CN105109711B - A kind of Spacecraft Rendezvous Docking simulation system - Google Patents
A kind of Spacecraft Rendezvous Docking simulation system Download PDFInfo
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Abstract
A kind of Spacecraft Rendezvous Docking simulation system, including horizontal support module, target six degree of freedom air floating table, follow the trail of six degree of freedom air floating table, main control module, monitoring and display module, by using actual weight and the mass property of six degree of freedom air floating table simulation spacecrafts rendezvous spacecraft, according on spacecrafts rendezvous spacecraft, equipment on the devices such as real docking mechanism is installed, carries out the 6DOF spacecrafts rendezvous test of the last translation section of drawing close.Analogue system of the present invention is compared with prior art, measure position and orientation measurement by indoor GPS unit module and be transferred to main control module, monitoring display module in real time, intuitively, precisely, real control and Simulated Spacecraft spacecrafts rendezvous process, improve the success rate of l-G simulation test, analogue system the most of the present invention demonstrates the reasonability of work schedule in Spacecraft Rendezvous docking operation, improves reliability and the effectiveness of Spacecraft Rendezvous docking.
Description
Technical field
The present invention relates to Spacecraft Rendezvous docking field, particularly a kind of Spacecraft Rendezvous Docking simulation system.
Background technology
Spacecraft orbit spacecrafts rendezvous and sample transfer are the important steps of detection planet, and sample shifts just
Based on spacecrafts rendezvous, therefore needed before Spacecraft Launch spacecraft in the true simulated environment of space
In carry out the simulating, verifying of spacecrafts rendezvous, existing Rendezvous and Docking Simulation System is at true virtual space spacecrafts rendezvous
Actual condition aspect there is problems in that
(1) existing Rendezvous and Docking Simulation System is to the measurement of relative distance between testing equipment, often by quilt
Survey the measurement of spacecraft self institute band sensor or self measuring, at spacecrafts rendezvous of multifreedom motion device
Test whole process lacks Dynamic High-accuracy measurement means, is unfavorable for evaluating the performance of docking operation, lacks one
Accurate external measurement means, can be estimated simulation result；
(2) process of the test is monitored by analogue system the most locally, lack monitoring display system, no
Emulation test system overall condition can be shown in real time, be unfavorable for intuitively confirming l-G simulation test process.
Summary of the invention
Present invention solves the technical problem that and be: overcome prior art not enough, it is provided that one is the most accurate, true
Real Simulated Spacecraft carries out the Spacecraft Rendezvous Docking simulation system of spacecrafts rendezvous in space.
The technical solution of the present invention is: a kind of Spacecraft Rendezvous Docking simulation system, including horizontal support
Module, target six degree of freedom air floating table, follow the trail of six degree of freedom air floating table, main control module, monitor and show mould
Block, wherein
Horizontal support module, including table top, Active support, levelness step difference measuring unit；Levelness platform
Jump measuring unit, measures the levelness of table top, step difference and judges, if levelness is more than 2 " or platform
Jump is more than 10 μm, then send regulation table top and instruct to Active support, otherwise control Active support sending station
Face regulates complete instruction to main control module；Active support, sends when receiving levelness step difference measuring unit
The instruction of regulation table top time, regulation table top is until levelness is less than or equal to 2 " and step difference is less than or equal to 10 μm,
And send the table top complete instruction of regulation to main control module；Table top, is obtained by least two pieces of granite surface plate splicings,
Carrying target six degree of freedom air floating table, tracking six degree of freedom air floating table；
Target six degree of freedom air floating table include target translation unit, targeted attitude unit, measured target spacecraft,
GPS unit in target chamber；Target translation unit, the close of real-time reception main control module transmission instructs and presses
Measured target spacecraft is regulated to tested pursuit spacecraft three-dimensional translating according near instruction；Targeted attitude unit,
Real-time reception main control module send near instruction and according near instruction regulation measured target spacecraft relative to
Tested pursuit spacecraft Three dimensional rotation；Measured target spacecraft, for planform phase complete with true spacecraft
Same spacecraft model, measured target spacecraft is provided with the quilt can arrested by tested pursuit spacecraft and lock
Moving part；GPS unit in target chamber, measures the position and attitude of measured target spacecraft in real time and delivers to master control
Module, monitoring and display module；
Follow the trail of six degree of freedom air floating table include follow the tracks of translation unit, follow the tracks of attitude unit, tested pursuit spacecraft,
Follow the trail of indoor GPS unit；Following the tracks of translation unit, the close of real-time reception main control module transmission instructs and presses
According to the close instruction tested pursuit spacecraft of control to measured target spacecraft three-dimensional translating, follow the tracks of attitude unit,
