CN106354030B - Mars gravitation ground simulator and its analogy method - Google Patents
Mars gravitation ground simulator and its analogy method Download PDFInfo
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Abstract
The present invention relates to a kind of Mars gravitation simulator and its analogy methods.The Mars gravitation that size and Orientation all changes is simulated when being mainly used for l-G simulation test, is not needed to generate gravitational field in entire pilot system, only need to be met motion simulator in entire experimental stage by graviational interaction.By the cooperation of the equipment such as gravitation bringing device, position-measurement device, guarantee the Mars graviational interaction that the simulation size and Orientation of resultant force suffered by motion simulator changes simultaneously, truly the real process of analog orbit control.The configuration of the present invention is simple, control method are simply easy and low in cost.
Description
Technical field
The present invention relates to electromagnetism field, specifically a kind of Mars probes ground Hardware-in-loop Simulation Experimentation based on electricity
The Mars gravitation simulator and its analogy method of magnetic theory.
Background technique
With other phase of planets ratios, Mars is the most similar to the earth, and the most possible earth of discovery on it is with external
A planet for ordering phenomenon, the emitted Mars probes of country having in recent years, and start mars exploration project, Mars
The vital task of detection is exactly to detect martian surface, water and life.It needs to carry out a series of ground before Mars probes transmitting
L-G simulation test, Mars probes enter after Mars gravitational field, into a highly elliptic orbit around Mars rotation, Yao Jinhang
Then detector needs to complete Mars capture braking for martian surface detection, and brake can only once, and detector is in high thrust and fire
Under star graviational interaction, becomes rail braking and enter landing track, later around device attitude maneuver by drop rail pose adjustment to separation attitude,
After circular device is separated with lander, selecting a good opportunity around device attitude maneuver to rail lift posture, it is motor-driven to carry out rail lift.Entire device device separates rank
The attitude maneuver and orbit maneuver of section detector are more frequent, while also needing to guarantee entrance when lander enters martian atmosphere
The reliability evaded, drop rail rail lift strategy after angle, the separation of device device between two devices and the precision after device rail lift etc..Cause
This carries out the test of mars exploration ground full physical simulation and has very important significance.
The method for simulating Mars gravitation in ground simulation test at present mainly has centrifuge method, is based on permanent magnet magnetic interpolar
The methods of interaction.
Centrifuge method: centrifuge is a kind of slewing with huge rotor, and test specimen is mounted in arm end, when driving pivoted arm is even
When speed rotation, it can form steady acceleration field on test specimen, centrifuge is rotated with certain acceleration, and can be simulation accelerated
Spend change rate；Permanent magnet method: according between permanent magnet, identical charges repel each other, the Mars gravitation simulation system of principle of opposite sex attraction design.
At present ground simulation test, the method for generalling use image identifying and processing, obtain the real-time position of target and
Speed.
Have significant limitation using centrifuge method: test specimen is mounted in arm end and Mars capture is braked and device device separation test
Needing to simulate this, Mars probes track and attitudes vibration, centrifuge are unable to complete in the process；Permanent magnet method: can only be according to reason
Spatial Magnetic Fields Produced by Permanent Magnets is estimated by value, and actual value and theoretical value have very big error, and the precision of system is lower, and permanent magnet
Attraction between the ferrimagnet of simulator be can not ignore, and additional influence can be generated to system.
Summary of the invention
The problem of for background technique, can simulate size when the l-G simulation test of simulation place the invention proposes a kind of
The Mars gravitation all changed with direction does not need a kind of Mars gravitation simulator that gravitational field is generated in entire pilot system
And its analogy method.
The technical scheme is that a kind of Mars gravitation simulator including motion simulator, Mars gravitation apply
Device, position-measurement device, control device, the motion simulator include marble platform, Three Degree Of Freedom gas suspension
System, single-degree-of-freedom air-flotation system, the main platform of air-flotation system, are wherein equipped with single-degree-of-freedom in Three Degree Of Freedom gas suspension system
Air-flotation system, platform gas cylinders group, lower section are arranged gas foot, the main platform of air-flotation system, air bearing system are arranged on single-degree-of-freedom air-flotation system
It unites and is provided with equivalent executing agency, gyroscope, accelerometer and intelligent gauge head matched with laser tracker on main platform, it is described
Equivalent executing agency include high pressure gas cylinder group, pressure-reduced and-regulated and electromagnetic valve component, nozzle and control circuit box, the movement
Mars gravitation bringing device, auxiliary moving devices, position-measurement device are also equipped on simulator, wherein Mars draws
Power bringing device includes coil, ungulate magnet steel, magnetic conduction construction frame.
