CN105966644B - Analog service star for in-orbit service technical identification - Google Patents
Analog service star for in-orbit service technical identification Download PDFInfo
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- CN105966644B CN105966644B CN201610396813.6A CN201610396813A CN105966644B CN 105966644 B CN105966644 B CN 105966644B CN 201610396813 A CN201610396813 A CN 201610396813A CN 105966644 B CN105966644 B CN 105966644B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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Abstract
A kind of analog service star for in-orbit service technical identification, including communication subsystem, rail control subsystem, operating mechanism subsystem, propulsion subsystem and power subsystem, communication subsystem realizes communication between rail control subsystem and ground control station using wireless communication module by wireless router, for simulating in-orbit world wireless communication link；Operating mechanism subsystem is used to complete to simulate in-orbit operation task under the control of the central processing unit；Promote subsystem to realize the horizontal movement and rotary motion of control analog service star under the control of the central processing unit, analog service star is completed and passive space vehicle spacecrafts rendezvous by desired motion；The power subsystem provides working power for each electrical equipment of analog service star；Rail control subsystem includes relative pose measuring unit and CPU.The present invention more really simulates the dynamics of Servicing spacecraft under in-orbit environment.
Description
Technical field
The present invention relates to robot for space field, in particulars relate to a kind of analog service for in-orbit service technical identification
Star.
Background technology
On-orbit servicing technology is the study hotspot of current space technology in the world, and " 13 " national strategy hundred
One of large construction project, but directly carrying out in-orbit experiment needs to expend a large amount of manpower and materials, and high risk be present, therefore
Need fully to carry out On-orbit servicing ground simulating.The design of analog service star is to realize ground in-orbit service technical modelling
Important step.
It can be divided into according to microgravity analog form difference currently used for the ground simulation of in-orbit service technology and be based on freely falling
The microgravity simulation system of body motion, the microgravity simulation system based on parabolic flight, water float experimental system, hang spring counterweight reality
Check system and plane air-flotation type experimental system are several.The experimental period of its midplane air-flotation type experimental system is unrestricted, reliably
Property and robustness it is high, and the structure of experimental piece is not limited too much, is current most popular spatial operation ground face mould
Plan mode.
The analog service star that the plane air-flotation type analog service star of open report has at present does not integrate mechanical arm, it is impossible to mould
Intend the in-orbit operation of space manipulator；Some only carries out gravity elimination to mechanical arm, and satellite body is still fixed, it is impossible to which simulation is defended
Coupled motions between star and mechanical arm；Some analog service stars are integrated with mechanical arm but need external service cable, this meeting
The motion of severe jamming analog service star and influence experiment effect.
The content of the invention
In view of the shortcomings of the prior art, the present invention proposes a kind of analog service star for in-orbit service technical identification.
The technical scheme is that：
A kind of analog service star for in-orbit service technical identification, including communication subsystem, rail control subsystem, behaviour
Make mechanism subsystem, promote subsystem and power subsystem.
The communication subsystem realizes rail control subsystem and ground using wireless communication module by wireless router
Communication between control station, for simulating in-orbit world wireless communication link.
The operating mechanism subsystem is used to complete to simulate in-orbit operation task under the control of the central processing unit.
The horizontal movement and rotation that promote subsystem to realize control analog service star under the control of the central processing unit
Transhipment is dynamic, analog service star is completed and passive space vehicle spacecrafts rendezvous by desired motion.
The power subsystem provides working power for each electrical equipment of analog service star.
The rail control subsystem includes relative pose measuring unit and CPU, is approached in analog service star
During passive space vehicle, relative pose measuring unit detects to the target of passive space vehicle, detects obtained image
CPU is defeated by, the image that then CPU obtains to detection is handled, and is resolved and obtained relative pose,
CPU generates the control instruction for promoting subsystem by control algolithm, and control analog service star is completed by desired motion
With passive space vehicle spacecrafts rendezvous；After analog service star completes spacecrafts rendezvous with passive space vehicle, central processing unit controls behaviour
Make mechanism subsystem to the in-orbit operation of the autonomous simulation of passive space vehicle；In spacecrafts rendezvous and operating process, analog service star
Status information is sent to ground control station by wireless communication module and shown；Ground control station can send control in real time and refer to
Order, the motion of analog service star and the motion of control operation mechanism subsystem is controlled to complete to simulate in-orbit operation task.Its
The status information of middle analog service star includes analog service star with respect to the position of target satellite, speed, posture, angular speed, Yi Jiji
Joint angle of tool arm etc..