Real-time reception control module send near instruction and according near instruction control tested pursuit spacecraft relative to
Measured target spacecraft Three dimensional rotation；Tested pursuit spacecraft, for planform phase complete with true spacecraft
Same spacecraft model, tested pursuit spacecraft is provided with holding claw mechanism, is receiving the docking that main control module sends
After instruction, holding claw mechanism is used to arrest and lock the Passive part of measured target spacecraft；Follow the trail of indoor GPS
Unit, measures in real time and follows the trail of the position and attitude of six degree of freedom air floating table and deliver to main control module, monitor and show
Module；
Main control module, after receiving the table top complete instruction of regulation that in horizontal support module, Active support sends, connects
Receive GPS unit in following the trail of the tested pursuit spacecraft position and attitude of indoor GPS unit transmission, target chamber to send out
The measured target Space Vehicle position attitude sent, calculate in real time measured target spacecraft and tested tracking spacecraft it
Between alternate position spike poor with attitude and judge, if the alternate position spike of measured target spacecraft and tested tracking spacecraft
Poor more than 5 °, then according to tested mesh with the attitude of tested tracking spacecraft more than 1m or measured target spacecraft
Mark spacecraft produces near instruction with attitude difference with the alternate position spike of tested tracking spacecraft, and delivers to follow the trail of translation
Unit, tracking attitude unit, target translation unit and targeted attitude unit；If measured target spacecraft with
The alternate position spike of tested tracking spacecraft be positioned between [0m-1m] and target six degree of freedom air floating table with follow the tracks of six from
It is positioned between [0 °-5 °] by the attitude difference of degree air floating table, then sends docking instruction to measured target spacecraft, quilt
Survey pursuit spacecraft；
Monitoring and display module, including monitoring means, display unit；Monitor unit, monitor in real time table top,
Active support, the operative scenario of levelness step difference measuring unit also deliver to display unit；Display unit, connects
Receive the position and attitude of measured target spacecraft of GPS module transmission, tracking indoor GPS module in target chamber
The table top of the position and attitude of tested tracking spacecraft of transmission, monitoring means transmission, Active support, levelness
The operative scenario of step difference measuring unit also shows in real time.
Present invention advantage compared with prior art is:
(1) analogue system of the present invention overcomes existing Spacecraft Rendezvous Docking simulation system by spacecraft originally
The feedback mechanism measuring sensor or six degree of freedom machinery turntable of body obtain spacecraft movement locus and attitude and
The defect that precision is the highest, measures position and orientation measurement reality by introducing indoor GPS unit module
Time be transferred to main control module, monitoring display module, can more directly perceived, precisely, real control and simulation space flight
Device spacecrafts rendezvous process；
(2) analogue system of the present invention is compared with prior art, ignores and support platform during overcoming l-G simulation test
Face real-time change may cause levelness and the overproof problem of step difference, not only uses indoor GPS module to send out
The movement locus attitude sent judges support platform levelness and step difference information, the levelness of monitoring display the most in real time,
Step difference and the operative scenario of six degree of freedom air floating table, improve the success rate of l-G simulation test；
(3) analogue system of the present invention achieves the true simulation docked spacecraft in space environment centre-exchange-meeting,
Demonstrate the reasonability of Spacecraft Rendezvous mating operation sequential, improve Spacecraft Rendezvous docking reliability and
Effectiveness.
Accompanying drawing explanation
Fig. 1 is one Spacecraft Rendezvous Docking simulation system construction drawing of the present invention.
Detailed description of the invention
The invention provides a kind of Spacecraft Rendezvous Docking simulation system, by using six degree of freedom air floating table mould
Intend actual weight and the mass property of spacecrafts rendezvous spacecraft, real according to installing on spacecrafts rendezvous spacecraft
Equipment on the devices such as docking mechanism, carries out the last 6DOF spacecrafts rendezvous translating the section of drawing close and tests, wherein,
Each six degree of freedom air floating table includes that 3DOF translation and 3DOF rotate, and is divided into Degree Platform and translation to put down
Platform two parts, are coupled by liftable pillar.Translation platform is supported by 3 air cushions, floats on large-scale super flat
On support platform, can freely drift about；Degree Platform uses ball bearing desktop configuration, carries sensor of participating in the experiment,
Installed thrust device assembly and corresponding gas circuit.Upper table surface is isolated by air-floating ball bearing with remainder, it is achieved three certainly
The isolation with translation is rotated, it is to avoid coupling by degree.Liftable mechanism analog face foreign minister is to change in location.Air supporting
Platform is designed with geometric ratio analog form.
