CN105947237B - A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change - Google Patents
A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change Download PDFInfo
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- CN105947237B CN105947237B CN201610410963.8A CN201610410963A CN105947237B CN 105947237 B CN105947237 B CN 105947237B CN 201610410963 A CN201610410963 A CN 201610410963A CN 105947237 B CN105947237 B CN 105947237B
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- 238000005096 rolling process Methods 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 239000000725 suspension Substances 0.000 claims abstract description 16
- 238000012795 verification Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 3
- 230000008054 signal transmission Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 11
- 230000005484 gravity Effects 0.000 description 4
- 238000006124 Pilkington process Methods 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- 238000010200 validation analysis Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000005486 microgravity Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 208000016261 weight loss Diseases 0.000 description 2
- 230000004580 weight loss Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
Abstract
A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change of the invention includes servo-actuated support frame, spacecraft centroid follows clamping module and control module, and the servo-actuated support frame can ensure that spacecraft adjusts its pitching and yaw angle in the environment of low-frictional force is not influenced by gravitation；The spacecraft centroid follows clamping module to follow the rolling movement of spacecraft, and when spacecraft centroid changes, is keeping following its barycenter in the case that the existing posture of spacecraft is constant, ensures the barycenter of suspension force and spacecraft all the time on the same line；The data acquisition and control module is responsible for system signal transmission and controlled with coordinating, each module of system is set to be worked by system design, barycenter when completing to change the gesture follow-up of spacecraft with spacecraft centroid follows automatically, has the advantages that simple and compact for structure, size is small, precision is high.
Description
Art
The invention belongs to spacecraft space task ground validation technical field, and in particular to one kind is applied to barycenter dynamic and become
The spacecraft attitude servomechanism of change.
Background technology
There is great difference in space environment, with ground experiment room environmental in order to ensure the smooth complete of spacecraft space task
Into when being verified on ground in face of the various performances of spacecraft, it is necessary to some or all of to simulate space environment.
Spacecraft in space sport be in from freedom to freely without constraint microgravity movement environment in, ground experiment room
To there is gravity environment, in order to ground validation spacecraft space task performance need to ensure checking when spacecraft gravity to it
Move substantially without influence and spacecraft is in quick condition or suspension strut mode is moved influence on it and can be neglected.It is existing
Realizing the means of this target has liquid float glass process, weight-loss method, Bubble-floating Method, magnetcisuspension float glass process and suspension method.Weight-loss method is common for parabolic
Flight and freely falling body, it is that the time is short, the space that takes is big, the space that can provide is limited and cost the shortcomings that the method
It is high；The damping of liquid float glass process is big, maintenance cost is high and is only suitable for the situation of low-speed motion；It is it that maglev method, which suspends apart from being limited,
Spacecraft componental movement is limited, and can produce electromagnetic interference；And Bubble-floating Method and suspension method system architecture are relatively easy, it is easy to establish
In laboratory without constraint microgravity environment, but Bubble-floating Method can only typically provide the movement environment of five degree of freedom.In addition consider
The space tasks such as Technique in Rendezvous and Docking are, it is necessary to which spacecraft stretches out docking mechanism, and its structure changes so that spacecraft is whole
The situation that the constitution heart shifts, existing technology are realized essentially by multi-point suspended, but system architecture is complicated, adds control
Difficulty processed.
In order to overcome existing spacecraft ground test method not to be suitable for the situation of spacecraft centroid change, the present invention proposes
A kind of gesture follow-up system changing suitable for spacecraft structure barycenter, compact-sized, improve ground validation navigation, guidance
With the reliability of control system.
The content of the invention
A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change of the invention, realizes hang substantially not
Influence the power extended line that the pose adjustment of spacecraft and suspension arrangement provide to overlap with spacecraft centroid all the time, in spacecraft attitude
Do not induce one to add eccentric torque during adjustment, it is ensured that spacecraft attitude is not influenceed when adjusting by gravity, when spacecraft centroid changes
When barycenter is tracked, ensure that suspension force extended line overlaps with spacecraft centroid all the time, the spacecraft attitude completed pair is servo-actuated
With centroid tracking.
Technical scheme：
A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change includes spacecraft, servo-actuated support frame, space flight
Device mass center tracking clamping module and control module.