Further, totally two groups of the gravitation bringing device, and be in vertical distribution.
Further, the position-measurement device includes the wheel A being mounted on axis A, wheel B, axis A central point also with
The one end axis B is flexibly connected, wherein the junction of axis A and wheel A is equipped with encoder A, the tie point peace of axis A central point and axis B
Equipped with encoder B.
A kind of gravitation analogy method of Mars gravitation simulator keeps two groups of coils relative position in ungulate magnet steel
It is constant, it is in perpendicular quadrature state always, may be implemented to pass through control coil according to the law of electromagnetic induction and Newton's third law
In size of current come change resultant force suffered by ungulate magnet steel size simulation Mars gravitation size variation；With gravitation bringing device
In the position-measurement device matched, position-measurement device encoder A in plane motion can measure what two wheels turned over
Angle [alpha], according to arc length theorem: L=α R
L is the distance that wheel is passed by, and the angle that the wheel that α is measured by encoder turns over, R is radius of wheel, just
The distance that wheel is passed by can be calculated；
Axis A can be rotated with motor car wheel around axis B, when turning, i.e., non-straight when wheel is moved according to scheduled track
When line moves, encoder B can measure the angle beta that shaft A is turned over around axis B, according to β and L, in the time range of very little, phase
It is answering it can be concluded that velocity magnitude and the direction of trolley take the central point of axis A using marble plane as plane right-angle coordinate
For target point, the speed of trolley at this time and location information can be fed back into control system, structure according to the data that encoder returns
At system closed loop.Trolley is controlled to move according to the path of planning, and keep trolley institute band Mars gravitation bringing device it is logical
Electric coil is remained unchanged relative to the position of ungulate magnet steel, to guarantee the simulation size of resultant force suffered by motion simulator and side
To the Mars graviational interaction of variation simultaneously.
The beneficial effects of the present invention are: compared with centrifuge method, the application is adopted by using technical solution of the present invention
It is variable can to simulate size and Orientation while ground experiment for mutually perpendicular gravitation bringing device on two positions
Mars graviational interaction, do not need to realize in the centrifugal mechanism of high-speed motion, structure is simple, and control method is simple and easy to do；With
It is compared using dual permanent-magnet, the current control in coil is easy, and can change size at any time, and then change size and the side of gravitation
To；Compared with image processing method, trolley measuring system realizes position of the trolley on test platform using only two encoders
Positioning is set, structure is simple, and economical and practical, control algolithm is mature, simple and easy.
Detailed description of the invention
Fig. 1 is Mars gravitation simulation system schematic diagram of the present invention.
Fig. 2 is gravitation bringing device structural schematic diagram of the present invention.
Fig. 3 is coil of the present invention and magnetic field position relational graph.
Fig. 4 is coil of the present invention and magnetic field position relational graph.
Fig. 5 is resultant force schematic diagram suffered by coil of the present invention.
Fig. 6 is position-measurement device structure chart of the present invention.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail: the present embodiment is being with technical solution of the present invention
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
A kind of Mars gravitation simulator as shown in Figure 1 including motion simulator, Mars gravitation bringing device, position
Set measuring device, control device, the motion simulator include marble platform 1, Three Degree Of Freedom gas suspension system 2,
The main platform 4 of single-degree-of-freedom air-flotation system 3, air-flotation system, is wherein equipped with single-degree-of-freedom gas in Three Degree Of Freedom gas suspension system 2
Floating system 3, platform gas cylinders group 6, lower section are arranged gas foot 5, the main platform 4 of air-flotation system, air bearing are arranged on single-degree-of-freedom air-flotation system 3
Equivalent executing agency, gyroscope 11, accelerometer 12 and intelligence matched with laser tracker 14 are provided on the main platform 4 of system
Gauge head 15, the equivalent executing agency include high pressure gas cylinder group 10, pressure-reduced and-regulated and electromagnetic valve component 7, nozzle 8 and control line
Road box 9 is also equipped with Mars gravitation bringing device, auxiliary moving devices, position measurement in the motion simulator
Device 19, wherein Mars gravitation bringing device includes coil 17, ungulate magnet steel 18, magnetic conduction construction frame, and whole system is by console
On dynamics simulation machine 13 control with monitoring operating status.