Analogue system of the present invention rely on equipment, include as shown in Figure 1 horizontal support module (include table top,
Active support, levelness step difference measuring unit), target six degree of freedom air floating table (include target translation list
GPS unit in unit, targeted attitude unit, measured target spacecraft, target chamber), follow the trail of six degree of freedom gas
Floating platform (follow the tracks of translation unit, follow the tracks of attitude unit, tested pursuit spacecraft, tracking indoor GPS unit),
Main control module, monitoring and display module (including monitoring means, display unit) etc..In horizontal support module
On target six degree of freedom air floating table simulate actual weight and the mass property of spacecrafts rendezvous passive space vehicle,
Equipment on the devices such as real Passive part is installed according to the state on passive space vehicle；In horizontal support module
Follow the trail of six degree of freedom air floating table and simulate actual weight and the mass property of spacecrafts rendezvous pursuit spacecraft, according to
State on pursuit spacecraft installs equipment on the devices such as real holding claw mechanism.The spacecrafts rendezvous so built is imitated
True system just can carry out the 6DOF spacecrafts rendezvous test of the last translation section of drawing close.
Below in conjunction with the accompanying drawings analogue system of the present invention is described in detail, as shown in Figure 1:
Levelness step difference measuring unit (includes level indicator and micrometer), measures the levelness of table top, step
Differ from and judge, if levelness is more than 2 " or step difference is more than 10 μm, then send regulation table top and instruct extremely
Active support, otherwise controls Active support and sends the table top complete instruction of regulation to main control module；Active support,
When receiving the regulation table top instruction that levelness step difference measuring unit sends, regulation table top is until levelness
Less than or equal to 2 " and step difference is less than or equal to 10 μm, and send the table top complete instruction of regulation to main control module；
Table top, is the platforms that are spliced to form of at least two pieces of granite surface plate, be used for carrying target six degree of freedom air floating table,
Following the trail of six degree of freedom air floating table, target six degree of freedom air floating table is placed on of table top in horizontal support module
Right angle, the most diagonally length direction is arranged and is followed the trail of six degree of freedom air floating table, and both are at a distance of 35m, its
In, Active support can use the patent of Application No. " 2013104574068 " " a kind of to spell for super large
Connect the mesa supports device of platform " in mesa supports device.
9 indoor GPS system emitters are installed at the top of the test chamber of the top of large-scale super flat support platform
(reducing mutually blocking of two six degree of freedom air floating tables), two six degree of freedom air floating tables are respectively mounted 4 rooms
Interior GPS system receptor, it is ensured that be tracked measuring to two six degree of freedom air floating tables of movement.Target
Translation unit, the close of real-time reception main control module transmission instructs and navigates according to regulating measured target near instruction
It device is to tested pursuit spacecraft three-dimensional translating；Targeted attitude unit, what real-time reception main control module sent leans on
Nearly instruction also regulates measured target spacecraft to tested pursuit spacecraft Three dimensional rotation according near instruction；Tested
Passive space vehicle, including the Passive part can arrested by tested pursuit spacecraft holding claw mechanism and lock, target
Indoor GPS unit, measures the position and attitude of measured target spacecraft in real time and delivers to main control module, monitoring
With display module；Following the tracks of translation unit, the close of real-time reception main control module transmission instructs and according near referring to
Order controls tested pursuit spacecraft to measured target spacecraft three-dimensional translating, tracking attitude unit, real-time reception
The close of control module transmission instructs and according near instructing the tested pursuit spacecraft of control to measured target space flight
Device Three dimensional rotation；Tested pursuit spacecraft, after receiving the docking instruction that main control module sends, uses holding claw machine
The Passive part of measured target spacecraft is arrested and locked to structure, follows the trail of indoor GPS unit, real-time tested tracking
The position and attitude of spacecraft also delivers to main control module, monitoring and display module.