The servo-actuated support frame can ensure spacecraft adjusted in the environment of low-frictional force is not influenced by gravitation its pitching with
Yaw angle；The spacecraft centroid follows clamping module to follow the rolling movement of spacecraft, and when spacecraft centroid changes,
Keeping following its barycenter in the case that the existing posture of spacecraft is constant, the barycenter of guarantee suspension force and spacecraft is all the time same
On straight line；The control module is responsible for system signal transmission and controlled with coordinating, and each module of system is worked by system design, completes
To following and approximate no constraint suspension for spacecraft centroid change.
Further, the servo-actuated support frame includes pitch bearing, integrated support frame, thrust bearing, thrust bearing fixed plate
With joint outer part, pitch bearing is arranged on integrated support inframe, and integrated support frame is structure as a whole, and reduces package assembly assembling
The alignment error of introducing, thrust bearing are fixed its seat ring by thrust bearing fixed plate and are connected on integrated support frame, thrust axis
The blowout patche that holds coordinates with joint outer part, and the mounting means of thrust bearing is seat ring upper, and blowout patche is under, joint outer part and whole
Body carriage leaves certain gap.
Further spacecraft centroid follows clamping module to include rolling bearing, the longitudinally connected plate of bearing, bearing connecting plate, horizontal stroke
To connecting plate, friction pulley, cam motor, cam, bearing connecting plate, friction pulley connecting plate for electric motor, friction turbin generator, extension spring, perpendicular
To connecting plate, stage clip, main fixed plate, rotating shaft and brake, wherein rolling bearing, bearing connecting plate, the longitudinally connected plate of bearing with
Extension spring forms rolling with moving cell；Friction pulley, friction turbin generator, friction pulley connecting plate for electric motor and stage clip composition mass center tracking list
Member；Cam and cam motor composition switch unit；Cross connecting plate, vertical connecting plate, main fixed plate, rotating shaft and brake form
Connection unit.Rolling bearing is arranged on bearing connecting plate, and two groups of bearing connecting plates are connected to become one by the longitudinally connected plate of bearing
Individual entirety, the rolling movement of spacecraft can be followed, extension spring, the extension spring other end are connected with two symmetrical longitudinally connected plates
It is fixed on vertical connecting plate；Friction pulley and friction pulley motor axis connection, can be around itself under the driving of friction turbin generator
Axis is rotated, and friction turbin generator is arranged on friction pulley motor mounting plate, and friction pulley motor mounting plate upper end is connected with stage clip, pressure
The spring other end is connected in main fixed plate；Cam is connected with cam motor, can be rotated under the drive of cam motor, itself and axle
Hold connecting plate and friction pulley connecting plate for electric motor is tangent, by the controllable rolling of its rotation with moving cell and mass center tracking unit and boat
The contact situation of its device, so as to control this module to follow the rolling movement of spacecraft or carry out mass center tracking, cam motor installation
On cross connecting plate；The both ends of cross connecting plate are connected with vertical connecting plate, and vertical connecting plate is fixed in main fixed plate, main
Rotating shaft is fixed among fixed plate, rotating shaft is connected with the pitch bearing of servo-actuated support frame, and spacecraft centroid follows clamping module can
The pitching posture adjustment campaign of spacecraft is followed under the support of pitch bearing, the outermost end of the rotating shaft other end is fixed with brake, uses
In keep spacecraft current pose on carry out mass center tracking.
Further, the control module includes obliquity sensor, driver, capture card and control card.Obliquity sensor is pacified
On spacecraft, its metrical information passes to control card by capture card, on judging whether mass center tracking unit follows
Spacecraft centroid.Control module controls work of the rolling with moving cell and mass center tracking unit by switch unit, ensures space flight
Its front and rear pose adjustment of device barycenter change is not influenced by gravitation.
