：
Wherein, M, K, C are respectively mass matrix, stiffness matrix, damping matrix,U (t) represents respectively t
Acceleration, speed, displacement, u0、Initial displacement, initial velocity are represented respectively, and f (t) is the external force of t.Therefore, ground
Mapping relations between test spacecraft FEM model and in-orbit spacecraft FEM model, can regard two model quality squares as
Battle array, the mapping relations between stiffness matrix, damping matrix.Coordinate transform u (t)=Φ q (t), q is introduced with natural mode of vibration matrix Φ
T () represents modal coordinate, then equation (1) is converted to：
The natural mode of vibration matrix chosen is normalized with regard to modal mass, is then had,
Mq=ΦTM Φ=I, Kq=ΦTK Φ=diag [ω2], Cq=ΦTCΦ (3)
Mq、Cq、KqMass matrix, damping matrix respectively under modal coordinate, stiffness matrix, I represents unit matrix, diag
[ω2] represent with ω square of each order frequency as cornerwise diagonal matrix, it is proportional damping by damping approximate processing, now equation
(2) n single-degree-of-freedom damping system is converted to：
qj、ζj、ωjGeneralized displacement, generalized velocity, generalized acceleration, the resistance of j-th modal coordinate are represented respectively
Buddhist nun's ratio, frequency, equation group (4) is arranged from small to large according to frequency, takes front m (1<m<N) the corresponding equation group of rank, introduces state
Vectorial X,
X=[x11,x22,…,x1j,x2j,…,x1m,x2m] (5)
WhereinThen formula (4) can be rewritten into vector form expression containing 2m differential equation of first order
Differential system：
X'=f (X) (6)
Solved by Runge-Kutta numerical integrations, obtaining displacement of the system under physical coordinates is：
From above derivation, ground test spacecraft FEM model is set up with in-orbit spacecraft FEM model
Between mapping relations, be equivalent to and set up between ground test spacecraft FEM model and in-orbit spacecraft FEM model special
Value indicative, the mapping relations of characteristic vector.For ground test spacecraft FEM model and in-orbit spacecraft FEM model, profit
With Nastran secondary development languages DMAP, ground test spacecraft FEM model and in-orbit spacecraft finite element are extracted respectively
The frequency of model, Data of Mode, set up respectively that respective ground test modal coordinate reduces model and in-orbit modal coordinate reduces
Model.Model analysis is carried out respectively to ground test spacecraft FEM model and in-orbit spacecraft FEM model, wherein
Face test spacecraft FEM model adopts prestressed modal analysis, contrast determine ground test spacecraft FEM model and
There is one-to-one relationship in the frequency of rail spacecraft FEM model, the vibration shape.
(3) RESPONSE CALCULATION, determines that ground test modal coordinate reduces model and in-orbit modal coordinate reduces the correct of model
Property.
Reducing model and ground test spacecraft FEM model to ground test modal coordinate carries out time domain response analysis,
The time domain response of model and ground test spacecraft FEM model is reduced by com-parison and analysis ground test modal coordinate；To
Rail modal coordinate reduces model and in-orbit spacecraft FEM model carries out time domain response analysis, by the in-orbit mode of com-parison and analysis
The time domain response of coordinate reduction model and in-orbit spacecraft FEM model；If time domain response result shows response analysis error
Less than 20%, then show described ground test modal coordinate reduce model or in-orbit modal coordinate to reduce model be correct.
(4) foundation of spacecraft micro-vibration Mechanics Mapping relation.
In-orbit spacecraft has larger difference with ground test mechanical environment, as shown in Fig. 2 the building ring of in-orbit spacecraft
Border is vacuum, weightless free flight, and the spacecraft in ground test is subject to gravity, constraint (to refer to ground test spacecraft
The lifting rope that adopts in FEM model hangs constraint), the impact of air ambient NF, these factors need to be considered to frequency and
The impact magnitude of the vibration shape, by setting up mapping relations using BP neural network.Realized from ground test boat by BP neural network
The frequency of its device, the mapping between the frequency and the vibration shape of the vibration shape to in-orbit spacecraft.
Three-level mapping is decomposed into in the mapping of complicated mechanical environment, as shown in Figure 3.The frequency for being obtained according to ground test first
Rate, Data of Mode (by the mapping relations for only considering air impact) obtain air-free state (i.e. comprising gravity, effect of constraint value)
Frequency, Data of Mode.In the same manner, by only considering the mapping relations of gravity, obtain without air agravic (comprising restrained condition)
Frequency, Data of Mode.Unconfined in-orbit frequency, Data of Mode are obtained finally according to the mapping relations for only considering to constrain.