During the test, according to pre-designed algorithm, motion simulator is applied in auxiliary moving devices and gravitation
Setting in motion under the traction of feeder apparatus, when reaching the original state of needs, exercise assist device release, next movement simulation
Device only moves in marble platform 1 under the effect of Mars gravitation bringing device, can complete the two dimension in X, Y plane
Translation and rotation about the z axis, attitude measurement system on position-measurement device and platform is by the data measured group by wireless communication
Part is transmitted to ground control cabinet, and the control circuit box being mounted on simulator receives the posture orbits controlling instruction of ground control cabinet,
Instruction then can also be sent to the equivalent executing agency on platform and sprayed according to preset program from host computer control instruction
Gas, to control the motion profile and posture of motion simulator, while ground control cabinet can also be current according to motion simulator
Position and posture information to synkinesia trolley and gravitation bringing device send instruction, make gravitation bringing device according to default journey
Sequence simulates the variation of Mars gravitation size and Orientation, and position-measurement device passes the speed of synkinesia trolley with position in real time
To the ground control cabinet including dynamics simulation machine, the positional relationship that can be remained relatively unchanged over motion simulator.
The gravitation influence of planet is bigger, and gravity field model is extremely complex, and size and Orientation is all variation, gravitation
Bringing device is used to simulate the output of planetary gravitation, flight path of the simulator under the effect of gravitation bringing device, when becoming rail,
Motion simulator enters hyperbolic orbit under the action of high thrust and gravitation, by elliptic orbit, true simulation rail control
Real process.
As an embodiment of the present invention, as shown in Fig. 2, totally two groups of the gravitation bringing device, and perpendicular point
Cloth.
As an embodiment of the present invention, as shown in fig. 6, the position-measurement device 19, is mounted on synkinesia
On device 16, including wheel A, the wheel B being mounted on axis A, axis A central point is also flexibly connected with the one end axis B, wherein axis A with
The junction of wheel A is equipped with encoder A, and axis A central point and the tie point of axis B are equipped with encoder B.
Whole system is a servo-control system, under the control action of system, simulates the variation of Mars gravity direction；Point
It not remains unchanged relative position of two groups of coils in magnet steel, is in quadrature, and position of the coil relative to magnetic field always
It sets as shown in Figure 3,4, according to Ampere theorem, hot-wire coil will receive the effect of power in ungulate permanent magnet, when the number of turns is the logical of N
When electric coil and magnetic induction intensity are perpendicular, the power F that hot-wire coil is subject in magnetic field meets following formula:
F=NBIL
Wherein B is the magnetic induction intensity in magnetic field；I is the current strength detected in conducting wire；L is the effective length for detecting conducting wire
Degree；N is coil turn；F is the Ampere force for detecting conducting wire and being subject in magnetic field.Fig. 3, Fig. 4 indicate that two mutually hang down in position
The schematic diagram of straight gravitation bringing device coil and magnetic field makes coil symmetrical both sides b, d while being in identical even strong magnetic
In, the size of current passed through in both sides is identical, coil turn is identical, then the amount of force phase that both sides are subject to as seen from the figure
Deng, it is contrary, therefore actually there was only effect of the side c by power in magnetic field, power F1 and F4 suffered by two groups of coils mutually hang down
Directly.
According to Newton's third law, active force between the two articles of interaction and reaction force it is always equal in magnitude,
Contrary, effect on the same line, therefore two reaction force F1 ' and F4 ' suffered by ungulate magnet steel, the two synthesis resultant force
F.As shown in figure 5, being changed when one timing of coil turn, magnetic field strength and c edge lengths by the size of electric current in control coil
Become the size of resultant force suffered by magnet steel, to simulate the variation of Mars gravitation size.Meanwhile the electric current controlled in two groups of coils respectively is big
Small difference is according to formula:
F=F1 '+F4 ',
F2=(F1 ')2+(F4′)2
Change the direction of simulation Mars gravitation.