According to above-mentioned mechanical construction and control system, a kind of space flight suitable for barycenter dynamic change proposed by the present invention
Device gesture follow-up system can be realized not to be influenceed and space flight by gravity and connected mode substantially when spacecraft hangs pose adjustment
To the mass center tracking of spacecraft when device centroid position changes, its operation principle is to learn its fortune by the movement state information of spacecraft
Emotionally condition, when the barycenter of spacecraft do not change spacecraft only carry out Attitude control when, rolling with moving cell with it is servo-actuated
Support frame joint can follow spacecraft rolling, the posture adjustment campaign of pitching and driftage；When the barycenter change of spacecraft, brake will
Rotating shaft lock, make spacecraft keep current pose, switch unit effect, cam rotation, in the presence of extension spring, with moving cell with
Spacecraft is disconnected, and mass center tracking unit is in close contact under the driving of friction turbin generator with spacecraft in the presence of stage clip
Friction pulley rotate drive spacecraft motion so that suspension force all the time with spacecraft centroid on same straight line, complete pair
Its barycenter follows, and judges whether the condition overlapped with spacecraft is suspension force, if suspension force with spacecraft centroid not same
On bar straight line, when brake fails, spacecraft can cause the angle of pitch to change under self-acting, can be protected if overlapping
Current pose is held, can survey whether its angle of pitch changes installed in spaceborne obliquity sensor, so as to judge whether to complete
Spacecraft centroid is followed.
Job step is drawn by said system structure and working principle：
(1) joint outer part and the external world are fixed；
(2) spacecraft is arranged in system of the present invention, adjusts the position of spacecraft, it is hanged in initial position
Hang power and its barycenter on the same line；Adjust switch unit cam position, it is ensured that rolling with moving cell rolling bearing
It is brought into close contact with spacecraft, it is ensured that spacecraft firmly clamps；
(3) detecting system follows the situation of spacecraft attitude adjustment motion；
(4) after completing above step, power-on, the associated verification work of spacecraft is started, during experimental verification,
When control module receives the information of spacecraft centroid change, the locked rotating shaft of brake, control switch unit effect, make barycenter
Follow unit to be bonded the hanging position for adjusting spacecraft at any time with spacecraft, meet barycenter of the suspension force all the time with spacecraft same
On one straight line；
(5) after completing associated verification or work, power supply is closed, unloads spacecraft.
Present invention contrast prior art method has the characteristics that：
1st, it is simple and compact for structure, size is small, cost is lower, and maintenance cost is small；
2nd, realize and spacecraft centroid is followed, precision is high, applied widely；
The structure and addition auxiliary equipment of spacecraft need not be changed when the 3, hanging.
Brief description of the drawings
A kind of spacecraft attitude servomechanisms suitable for barycenter dynamic change of Fig. 1.
Label in figure:
1：Spacecraft；2：Servo-actuated support frame；3：Spacecraft centroid follows clamping module.
Fig. 2 is servo-actuated support frame：
Label in figure：
201：Pitch bearing；202：Overally support frame；203：Thrust bearing fixed plate；204：Thrust bearing；205：It is outside
Connector.
Fig. 3 spacecraft centroids follow clamping module
Label in figure：
301：Rolling bearing；302：The longitudinally connected plate of bearing；303：Cross connecting plate；304：Friction pulley；305：Cam electricity
Machine；306：Cam；307：Bearing connecting plate；308：Friction pulley connecting plate for electric motor；309：Rub turbin generator；310：Extension spring；311：
Vertical connecting plate；312：Stage clip；313：Main fixed plate；314：Rotating shaft；315：Brake；201：Pitch bearing；202：Overall branch
Support frame.
Fig. 4 friction pulleys
A kind of spacecraft attitude servomechanism workflow diagrams suitable for barycenter dynamic change of Fig. 5
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings：System of the present invention includes spacecraft 1, servo-actuated support frame
2 and spacecraft centroid follow clamping module 3.Servo-actuated support frame 2 can ensure that spacecraft adjusts in the environment of being not influenced by gravitation
Its pitching and yaw angle；The spacecraft centroid follows clamping module 3 to include rolling with moving cell, mass center tracking unit, switching
Unit and connection unit, the rolling movement of spacecraft 1 can be followed, and when the barycenter of spacecraft 1 changes, locked rotating shaft, switching list
Member effect, rolling switch with moving cell and mass center tracking unit, and according to the information of obliquity sensor, keeping, spacecraft 1 is existing
Follow its barycenter in the case that posture is constant, ensure the barycenter of suspension force and spacecraft all the time on the same line；The control
Module is responsible for system signal transmission and controlled with coordinating, and each module of system is worked by system design, completes to spacecraft centroid
Automatically with amiable approximation without constraint suspension.
