CN105045136B - The micro- disturbance torque environmental grounds simulation system safety guard in space - Google Patents
The micro- disturbance torque environmental grounds simulation system safety guard in space Download PDFInfo
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- CN105045136B CN105045136B CN201510359408.2A CN201510359408A CN105045136B CN 105045136 B CN105045136 B CN 105045136B CN 201510359408 A CN201510359408 A CN 201510359408A CN 105045136 B CN105045136 B CN 105045136B
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Abstract
The purpose of the present invention is to provide a kind of micro- disturbance torque environmental grounds simulation system safety guards in space, including rotating platform, air floating table column and platform, the present apparatus further includes three jack units, topple over protection limit telescopic mechanism, three positioning ball-and-sockets and jet thrust unit, each jack units include pedestal, very heavy acrosome, position ball, electric pushrod, retarder and motor, electric pushrod is connect with very heavy acrosome, electric pushrod upper end is fixed with positioning ball, air floating table column surrounding, which is fixedly connected with, topples over protection limit telescopic mechanism, platform lower surface positions ball-and-socket there are three fixing, the position of each positioning ball-and-socket is matched with the position of a positioning ball, jet thrust unit is fixedly installed on platform；The lifting that platform is either synchronously or asynchronously realized by electric pushrod limits the permission dump angle of platform by adjusting the extension elongation for toppling over protection limit telescopic mechanism.The present invention is easy to operate, securely and reliably.
Description
Technical field
The present invention relates to emulation technologies, and in particular to a kind of micro- disturbance torque environmental grounds simulation system safeguard protection in space
Device.
Background technology
When spacecraft is run in space in a kind of micro- disturbance torque environment, the special running environment requirement of spacecraft
Sufficient ground simulation test is carried out in development process.Micro- disturbance torque environmental grounds simulation based on three-axis air-bearing table structure
System is a kind of highly effective simulation means, and three-axis air-bearing table is formed by compressed air between air-bearing and bearing block
Air film makes stage body float, to realize approximate friction free relative motion condition, with analog satellite suffered by the space of exoatmosphere
The mechanical environment of disturbance torque very little.As satellite motion simulator, the three-axis air-bearing table supported using spherical surface air-bearing, no
But the attitude motion of energy three axis direction of analog satellite, moreover it is possible to analog satellite three-axis attitude Coupled Dynamics.It is carried out by air floating table
Full physical simulation is of great significance, it is demonstration and the indispensable tool of functional verification.Emulation is it was verified that utilize
Air floating table carries out satellite ground emulation and not only verifies important role to satellite attitude control system, but also can significantly improve
The efficiency-cost ratio of satellite reduces risk, shortens the R＆D cycle.
In order to ensure being emulated based on micro- disturbance torque environmental grounds simulation system various kinds of equipment that three-axis air-bearing table is built
Safety in experiment needs to design perfect safety precautions.At present about this kind of analogue system based on air floating table structure
Guard method document it is more rare, by literature search, Li Jisu, Mu little Gang, Sun Weide, Yang Tianan, Li Tongsheng etc. are being discussed
Literary " Large-scale satellite three-axis air-bearing table full physical simulation system " (see《Control engineering》, 2001, the third phase, the page number：736-741)
In give the realization of three-axis air-bearing table full physical simulation system, but there is no propose the anti-guard method of falling from power of air floating table；Perhaps
Sword etc. in paper " development of five degree of freedom air supporting simulation test stand model machine and its research of key technology " (doctoral thesis) though in
Platform safety when so proposing for guarantee test, is added to a set of mechanical position limitation protection mechanism, but do not provide
The implementation method of specific protection mechanism.
Invention content
The purpose of the present invention is to provide a kind of micro- disturbance torque environmental grounds simulation system safety guards in space.
The present invention is achieved by the following scheme：A kind of micro- disturbance torque environmental grounds simulation system safety in space
Protective device, including rotating platform (1), air floating table column (12) and platform (9), air floating table column (12) are fixedly mounted
On rotating platform (1), platform (9) is mounted on by air floatation ball on the air-floating ball bearing of air floating table column (12), feature
It is：Further include three jack units, topple over and protect limit telescopic mechanism (8), three positioning ball-and-sockets (10) and jet thrust list
First (11), each jack units include pedestal (2), very heavy acrosome (3), positioning ball (4), electric pushrod (5), retarder (6)
With motor (7), three pedestals (2) are evenly distributed on the disk of the rotating platform centered on air floating table column (1), each
Very heavy acrosome (3) is fixedly connected on a pedestal (2), and electric pushrod (5) is connect with very heavy acrosome (3), on electric pushrod (5)
End is fixed with positioning ball (4), and air floating table column (12) surrounding, which is fixedly connected with, topples over protection limit telescopic mechanism (8), and instrument is flat
The position of position and a positioning ball (4) that ball-and-socket (10) is each positioned there are three ball-and-socket (10) is positioned is fixed in platform (9) lower surface
It matches, jet thrust unit (11) is fixedly installed on platform (9)；It is either synchronously or asynchronously realized by electric pushrod (5)
The lifting of platform (9) limits the permission of platform by adjusting the extension elongation for toppling over protection limit telescopic mechanism (8)
Dump angle；When platform (9), which is in special circumstances, needs quickly protection, by electric pushrod (5) by platform (9)
It jacks up；When platform (9), which has, falls from power trend, platform (9) is carried out by pose adjustment by jet thrust unit (11).