Further, present invention additionally comprises analog service star nacelle, analog service star nacelle is used to installing and carrying simulation
Service each component devices of star.Two story frame structures are used inside analog service star nacelle, inner space can be made full use of.Mould
Intend being provided with caisson in service star nacelle.Caisson is multiple gas storage for stored air being connected in the present invention
Tank.Caisson is connected with two pipelines with pressure-reducing valve and stop valve, wherein a pipeline is filled gas storage by gas foot 34
Compressed air in putting sprays and then analog service star is suspended on air floating platform, stimulated microgravity.Analog service star
It is provided with nacelle to extension bar and electromagnetic unit, analog service star to extension bar with during passive space vehicle spacecrafts rendezvous, inserting
In the docking cone of passive space vehicle, then electromagnetic unit produces the attracting device locking of suction and passive space vehicle, realizes simulation
Service star and passive space vehicle effectively connect.
Further, it is of the present invention propulsion subsystem include flywheel, magnetic valve, solenoid valve controller, caisson and
Jet pipe, the flywheel can provide torque, for controlling the rotary motion of analog service star；What is connected on the caisson is another
One pipeline connecting spray nozzle, and magnetic valve is connected with the pipeline between caisson and jet pipe, the gas in caisson leads to
Cross magnetic valve and spray generation thrust from jet pipe so as to control the horizontal movement of analog service star, the solenoid valve controller is used to control
The motion control of analog service star is completed in the opening and closing of magnetic valve processed, jet pipe and flywheel cooperation.
A body coordinate system being connected on analog service star is defined, wherein +X direction points to the advance of analog service star
Direction, straight up, +Y direction meets right-hand rule to +Z direction.Further, connecting spray nozzle is used on caisson of the present invention
Pipeline be divided into 6 branch roads, magnetic valve and jet pipe combination are respectively connected with 6 branch roads, i.e., it is of the invention to be disposed with 6 electromagnetism altogether
Valve and jet pipe combination.Two magnetic valves and jet pipe combination are respectively distributed with +/- X-direction, in each magnetic valve of +/- Y-direction and
Jet pipe combines, and this layout can provide thrust and torque with minimum magnetic valve and jet pipe combination.
Further, operating mechanism subsystem of the invention include mechanical arm controller, mechanical arm, Manipulator Controller and
Manipulator, the action of mechanical arm controller control machinery arm, mechanical arm controller carry out letter by network interface and CPU
Breath interaction；The action of Manipulator Controller control machinery hand, Manipulator Controller carry out letter by RS232 and CPU
Breath interaction.
Further, mechanical arm controller of the invention uses 220V Alternating Current Power Supplies, mechanical arm controller internal motion control
Fabrication uses DMC2143 multiaxis independent controls, can support 8 AC servo motors simultaneously；Mechanical arm has four joints,
There is independent absolute encoder measurement current location in each joint and has two kinds of limit functions of hardware and software to ensure safety；Machine
Tool hand controls is powered using 12V DC；Manipulator is single-degree-of-freedom paw, is transported by the opening and closing of servos control paw
It is dynamic, for completing to simulate in-orbit operation task.
Further, power subsystem of the invention includes multifunction structure battery, supply convertor and inverter, more work(
Can structure battery provide 28V power supplys, the 28V power conversions that supply convertor provides multifunction structure battery be 24V, 12V and
5V voltage, each electrical equipment to analog service star provide power supply；Inverter is the 28V electricity for providing multifunction structure battery
Source is converted to 220V exchanges and supplies electricity to mechanical arm offer power supply.Wherein：Multifunction structure battery is be analog service star nacelle one
The individual deck board for being embedded with lithium battery.