Specifically, a kind of spacecraft attitude servomechanism suitable for barycenter dynamic change includes spacecraft 1, servo-actuated branch
Support 2 follows clamping module 3 with spacecraft centroid.Servo-actuated support frame 2 is by pitch bearing 201, integrated support frame 202, thrust axis
Fixed plate 203, thrust bearing 204 and joint outer part 205 are held, integrated support frame 202 is structure as a whole, and its upper end passes through thrust
Bearing (setting) plate 203 is provided with thrust bearing 204, and the seat ring of thrust bearing 204 is connected upper with thrust bearing fixed plate 203,
Its blowout patche coordinates with joint outer part 205, if as shown in Fig. 2 joint outer part 205 and the structure outside system are fixed, with
Dynamic support frame 2 can rotate around the axis of joint outer part 205, and integrated support frame 202 lower end is provided with pitch bearing 201.Spacecraft
Mass center tracking clamping module 3 includes rolling with moving cell, mass center tracking unit, switch unit and connection unit, wherein rolling with
Moving cell is made up of rolling bearing 301, bearing connecting plate 307, the longitudinally connected plate 302 of bearing with extension spring 310；Mass center tracking unit
It is made up of friction pulley 304, friction turbin generator 309, friction pulley connecting plate for electric motor 308 with stage clip 312；Switch unit is by cam 306
Formed with cam motor 305；Connection unit by cross connecting plate 303, vertical connecting plate 311, main fixed plate 313, rotating shaft 314 with
Brake 315 forms.Rolling bearing 301 is arranged on bearing connecting plate 307, and two groups of bearing connecting plates 307 longitudinally connect in bearing
Fishplate bar 302 it is connected it is lower turn into an entirety, the longitudinally connected upper end of plate 302 of bearing is connected with extension spring 310, extension spring 310 it is another
End be connected on the vertical connecting plate 311 of connection unit, when 1 rolling posture adjustment of spacecraft, rolling with moving cell rolling bearing
301 follow the rolling movement of spacecraft 1；The friction pulley 304 of mass center tracking unit can be around certainly under the drive of friction turbin generator 309
Body axis rotate, if now friction pulley 304 is in close contact with spacecraft 1, spacecraft 1 can be driven to move, and rub turbin generator 309
On friction pulley connecting plate for electric motor 308, the upper end of friction pulley connecting plate for electric motor 308 is provided with stage clip 312, and stage clip 312 is another
End is connected with the main fixed plate 313 of connection unit；The cam motor 305 of switch unit is arranged on the cross connecting plate of connection unit
On 303, cam 306 completes switching of the rolling with moving cell and mass center tracking unit by the control of cam motor 305, specifically
, as shown in figure 3, when if desired rolling follows the unit to be servo-actuated, cam 305 follows the bearing of unit away from rotating shaft solstics and rolling
Connecting plate 307 is tangent, ensures that rolling bearing 301 is brought into close contact with spacecraft 1, if needing rolling with moving cell and mass center tracking unit
When being the change of the centroid position of spacecraft 1 during switching, cam motor 305 rotates with moving cam 306, under the effect of extension spring 310, rolling
Disengaged with moving cell and spacecraft 1, in the presence of stage clip 312, mass center tracking unit is in close contact with spacecraft 1, matter
The heart follows unit that spacecraft 1 can be driven to move；The both ends of cross connecting plate 303 of connection unit connect with vertical connecting plate respectively
311, vertical connecting plate 311 is connected in main fixed plate 313, rotating shaft 314 is provided with main fixed plate 313, rotating shaft 314 is with being servo-actuated
The pitch bearing 201 of support frame 2 coordinates, and the end of the other end of rotating shaft 314 is provided with brake 315, and brake 315 can be by rotating shaft
314 is locked to keep the current pose of spacecraft 1, and spacecraft centroid follows clamping module 3 can under the support of pitch bearing 201
With the elevating movement of spacecraft 1, servo-actuated support frame 2 follows clamping module 3 to follow spacecraft 1 around external connection with spacecraft centroid
The axis of part 205 does driftage posture adjustment campaign, so as to complete that the servo-actuated and spacecraft centroid of spacecraft attitude adjustment motion is changed
When follow.