It is as follows that three-level mapping implements step：
A) the mapping relations research of air impact is considered；
With BP neural network method set up consider air impact from ground test to air-free state intrinsic frequency and
The mapping relations of the vibration shape.Do not consider gravity, the change of constraint, only consider the impact of air, be calculated different atmospheric density feelings
Frequency, Data of Mode under condition, according to these data mapping relations are set up, by this mapping relations obtain it is in-orbit (without air, i.e.,
Atmospheric density is 0 state) data under state.
B) the mapping relations research that gravity affects is considered；
With Establishment of Neural Model consideration gravity impact from ground test to in-orbit state eigenfrequncies and vibration models
Mapping relations.On the basis of air is considered, it is considered to the impact of gravity, in the case of being calculated different acceleration of gravity
Frequency, the vibration shape, according to these data mapping relations are set up, and by this mapping relations data under in-orbit (0g) state are obtained.
C) the mapping relations research of effect of constraint value is considered；
With Establishment of Neural Model consideration effect of constraint value from ground test to in-orbit state eigenfrequncies and vibration models
Mapping relations.On the basis of air, gravity is considered, it is considered to the impact of constraint, different lifting rope sectional area feelings are calculated
Frequency, Data of Mode under condition.Mapping relations are set up according to these data, thus mapping relations obtain in-orbit (equivalent without constraint
In lifting rope sectional area be 0mm2State) data under state.
(5) in-orbit RESPONSE CALCULATION.Frequency, the vibration shape of the in-orbit spacecraft FEM model obtained according to mapping, is carried out
The dynamic response of rail spacecraft FEM model is calculated.Actual in-orbit data can be contrasted, this mapping method and ground is verified
The validity of test.
Prestressed modal analysis, the seven to ten order frequency are carried out to present example ground test spacecraft FEM model
For 140.904Hz, 146.906Hz, 149.918Hz, 160.582Hz.Before in-orbit state fourth order frequency be 140.852Hz,
146.830Hz、149.841Hz、160.504Hz.Simultaneously the vibration shape is also all corresponded, therefore can be had to ground test spacecraft
The frequency and the vibration shape of limit meta-model and in-orbit spacecraft FEM model sets up mapping relations.
Response analysis is carried out to ground test spacecraft FEM model and in-orbit spacecraft FEM model, before taking respectively
20 rank Elastic modes reduce to ground test spacecraft FEM model and in-orbit spacecraft FEM model, ground test
Modal coordinate reduces the time domain response of model and ground test spacecraft FEM model as shown in figure 4, ground test time domain is rung
Relative error is answered to change over as shown in figure 5, Fig. 6 is in-orbit modal coordinate reduces model with in-orbit spacecraft FEM model
Micro-vibration time domain response contrast, Fig. 7 is that in-orbit micro-vibration time domain response relative error changes over figure.Can by Fig. 5, Fig. 7
Relative error is known less than 20%, therefore be correct to ground test and reducing for in-orbit spacecraft FEM model.
Table 1 be frequency mapping calculation result, air this two row represent be only consider air impact in the case of it is in-orbit with
The relative change of front fourth order frequency is compared in ground vibration test and to obtain frequency by mapping relative with actually in-orbit frequency
Error, is in the same manner the situation for only considering acceleration of gravity and constraint, and last two are classified as and consider simultaneously air, acceleration of gravity, about
Relative change and obtain frequency values with in-orbit model frequency value by what three-level mapped that three kinds of mechanical environment factors of beam affect
The relative error compared.As seen from table, compared with the relative change under complicated mechanical environment, the relative error order of magnitude it is little 3 with
The upper order of magnitude, therefore frequency mapping is effective.
The frequency mapping calculation result of table 1
For vibration shape mapping can obtain same conclusion.Table 2 is the relative change of front four first order mode maximum displacement and error.With
Relative change under complicated mechanical environment is compared, little more than 2 order of magnitude of relative error, therefore the mapping of the vibration shape is also effective.