The beneficial effects of the invention are as follows：
First, being integrated with operating mechanism subsystem on microgravity analog satellite platform base, in one plane simulate
Coupled motions between satellite in orbit body and mechanical arm, available for in-orbit service technology under checking microgravity environment；
Second, designed first on microgravity analog satellite platform and used multifunction structure technology, using multi-functional knot
Structure battery is independently-powered, overcomes the interference that traditional external service cable moves to analog service luck, more real simulation
The dynamics of Servicing spacecraft under in-orbit environment.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
In Fig. 1：11st, analog service star nacelle；12nd, air floating platform；13rd, electromagnetic unit；14th, to extension bar；15th, mechanical arm；
16th, manipulator；17th, relative pose measuring unit；18th, wireless communication module；19th, multifunction structure battery；
Fig. 2 is nacelle internal structure schematic diagram.
In Fig. 2：21st, CPU；22nd, supply convertor；23rd, inverter；
Fig. 3 is air-floating apparatus structural representation.
In Fig. 3：31st, magnetic valve；32nd, jet pipe；33rd, air accumulator；34th, gas foot
Fig. 4 is the workflow schematic diagram of the present invention.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
Reference picture 1, for a kind of analog service star for in-orbit service technical identification of the invention, including structure and mechanism
System, promote subsystem, rail control subsystem, communication subsystem, operating mechanism subsystem and power subsystem；It is used for
Rail service operations correlation technique ground simulation and checking, it is realized by the relative pose between measuring simulated target spacecraft
Ground simulation independently approaches and spacecrafts rendezvous, and can complete trouble shooting and module by control machinery arm in a manner of autonomous or remote operating
The in-orbit service tasks such as replacing.
Structure and mechanism subsystem include analog service star nacelle 11, air floating platform 12, electromagnetic unit 13 and to extension bar 14.
As shown in Fig. 2 analog service star nacelle 11 is used for each the composition system and equipment for installing and carrying analog service star, analog service
Two story frame structures are used inside star nacelle, inner space can be made full use of.As shown in figure 3, in analog service star nacelle 11
There are two interconnected air accumulators 33, for stored air.Two air accumulators 33 are connected with two pipelines, wherein a pipeline
Analog service star analog satellite is suspended in air floating platform 12 by the compressed air in two air accumulators 33 by gas 34 jets of foot
On, stimulated microgravity.It is provided with analog service star nacelle 11 to extension bar 14 and electromagnetic unit 13, analog service star and mesh
Mark in Spacecraft Rendezvous docking operation, extension bar 14 is inserted in the docking cone of passive space vehicle, then electromagnetic unit 13 produces suction
The attracting device of power and passive space vehicle is locked, and ensures effective connection of analog service star and passive space vehicle.
Subsystem is promoted to include flywheel 25, magnetic valve 31, solenoid valve controller 24 and jet pipe 32；Flywheel 25 can provide power
Square, for controlling the rotary motion of service star.Another pipeline that two air accumulators 33 connect leads to the gas in air accumulator 33
Magnetic valve 31 is crossed, thrust can be produced by being sprayed from jet pipe 32, and jet pipe 32 is directly installed on magnetic valve 31, solenoid valve controller 24
The opening and closing of magnetic valve can be controlled.Define a body coordinate system being connected on analog service star, wherein +X direction
The direction of advance of analog service star is pointed to, straight up, +Y direction meets right-hand rule to +Z direction.It is used to connect on air accumulator 33
The pipeline of jet pipe 32 is divided into 6 branch roads, and magnetic valve and jet pipe combination are respectively connected with 6 branch roads, i.e. the present invention is disposed with 6 altogether
Individual magnetic valve and jet pipe combination, each two in +/- X-direction, each one in +/- Y-direction, this layout can use minimum electromagnetism
Valve and jet pipe combination provide thrust and torque, so as to control the horizontal movement of analog service star and rotary motion, jet pipe and flywheel
The motion control of analog service star is completed in cooperation.
Rail control subsystem includes relative pose measuring unit 17 and CPU 21, relative pose measuring unit
Using monocular industrial camera, the target of passive space vehicle is detected, the image for detecting to obtain is defeated by CPU 21,
Then CPU 21 is handled image, and is resolved and obtained relative pose.
Communication subsystem is communicated using wireless communication module 18 by wireless router and surface-monitoring equipment, for simulating
In-orbit world wireless communication link.