Claims (3)
1. a kind of spacecraft attitude servomechanism suitable for barycenter dynamic change, it is characterized in that：The system includes servo-actuated branch
Support, spacecraft centroid follow clamping module and control module；
The servo-actuated support frame includes pitch bearing, integrated support frame, thrust bearing, thrust bearing fixed plate and external connection
Part, pitch bearing are arranged on integrated support inframe, and integrated support frame is structure as a whole, and thrust bearing passes through thrust bearing fixed plate
Fix its seat ring to be connected on integrated support frame, blowout patche and the joint outer part of thrust bearing coordinate, the installation side of thrust bearing
Formula be seat ring upper, blowout patche is under；
The mass center tracking clamping module includes rolling with moving cell, mass center tracking unit, switch unit and connection unit；Wherein
Rolling is made up of with moving cell rolling bearing, bearing connecting plate, the longitudinally connected plate of bearing and extension spring；Mass center tracking unit is by rubbing
Wheel, friction turbin generator, friction pulley connecting plate for electric motor and stage clip form；Switch unit is made up of cam and cam motor；Connection is single
Member is made up of cross connecting plate, vertical connecting plate, main fixed plate, rotating shaft and brake；
The rolling bearing is arranged on bearing connecting plate, and two groups of bearing connecting plates are connected to become one by the longitudinally connected plate of bearing
It is overall, extension spring is connected with two symmetrical longitudinally connected plates, the extension spring other end is fixed on vertical connecting plate；
The friction pulley and friction pulley motor axis connection, friction turbin generator are arranged on friction pulley motor mounting plate, friction
Turbin generator installing plate upper end is connected with stage clip, and the stage clip other end is connected in main fixed plate；
The cam is connected with cam motor, and it is tangent with bearing connecting plate and friction pulley connecting plate for electric motor, cam motor installation
On cross connecting plate；The both ends of cross connecting plate are connected with vertical connecting plate, and vertical connecting plate is fixed in main fixed plate, main
Rotating shaft is fixed among fixed plate, rotating shaft is connected with the pitch bearing of servo-actuated support frame, and the outermost end of the rotating shaft other end is fixed with
Brake.
2. a kind of spacecraft attitude servomechanism suitable for barycenter dynamic change according to claim 1, it is characterized in that：
The control module includes obliquity sensor, driver, capture card and control card, and obliquity sensor is arranged on spacecraft, its
Metrical information passes to control card by capture card.
3. a kind of spacecraft attitude servomechanism suitable for barycenter dynamic change according to claim 2, it is characterized in that：
System job step is：
(1) joint outer part and the external world are fixed；
(2) by spacecraft installation on the system, the position of spacecraft is adjusted, makes its suspension force and its matter in initial position
The heart is on the same line；Adjust the position of switch unit cam, it is ensured that rolling is tight with the rolling bearing and spacecraft of moving cell
Closely connected conjunction, it is ensured that spacecraft firmly clamps；
(3) detecting system follows the situation of spacecraft attitude adjustment motion；
(4) after completing above step, power-on, start the associated verification work of spacecraft, during experimental verification, work as control
When molding block receives the information of spacecraft centroid change, the locked rotating shaft of brake, control switch unit effect, make mass center tracking
Unit is bonded the hanging position for adjusting spacecraft at any time with spacecraft, meets barycenter of the suspension force all the time with spacecraft with always
On line；
(5) after completing associated verification or work, power supply is closed, unloads spacecraft.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610410963.8A CN105947237B (en) | 2016-06-13 | 2016-06-13 | A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change |
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| CN201610410963.8A CN105947237B (en) | 2016-06-13 | 2016-06-13 | A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change |
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| CN105947237B true CN105947237B (en) | 2017-11-10 |
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| CN107894317B (en) * | 2017-11-10 | 2024-04-02 | 天津航天机电设备研究所 | Self-adaptive flexible support |
| CN110428715A (en) * | 2019-06-13 | 2019-11-08 | 钱航 | A kind of magentic suspension demonstrating Spacecraft Rendezvous docking section teaching device |
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| CN101482455B (en) * | 2009-02-24 | 2010-09-08 | 航天东方红卫星有限公司 | Following type zero-gravity simulation test method |
| CN102145755B (en) * | 2010-02-10 | 2013-03-27 | 上海卫星工程研究所 | Zero-gravity suspension type deployment test device |
| CN103192999A (en) * | 2013-03-08 | 2013-07-10 | 北京航空航天大学 | Ground zero-gravity test device for small-space one-dimension extension mechanism |
| CN103482089B (en) * | 2013-10-09 | 2015-04-08 | 北京航空航天大学 | Unrestricted suspension type initiative gravity compensation system |
| CN103818567B (en) * | 2014-03-24 | 2015-04-08 | 北京航空航天大学 | Design method of unconstrained suspension system with center of mass automatic alignment function |
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