The present invention also has following technical characteristic：
1, it is described topple over protection limit telescopic mechanism (8) have 6 groups, be evenly distributed on air floating table column circumference；The spray
Gas thrust unit (11) shares 6 groups of jet thrust devices, is evenly distributed in all directions of platform.
2, three jack units can realize synchronous lifting and decline function, reach the support to platform
Function is lifted, when platform is transferred to stopping experiment by working condition, three-axis air-bearing table system continues to supply, while three very heavy
Unit starting and synchronous rising are pushed up, until after the positioning ball below platform leaves the positioning certain safe distance of ball-and-socket, air supporting
System stops gas supply, completes the safety supports of jack pair platform；Platform is entered certainly by stationary support working condition
When by work suspended state, air-flotation system is first supplied, when supply air pressure reach requirement after, three jack again slowly under
Drop, makes air floatation ball accurately fall on air-floating ball bearing, jack units are controlled by ground controller.
The features and advantages of the invention：
The synchronization or asynchronous lifting of the achievable three groups of jack systems of the present invention and decline function, can complete to instrument
The safety supports of platform and the functions such as protection of toppling, principle is simple, easy to operate, at low cost, securely and reliably, is easy to engineering reality
It is existing.
Description of the drawings
Fig. 1 is the micro- disturbance torque environmental grounds simulation system safety guard structural schematic diagram in space of the present invention；
Fig. 2 is cold air air-jet device thruster schematic layout pattern of the present invention；
Specific implementation mode
The invention will be further described for citing below in conjunction with the accompanying drawings.
Embodiment 1
A kind of micro- disturbance torque environmental grounds simulation system safety guard in space, including rotating platform 1, air floating table are vertical
Column 12 and platform 9, air floating table column 12 are fixedly mounted on rotating platform 1, and platform 9 is mounted on air supporting by air floatation ball
On the air-floating ball bearing of platform column 12, it is characterised in that：Further include three jack units, topple over protection limit telescopic mechanism 8,
Three positioning ball-and-sockets 10 and jet thrust unit 11, each jack units include pedestal 2, very heavy acrosome 3, position ball 4, is electronic
Push rod 5, retarder 6 and motor 7, three pedestals 2 are evenly distributed in the disk of the rotating platform 1 centered on air floating table column
On, each very heavy acrosome 3 is fixedly connected on a pedestal 2, and electric pushrod 5 is connect with very heavy acrosome 3,5 upper end of electric pushrod
It is fixed with positioning ball 4,12 surrounding of air floating table column, which is fixedly connected with, topples over protection limit telescopic mechanism 8,9 lower surface of platform
Ball-and-socket 10 is positioned there are three fixed, each position for positioning ball-and-socket 10 is matched with the position of a positioning ball 4, jet thrust list
Member 11 is fixedly installed on platform 9；The lifting that platform 9 is either synchronously or asynchronously realized by electric pushrod 5, by adjusting
The extension elongation for toppling over protection limit telescopic mechanism 8 limits the permission dump angle of platform；When platform 9 is in special
When situation needs quickly protection, platform 9 is jacked up by electric pushrod 5；When platform 9, which has, falls from power trend, pass through
Platform 9 is carried out pose adjustment by jet thrust unit 11.It is described to topple over protection limit telescopic mechanism 8 and have 6 groups, it is uniformly distributed
On air floating table column circumference；The jet thrust unit 11 shares 6 groups of jet thrust devices, is evenly distributed on each of platform
On a direction.
Embodiment 2
In conjunction with Fig. 1, Fig. 2, three jack systems can realize synchronous lifting and decline function, reach to platform
Lift function.When platform is transferred to stopping experiment by working condition, three-axis air-bearing table system continues to supply, while three thousand
Jin top system starts and synchronizes rising, until after the air floatation ball of platform lower end leaves the certain safe distance of ball-and-socket, air supporting system
System stops gas supply, completes the safety supports of jack pair platform, contacts and destroy with ball bearing to avoid air floatation ball；Instrument
When table platform is by stationary support working condition freedom of entry work suspended state, air-flotation system is first supplied, when gas supply air pressure
After reaching requirement, three jack slowly decline again, and air floatation ball is made accurately to fall on air-floating ball bearing.Jack system is by ground
Controller is controlled, and three the synchronous of jack, which not only may be implemented, by setting drives, and can also realize every jack
Independent control, operating personnel can input command adapted thereto as needed, controlled for the operation of single jack.This
Outside, can also be toppled the functions such as protection by three jack systems collaborative works of control, realization platform.