Operating mechanism subsystem includes mechanical arm controller 27, mechanical arm 15, Manipulator Controller 26 and manipulator 16；Machine
Tool arm controller uses 220V Alternating Current Power Supplies, and mechanical arm controller internal motion control card uses DMC2143 multiaxis independent controls
Device, 8 AC servo motors can be supported simultaneously, information exchange is carried out by network interface and CPU 21；Mechanical arm has
There are four joints, there is independent absolute encoder measurement current location in each joint, and there are two kinds of spacing work(of hardware and software
It can ensure that safety；Manipulator Controller is powered using 12V DC, and information exchange is carried out by RS232 and CPU 21；
Manipulator is single-degree-of-freedom paw, by the opening and closing campaign of servos control paw, is appointed for completing the in-orbit operation of simulation
Business.
Power subsystem includes multifunction structure battery 19, supply convertor 22 and inverter 23, multifunction structure electricity
Pond 19 is the deck board of an embedded lithium battery of analog service star nacelle, and embedded lithium battery can provide 28V power supplys (according to
Electricity difference voltage changes in 26V between 30V), supply convertor 22 is that lithium battery 28V is transformed into 24V, 12V and 5V
Voltage, power supply is provided to different type equipment, inverter is that lithium battery 28V is converted into 220V to provide power supply to mechanical arm, is kept away
Exempt from the external city's electrical cables of mechanical arm and influence experiment effect.
As indicated at 4, the present invention is as follows for the workflow of the analog service star of in-orbit service technical identification：
During analog service star approaches operation object i.e. passive space vehicle, obtained by relative pose measuring unit 17
To the image of target, then CPU 21 obtains the relative position between analog service star and operation object by resolving
Put, then CPU 21 controls analog service by control algolithm to generation flywheel and solenoid valve control control instruction
Star is completed and passive space vehicle spacecrafts rendezvous by desired motion.
After analog service star completes spacecrafts rendezvous with passive space vehicle, the control machinery arm of CPU 21 and manipulator
To the in-orbit operation of the autonomous simulation of passive space vehicle.
In spacecrafts rendezvous and operating process, status information can be sent to ground control station progress by wireless communication module
Display；Ground control station can also send control instruction in real time, control the motion of analog service star, and control machinery arm and machine
The motion of tool hand completes to simulate in-orbit operation task.
Described above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of analog service star for in-orbit service technical identification, it is characterised in that including communication subsystem, rail control system
Subsystem, operating mechanism subsystem, subsystem and power subsystem are promoted,
The communication subsystem realizes that rail control subsystem and ground control using wireless communication module by wireless router
Communication between standing, for simulating the world wireless communication link of actual satellite in orbit system；
The operating mechanism subsystem is used to complete to simulate in-orbit operation task under the control of the central processing unit；
It is described to promote subsystem to realize that the horizontal movement of control analog service star and rotation are transported under the control of the central processing unit
It is dynamic, analog service star is completed and passive space vehicle spacecrafts rendezvous by desired motion；
The power subsystem provides working power for each electrical equipment of analog service star；
The rail control subsystem includes relative pose measuring unit and CPU, and target is approached in analog service star
During spacecraft, relative pose measuring unit is detected to the target of passive space vehicle, and the image for detecting to obtain is defeated by
CPU, the image that then CPU obtains to detection is handled, and is resolved and obtained relative pose, center
Processing unit generates the control instruction for promoting subsystem by control algolithm, and control analog service star is completed by desired motion and mesh
Mark Spacecraft Rendezvous docking；After analog service star completes spacecrafts rendezvous with passive space vehicle, central processing unit controls operation machine
Structure subsystem is to the in-orbit operation of the autonomous simulation of passive space vehicle；In spacecrafts rendezvous and operating process, the state of analog service star
Information is sent to ground control station by wireless communication module and shown；Ground control station can send control instruction in real time, control
The motion of analog service star processed and the motion of control operation mechanism subsystem complete to simulate in-orbit operation task.
2. the analog service star according to claim 1 for in-orbit service technical identification, it is characterised in that also including mould
Intend service star nacelle, analog service star nacelle is used for each component devices for installing and carrying analog service star, analog service star cabin
Caisson is provided with vivo, caisson is multiple air accumulators for stored air being connected, and caisson is connected with
Two pipelines with pressure-reducing valve and stop valve, wherein a pipeline by gas foot by the compressed air in caisson spray into
And analog service star is suspended on air floating platform, stimulated microgravity.