Main control module, after receiving the table top complete instruction of regulation that in horizontal support module, Active support sends, connects
Receive to follow the trail of and six degree of freedom air floating table is followed the trail of the tracking six degree of freedom air floating table position that indoor GPS unit sends
The target six degree of freedom air floating table that in attitude, target six degree of freedom air floating table, in target chamber, GPS unit sends
Position and attitude, calculates the alternate position spike between measured target spacecraft and tested tracking spacecraft poor with attitude in real time
And judge, if the alternate position spike of measured target spacecraft and tested tracking spacecraft is more than 1m or measured target
Spacecraft is more than 5 ° with the attitude difference of tested tracking spacecraft, then according to measured target spacecraft and tested tracking
The alternate position spike of spacecraft and attitude difference produce near instruction, and deliver to follow the trail of translation unit, follow the trail of attitude unit,
Target translation unit and targeted attitude unit；If measured target spacecraft and the position of tested tracking spacecraft
Difference be positioned between [0m-1m] and target six degree of freedom air floating table with follow the tracks of six degree of freedom air floating table attitude difference position
Between [0 °-5 °], then send docking instruction to measured target spacecraft, tested pursuit spacecraft；；Wherein,
In two six degree of freedom air floating table approach process, main control module is according to both indoor GPS module auxiliary judgment
Whether meeting docking condition, if meeting docking condition, then controlling to follow the trail of the active on six degree of freedom air floating table
Passive part on holding claw capture target six degree of freedom air floating table, if being unsatisfactory for docking condition, then controls two
Six degree of freedom air floating table separately, returns to the distance at a distance of 35m, restarts test, until meeting butt strap
Part completes actively holding claw and arrests Passive part.
Display unit, the position appearance of the target six degree of freedom air floating table that GPS module sends in reception target chamber
The tracking position and attitude of six degree of freedom air floating table, monitoring means that state, tracking indoor GPS module send are sent out
The levelness step difference information sent, and follow the trail of the operative scenario of six degree of freedom air floating table and show in real time, its
In, monitor unit (the high-definition network video monitoring device arranged in testing ground), by on-the-spot real-time figure
Picture passes to realize testing ground back and process of the test carries out whole process supervision, and high definition wired network camera has
Automatically track target function, carries out image trace after air floating table enters into the monitoring region of photographic head automatically,
To monitoring that test progress, guarantee test serve safely pivotal role in real time.
Analogue system of the present invention is by test high precision 16 degree of freedom control program correct in the translation section of drawing close
Property and relevant parameter design reasonability, demonstrate spacecraft during spacecrafts rendezvous the disposal ability of fault,
Work schedule reasonability during spacecrafts rendezvous, improves the reliability of space spacecrafts rendezvous, has good
Good application prospect.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (1)
1. a Spacecraft Rendezvous Docking simulation system, it is characterised in that include horizontal support module, target six
Degree of freedom air floating table, tracking six degree of freedom air floating table, main control module, monitoring and display module, wherein
Horizontal support module, including table top, Active support, levelness step difference measuring unit；Levelness platform
Jump measuring unit, measures the levelness of table top, step difference and judges, if levelness is more than 2 " or platform
Jump is more than 10 μm, then send regulation table top and instruct to Active support, otherwise control Active support sending station
Face regulates complete instruction to main control module；Active support, sends when receiving levelness step difference measuring unit
The instruction of regulation table top time, regulation table top is until levelness is less than or equal to 2 " and step difference is less than or equal to 10 μm,
And send the table top complete instruction of regulation to main control module；Table top, is obtained by least two pieces of granite surface plate splicings,
Carrying target six degree of freedom air floating table, tracking six degree of freedom air floating table；
Target six degree of freedom air floating table include target translation unit, targeted attitude unit, measured target spacecraft,
GPS unit in target chamber；Target translation unit, the close of real-time reception main control module transmission instructs and presses
Measured target spacecraft is regulated to tested pursuit spacecraft three-dimensional translating according near instruction；Targeted attitude unit,
Real-time reception main control module send near instruction and according near instruction regulation measured target spacecraft relative to
Tested pursuit spacecraft Three dimensional rotation；Measured target spacecraft, for planform phase complete with true spacecraft
Same spacecraft model, measured target spacecraft is provided with the quilt can arrested by tested pursuit spacecraft and lock
Moving part；GPS unit in target chamber, measures the position and attitude of measured target spacecraft in real time and delivers to master control
Module, monitoring and display module；