Embodiment 3
In conjunction with Fig. 1, Fig. 2, the layout for toppling over protection limit telescopic mechanism is as shown in Figure 1.When user can be according to each experiment,
The motion range of platform is configured to toppling over protection limit telescopic mechanism, changes and topple over protection limit telescopic mechanism
Extension elongation prevents to limit the largest motion angle of platform because there is a phenomenon where wide-angle tilts to fall from power.
Embodiment 4
In conjunction with Fig. 1, Fig. 2, the layout of jet thrust device is led to as shown in Fig. 2, be evenly distributed on all directions of platform
Holder is crossed on the outside of the middle plate of platform, there are six directions for thrust vectoring, can be according to general requirement, each direction
On thruster work at symmetrical couple, can also work independently.6 jet thrust devices work in pairs, and each pair of jet pushes away
Power device can provide couple type work torque, can not only complete the gesture stability task of three-axis air-bearing table, be unloaded for the momentum of flywheel
It carries and torque is provided, while when stage body inclination angle is more than defined angle, automatically starting jet thrust device jet produces stage body
The raw moment of reaction, quickly returns home by stage body control, prevents platform from phenomenon of falling from power occur.
Claims (1)
1. a kind of micro- disturbance torque environmental grounds simulation system safety guard in space, including rotating platform (1), air floating table are vertical
Column (12) and platform (9), air floating table column (12) are fixedly mounted on rotating platform (1), and platform (9) passes through air floatation ball
On the air-floating ball bearing of air floating table column (12), it is characterised in that：Further include three jack units, topple over protection limit
Position telescoping mechanism (8), three positioning ball-and-sockets (10) and jet thrust unit (11), each jack units include pedestal (2), thousand
Jin acrosome (3), positioning ball (4), electric pushrod (5), retarder (6) and motor (7), three pedestals (2) are evenly distributed in gas
On the disk of rotating platform (1) centered on floating platform column, each very heavy acrosome (3) is fixedly connected on a pedestal (2),
Electric pushrod (5) is connect with very heavy acrosome (3), and electric pushrod (5) upper end is fixed with positioning ball (4), air floating table column (12) four
It being fixedly connected in week and topples over protection limit telescopic mechanism (8), platform (9) lower surface is fixed there are three positioning ball-and-socket (10),
The position of each positioning ball-and-socket (10) is matched with the position of a positioning ball (4), and jet thrust unit (11) is fixedly installed in
On platform (9), it is described topple over protection limit telescopic mechanism (8) have 6 groups, be evenly distributed on air floating table column circumference；It is logical
The lifting that electric pushrod (5) either synchronously or asynchronously realizes platform (9) is crossed, by adjusting protection limit telescopic mechanism (8) is toppled over
Extension elongation limit platform permission dump angle；When platform (9), which is in special circumstances, needs quickly protection,
Platform (9) are jacked up by electric pushrod (5)；When platform (9), which has, falls from power trend, pass through jet thrust unit
(11) platform (9) is subjected to pose adjustment, the jet thrust unit (11) shares 6 groups of jet thrust devices, is uniformly distributed
In all directions of platform, described three jack units can realize synchronous lifting and decline function, reach
Function is lifted to platform, when platform is transferred to stopping experiment by working condition, three-axis air-bearing table system continues to supply
Gas, while three jack units start and synchronize rising, it is certain that the positioning ball below platform leaves positioning ball-and-socket
After safe distance, air-flotation system stops gas supply, completes the safety supports of jack pair platform；Platform is by stationary support
When working condition freedom of entry work suspended state, air-flotation system is first supplied, after gas supply air pressure reaches requirement, three thousand
Jin top slowly declines again, so that air floatation ball is accurately fallen on air-floating ball bearing, jack units are controlled by ground controller.
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| CN201510359408.2A CN105045136B (en) | 2015-06-19 | 2015-06-19 | The micro- disturbance torque environmental grounds simulation system safety guard in space |
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| CN201510359408.2A CN105045136B (en) | 2015-06-19 | 2015-06-19 | The micro- disturbance torque environmental grounds simulation system safety guard in space |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143955A (en) * | 2016-07-11 | 2016-11-23 | 上海卫星装备研究所 | A kind of heavy load high-precise synchronization support system for three-axis air-bearing table |
| CN106297520B (en) * | 2016-09-21 | 2019-03-12 | 北京精密机电控制设备研究所 | A kind of leveling of air bearing simulator Degree Platform auxiliary and stage body support device |
| CN111829704B (en) * | 2020-07-10 | 2021-11-12 | 哈尔滨工业大学 | Spacecraft residual torque residual angular momentum measurement calibration device and method |
| CN112595457B (en) * | 2020-12-07 | 2023-07-21 | 上海卫星工程研究所 | Triaxial air bearing table centroid pre-adjustment balancing device and application method thereof |
| CN115783320B (en) * | 2023-02-06 | 2023-05-02 | 湖南揽月机电科技有限公司 | Test platform limiting and protecting device of triaxial air bearing table and working method thereof |
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