3. the analog service star according to claim 2 for in-orbit service technical identification, it is characterised in that the simulation
Two story frame structures are used inside service star nacelle.
4. the analog service star according to claim 2 for in-orbit service technical identification, it is characterised in that the simulation
It is provided with service star nacelle to extension bar and electromagnetic unit, analog service star is with during passive space vehicle spacecrafts rendezvous, docking
In the docking cone of bar insertion passive space vehicle, then electromagnetic unit produces the attracting device locking of suction and passive space vehicle, real
Existing analog service star and passive space vehicle effectively connect.
5. the analog service star according to claim 4 for in-orbit service technical identification, it is characterised in that the propulsion
Subsystem includes flywheel, magnetic valve, solenoid valve controller, caisson and jet pipe, and the flywheel can provide torque, for controlling
The rotary motion of analog service star processed；Another pipeline connecting spray nozzle and caisson and jet pipe connected on the caisson
Between pipeline on be connected with magnetic valve, the gas in caisson is sprayed by magnetic valve from jet pipe produces thrust so as to control
The horizontal movement of analog service star, the solenoid valve controller are used for the opening and closing for controlling magnetic valve, jet pipe and flywheel association
Make the motion control of completion analog service star.
6. the analog service star according to claim 5 for in-orbit service technical identification, it is characterised in that caisson
The upper pipeline for connecting spray nozzle is divided into 6 branch roads, and magnetic valve and jet pipe combination are respectively connected with 6 branch roads；Define one admittedly
The body coordinate system being connected on analog service star, wherein +X direction point to analog service star direction of advance, +Z direction vertically to
On, +Y direction meets right-hand rule；Two magnetic valves are respectively distributed with +/- X-direction and jet pipe combines, each one in +/- Y-direction
Magnetic valve and jet pipe combination.
7. the analog service star according to claim 4 for in-orbit service technical identification, it is characterised in that operating mechanism
Subsystem includes mechanical arm controller, mechanical arm, Manipulator Controller and manipulator, and mechanical arm controller control machinery arm moves
Make, mechanical arm controller carries out information exchange by network interface and CPU；Manipulator Controller control machinery hand is moved
Make, Manipulator Controller carries out information exchange by RS232 and CPU.
8. the analog service star according to claim 7 for in-orbit service technical identification, it is characterised in that mechanical arm control
Device processed uses 220V Alternating Current Power Supplies, and mechanical arm controller internal motion control card uses DMC2143 multiaxis independent controls；Machinery
Arm has four joints, and there is independent absolute encoder measurement current location in each joint and has two kinds of hardware and software spacing
Function ensures safety；Manipulator Controller is powered using 12V DC；Manipulator is single-degree-of-freedom paw, passes through servos control hand
The opening and closing campaign of pawl, for completing to simulate in-orbit operation task.
9. the analog service star according to claim 4 for in-orbit service technical identification, it is characterised in that power supply subsystem
System includes multifunction structure battery, supply convertor and inverter, and multifunction structure battery provides 28V power supplys, supply convertor
The 28V power conversions that multifunction structure battery is provided is 24V, 12V and 5V voltages, each electrical equipment to analog service star
Power supply is provided；Inverter is that the 28V Power converts that multifunction structure battery provides are supplied electricity into mechanical arm for 220V exchanges to provide electricity
Source.
10. the analog service star according to claim 9 for in-orbit service technical identification, it is characterised in that described more
The deck board for being embedded with lithium battery that it is analog service star nacelle that functional structure battery, which is,.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107161360B (en) * | 2017-06-07 | 2019-06-11 | 北京航空航天大学 | Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks |
| CN117262238A (en) * | 2017-07-21 | 2023-12-22 | 诺思路·格鲁曼系统公司 | Spacecraft service device and related components, systems and methods |
| CN107481281B (en) * | 2017-08-23 | 2020-11-27 | 上海微小卫星工程中心 | Relative pose calculation method and device and spacecraft rendezvous and docking system |
| CN110900621B (en) * | 2019-11-19 | 2021-05-18 | 北京空间技术研制试验中心 | Service method for replacing exposed load of manned spacecraft on orbit based on mechanical arm |
| CN112407337A (en) * | 2020-11-23 | 2021-02-26 | 北京微动航科技术有限公司 | Propulsion system of satellite simulator and satellite simulator |
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