A kind of gravitation analogy method of Mars gravitation simulator keeps two groups of coils (17) opposite in ungulate magnet steel (18)
Position remains unchanged, and is in perpendicular quadrature state always, may be implemented to pass through with Newton's third law according to the law of electromagnetic induction
Size of current in control coil changes the variation of the size simulation Mars gravitation size of resultant force suffered by ungulate magnet steel；With gravitation
In the position-measurement device that bringing device matches, position-measurement device encoder A in plane motion can measure two vehicles
The angle [alpha] turned over is taken turns, according to arc length theorem: L=α R
L is the distance that wheel is passed by, and the angle that the wheel that α is measured by encoder turns over, R is radius of wheel, just
The distance that wheel is passed by can be calculated；
Axis A can be rotated with motor car wheel around axis B, when turning, i.e., non-straight when wheel is moved according to scheduled track
When line moves, encoder B can measure the angle beta that shaft A is turned over around axis B, according to β and L, in the time range of very little, phase
It is answering it can be concluded that velocity magnitude and the direction of trolley take the central point of axis A using marble plane as plane right-angle coordinate
For target point, the speed of trolley at this time and location information can be fed back into control system, structure according to the data that encoder returns
At system closed loop, control trolley and moved according to the path of planning, and keep trolley institute band Mars gravitation bringing device it is logical
Electric coil is remained unchanged relative to the position of ungulate magnet steel, to guarantee the simulation size of resultant force suffered by motion simulator and side
To the Mars graviational interaction of variation simultaneously.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (4)
1. a kind of Mars gravitation simulator, including motion simulator, Mars gravitation bringing device, position-measurement device, control
Device processed, it is characterised in that: the motion simulator includes marble platform (1), Three Degree Of Freedom gas suspension system
(2), single-degree-of-freedom air-flotation system (3), the main platform of air-flotation system (4) are wherein equipped in Three Degree Of Freedom gas suspension system (2)
Gas foot (5) is arranged in single-degree-of-freedom air-flotation system (3), platform gas cylinders group (6), lower section, and gas is arranged on (3) in single-degree-of-freedom air-flotation system
The main platform of system (4) is floated, is provided with equivalent executing agency, gyroscope (11), accelerometer (12) on the main platform of air-flotation system (4)
And matched intelligence gauge head (15), the equivalent executing agency include high pressure gas cylinder group (10), subtract with laser tracker (14)
Pressure stabilizing and electromagnetic valve component (7), nozzle (8) and control circuit box (9) are pressed, is also equipped in the motion simulator
Mars gravitation bringing device, auxiliary moving devices, position-measurement device (19), wherein Mars gravitation bringing device includes coil
(17), ungulate magnet steel (18), magnetic conduction construction frame.
2. Mars gravitation simulator according to claim 1, it is characterised in that: the gravitation bringing device totally two
Group, and be in vertical distribution.
3. Mars gravitation simulator according to claim 1, it is characterised in that: the position-measurement device includes peace
Wheel A, wheel B on axis A, axis A central point are also flexibly connected with the one end axis B, wherein are pacified the junction of axis A and wheel A
Equipped with encoder A, the tie point of axis A central point and axis B are equipped with encoder B.
4. a kind of gravitation analogy method of Mars gravitation simulator described in claim 1,2 or 3, it is characterised in that: make two
Group coil (17) remains unchanged relative position in ungulate magnet steel (18), perpendicular quadrature state is in always, according to electromagnetic induction
Law may be implemented to change the big of resultant force suffered by ungulate magnet steel by the size of current in control coil with Newton's third law
The variation of small simulation Mars gravitation size；In the position-measurement device matched with gravitation bringing device, position-measurement device exists
Encoder A can measure the angle [alpha] that two wheels turn over when plane motion, according to arc length theorem: L=α R, L are what wheel was passed by
Distance, the angle that the wheel that α is measured by encoder turns over, R are radius of wheel, so that it may calculate that wheel passes by away from
From；It is when turning, i.e., non-when wheel is moved according to scheduled track again because axis A can be rotated with motor car wheel around axis B
When linear motion, encoder B can measure the angle beta that shaft A is turned over around axis B, according to β and L, in the time range of very little,
Accordingly it can be concluded that velocity magnitude and the direction of trolley take the center of axis A using marble plane as plane right-angle coordinate
Point is target point, and the speed of trolley at this time and location information can be fed back to control system according to the data that encoder returns,
Composition system closed loop；Trolley is controlled to move according to the path of planning, and keep the Mars gravitation bringing device of trolley institute band
Hot-wire coil is remained unchanged relative to the position of ungulate magnet steel, thus guarantee resultant force suffered by motion simulator simulation size and
The Mars graviational interaction that direction changes simultaneously.
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| CN109335029B (en) * | 2018-09-30 | 2020-08-07 | 哈尔滨工业大学 | Air-floating type aircraft on-orbit separation ground simulation and test device |
| CN110426968B (en) * | 2019-08-19 | 2022-02-22 | 哈尔滨工业大学 | Planet detection capture brake and device separation full-physical simulation experimental device and method |
| CN111252270A (en) * | 2020-02-20 | 2020-06-09 | 哈尔滨工业大学 | Air floatation robot position and attitude control device and method |
| CN114162354B (en) * | 2021-09-30 | 2024-03-29 | 哈尔滨工业大学 | Executing device for simulating Mars attraction |
| CN114394265B (en) * | 2022-01-13 | 2024-01-09 | 上海卫星工程研究所 | Mars detection surrounding device on-orbit task support and simulation verification system |
| CN115793499B (en) * | 2023-02-06 | 2023-06-20 | 湖南揽月机电科技有限公司 | Three-degree-of-freedom semi-physical simulation system and working method thereof |
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