Follow the trail of six degree of freedom air floating table include follow the tracks of translation unit, follow the tracks of attitude unit, tested pursuit spacecraft,
Follow the trail of indoor GPS unit；Following the tracks of translation unit, the close of real-time reception main control module transmission instructs and presses
According to the close instruction tested pursuit spacecraft of control to measured target spacecraft three-dimensional translating, follow the tracks of attitude unit,
Real-time reception main control module send near instruction and according near instruction control tested pursuit spacecraft relative to
Measured target spacecraft Three dimensional rotation；Tested pursuit spacecraft, for planform phase complete with true spacecraft
Same spacecraft model, tested pursuit spacecraft is provided with holding claw mechanism, is receiving the docking that main control module sends
After instruction, holding claw mechanism is used to arrest and lock the Passive part of measured target spacecraft；Follow the trail of indoor GPS
Unit, measures in real time and follows the trail of the position and attitude of six degree of freedom air floating table and deliver to main control module, monitor and show
Module；
Main control module, after receiving the table top complete instruction of regulation that in horizontal support module, Active support sends, connects
Receive GPS unit in following the trail of the tested pursuit spacecraft position and attitude of indoor GPS unit transmission, target chamber to send out
The measured target Space Vehicle position attitude sent, calculate in real time measured target spacecraft and tested tracking spacecraft it
Between alternate position spike poor with attitude and judge, if the alternate position spike of measured target spacecraft and tested tracking spacecraft
Poor more than 5 °, then according to tested mesh with the attitude of tested tracking spacecraft more than 1m or measured target spacecraft
Mark spacecraft produces near instruction with attitude difference with the alternate position spike of tested tracking spacecraft, and delivers to follow the trail of translation
Unit, tracking attitude unit, target translation unit and targeted attitude unit；If measured target spacecraft with
The alternate position spike of tested tracking spacecraft be positioned between (0m-1m) and target six degree of freedom air floating table with follow the tracks of six from
It is positioned between (0 °-5 °) by the attitude difference of degree air floating table, then sends docking instruction to measured target spacecraft, quilt
Survey pursuit spacecraft；
Monitoring and display module, including monitoring means, display unit；Monitor unit, monitor in real time table top,
Active support, the operative scenario of levelness step difference measuring unit also deliver to display unit；Display unit, connects
Receive the position and attitude of measured target spacecraft of GPS module transmission, tracking indoor GPS module in target chamber
The table top of the position and attitude of tested tracking spacecraft of transmission, monitoring means transmission, Active support, levelness
The operative scenario of step difference measuring unit also shows in real time.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105955285B (en) * | 2016-06-07 | 2018-07-20 | 中国人民解放军国防科学技术大学 | Simulated target star for in-orbit service technical identification |
| CN106094565B (en) * | 2016-06-13 | 2019-01-04 | 北京航空航天大学 | A kind of autonomous rendezvous control system ground simulation test method of spacecraft |
| CN106364699A (en) * | 2016-09-08 | 2017-02-01 | 上海卫星工程研究所 | Master-slave mode non-contact double superior satellite ground principle verification system |
| CN106467175B (en) * | 2016-09-08 | 2020-01-24 | 上海卫星工程研究所 | Double five-degree-of-freedom air floatation master-slave type non-contact double-super satellite ground principle verification system |
| CN107590059B (en) * | 2017-09-20 | 2021-04-09 | 郑州云海信息技术有限公司 | Installation system and method of storage controller |
| CN109062398B (en) * | 2018-06-07 | 2021-06-29 | 中国航天员科研训练中心 | Spacecraft rendezvous and docking method based on virtual reality and multi-mode human-computer interface |
| CN109120330B (en) * | 2018-08-07 | 2021-05-18 | 北京空间技术研制试验中心 | Remote inter-system joint test method for spacecrafts distributed in different places |
| CN110262280B (en) * | 2019-02-26 | 2020-07-14 | 北京控制工程研究所 | Intelligent data analysis and decision support system for spacecraft rendezvous and docking flight control |
| CN112141369B (en) * | 2020-10-09 | 2023-10-20 | 哈尔滨理工大学 | Decision and control method for autonomous rendezvous and docking of translational closing sections of spacecraft |
| CN113916254A (en) * | 2021-07-22 | 2022-01-11 | 北京控制工程研究所 | Docking type capture spacecraft autonomous rendezvous and docking test method |
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| US7216834B2 (en) * | 2001-07-30 | 2007-05-15 | Iostar Corporation | Orbit space transportation and recovery system |
| US20080078886A1 (en) * | 2006-08-22 | 2008-04-03 | The Boeing Company | Launch vehicle cargo carrier |
| CN101774432A (en) * | 2009-12-30 | 2010-07-14 | 北京控制工程研究所 | Human control intersection docking operation method |
| ES2365394B2 (en) * | 2010-03-11 | 2012-01-30 | Universidad Politécnica de Madrid | SYSTEM OF MODIFICATION OF THE POSITION AND ATTITUDE OF BODIES IN ORBIT THROUGH GUIDE SATELLITES. |
| CN103576689B (en) * | 2013-10-08 | 2016-08-17 | 北京控制工程研究所 | A kind of spacecrafts rendezvous six degree of freedom relation control method |
| CN103728980B (en) * | 2014-01-08 | 2016-08-31 | 哈尔滨工业大学 | The control method of spacecraft relative orbit |
| CN103822582A (en) * | 2014-03-04 | 2014-05-28 | 中国人民解放军国防科学技术大学 | Relative movement measuring system applicable to rendezvousing and docking experimental platform |
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