Four first order mode maximum displacement mapping calculation result before table 2
According to frequency, the vibration shape of the in-orbit spacecraft FEM model for obtaining, with step 3, you can carry out in-orbit spacecraft
The dynamic response of FEM model is calculated.The in-orbit time domain response of prediction is illustrated in figure 8, Fig. 9 is the in-orbit response of prediction and mould
The response of state coordinate reduction model compares relative error and changes over figure, and as seen from Figure 9 response prediction relative error is 7%
Within, therefore it is correct to predict.
Claims (4)
1. a kind of spacecraft ground is tested and in-orbit micro-vibration mechanical environment mapping method, it is characterised in that：
The first step, sets up the ground test spacecraft FEM model and in-orbit boat of simulation ground micro-vibration test mechanical environment
Its device FEM model；
Second step, by carrying out mode point respectively to ground test spacecraft FEM model and in-orbit spacecraft FEM model
Analysis, extracts frequency, Data of Mode, sets up that ground test modal coordinate reduces model and in-orbit modal coordinate reduces model respectively,
And determine that ground test spacecraft FEM model and the frequency of in-orbit spacecraft FEM model, the one-to-one corresponding of the vibration shape are closed
System；
3rd step, according to ground test modal coordinate the response contrast of model and ground test spacecraft FEM model is reduced,
Determine that ground test modal coordinate reduces the correctness of model；Model is reduced according to in-orbit modal coordinate and in-orbit spacecraft is limited
The response contrast of meta-model, determines that in-orbit modal coordinate reduces the correctness of model；
4th step, by BP real-time performances consider gravity, hang constraint, aeromechanics environmental factor from ground test state
Frequency, the vibration shape obtain the frequency of in-orbit spacecraft FEM model, shake to the mapping between the frequency and the vibration shape of in-orbit state
Type；
5th step, frequency, the vibration shape of the in-orbit spacecraft FEM model obtained according to mapping, carries out in-orbit spacecraft finite element
The dynamic response analysis of model.
2. a kind of spacecraft ground according to claim 1 is tested and in-orbit micro-vibration mechanical environment mapping method, and it is special
Levy and be：Described ground test spacecraft FEM model and in-orbit spacecraft FEM model enters line parameter after the completion of setting up
Type Modifying model；Described ground test spacecraft FEM model on the basis of in-orbit spacecraft FEM model, using beam
Unit simulation sets up lifting rope, and the impact of gravity is simulated by increasing prestressing force, the impact of air by increase additional mass come
Simulation.
3. a kind of spacecraft ground according to claim 1 is tested and in-orbit micro-vibration mechanical environment mapping method, and it is special
Levy and be：Response contrast in the 3rd described step, if time domain response analytical error is less than 20%, shows that described ground is surveyed
It is correct that die trial state coordinate reduction model or in-orbit modal coordinate reduce model.
4. a kind of spacecraft ground according to claim 1 is tested and in-orbit micro-vibration mechanical environment mapping method, and it is special
Levy and be：Mapping described in 4th step, is decomposed into three-level mapping and sets up, and implements step as follows：
A) with BP neural network method foundation consideration air impact is from ground test to air-free state intrinsic frequency and shakes
The mapping relations of type；Do not consider gravity, the change of constraint, only consider the impact of air, be calculated different atmospheric density situations
Under frequency, Data of Mode, set up mapping relations according to these data, obtain data under in-orbit state by this mapping relations；
Described in-orbit state is referred to without the state that air, i.e. atmospheric density are 0；
B) with the foundation consideration gravity impact of BP neural network method from ground test to in-orbit state eigenfrequncies and vibration models
Mapping relations；On the basis of air is considered, it is considered to the impact of gravity, in the case of being calculated different acceleration of gravity
Frequency, the vibration shape, according to these data mapping relations are set up, and by this mapping relations data under in-orbit state are obtained, it is described
Track-like state refers to that gravity is 0g；
C) with BP neural network method set up consider hang effect of constraint value from ground test to in-orbit state intrinsic frequency and
The mapping relations of the vibration shape；On the basis of air, gravity is considered, it is considered to hang the impact of constraint, be calculated different lifting ropes
Frequency, Data of Mode in the case of sectional area；Mapping relations are set up according to these data, thus mapping relations obtain in-orbit state
Lower data, described in-orbit state refers to that without constraint it is 0mm to be equivalent to lifting rope sectional area2State.
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| 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 |
| CN108061660B (en) * | 2017-10-23 | 2019-09-17 | 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 |
| 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 |
| 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 |
| 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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