CN106364699A - Master-slave mode non-contact double superior satellite ground principle verification system - Google Patents
Master-slave mode non-contact double superior satellite ground principle verification system Download PDFInfo
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- CN106364699A CN106364699A CN201610810846.0A CN201610810846A CN106364699A CN 106364699 A CN106364699 A CN 106364699A CN 201610810846 A CN201610810846 A CN 201610810846A CN 106364699 A CN106364699 A CN 106364699A
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- cabin
- master
- platform
- load
- slave mode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
Abstract
The invention provides a master-slave mode non-contact double superior satellite ground principle verification system. The system comprises a master air flotation platform cabin, and further comprises a slave air flotation or master air flotation load cabin. The platform cabin and the load cabin are dynamically and statically isolated through a non-contact magnetic suspending mechanism. The platform cabin floats on a marble platform through a master air flotation device through air. The load cabin is in slave air flotation through a single-shaft air flotation platform or is in master air flotation through the master air flotation device. The master-slave mode non-contact double superior satellite ground principle verification system can be applied to verify the feasibility of a brand-new design method of ''dynamic and static isolation non-contact master-slave decoupling high precision'' adopted by a master-slave mode non-contact double superior satellite and to conduct gesture control performance evaluation.
Description
Technical field
The present invention relates to ground Proof-Of Principle field, in particular it relates to the double super satellite ground principle of master-slave mode noncontact is tested
Card system.
Background technology
Conventional satellite adopts the method for designing that load is connected with platform mostly, and load is pointed to and relied on platform courses with degree of stability
System is realized, but because platform micro-vibration is inevitable, and control system product bandwidth, precision etc. limited in one's ability so that connected
There is micro-vibration " difficult survey, difficult control " technical bottleneck in method for designing, load difficult to realize is double beyond target.
Break traditions satellite load cabin and platform cabin of the double super satellite platform of master-slave mode noncontact is connected mentality of designing, adopts
The brand-new design method of " sound isolates noncontact, principal and subordinate's decoupling high accuracy ", can fundamentally solve load pointing accuracy with steady
Fixed degree is difficult to the great difficult problem being substantially improved.
Compared with current traditional method, the double super satellite platform of master-slave mode noncontact has the following characteristics that 1) double super performances: main
Isolated with spatially sound from the double super satellite platform of formula noncontact, brand-new thought and method that in control, principal and subordinate works in coordination with, using complete
Full pose decoupling configuration and sliding formwork layer control thought, using high accuracy, high bandwidth non-contact magnetically float means, realize the attitude of satellite and refer to
It is better than 5 × 10 to precision-4Degree, attitude stability are better than 5 × 10-6The superhigh precision of degrees second, thoroughly solves double super technical bottlenecks,
Achieve the completely measurable and controllable of load attitude.2) Whole frequency band vibration isolation: magnetic is passed through in double super satellite platform two cabin of master-slave mode noncontact
Float means noncontact connects, and realizes sound isolation, and directly the activity of cut-off platform cabin and flexible part pass to the micro-vibration of load cabin
Passing, the super steady working condition of superfinishing of effective guarantee load, thus reaching the effect of Whole frequency band vibration isolation, greatly reducing to control system
The bandwidth demand of system product.3) isolation platform thermal deformation: compare the connected design of tradition, the double super satellite platform two of master-slave mode noncontact
Cabin spatial separation, effectively prevent the impact that platform thermal deformation is pointed to load.Additionally, double super satellites also have simple,
Safe and reliable, redundancy is high, the low advantage of quality low power consumption.
Because double super satellites are new concepts, need feasible by the double super design of satellites principle of ground experiment checking
Property, and assess the Technology Potential of double super satellites.The ground validation method of conventional satellite does not enable that master-slave mode noncontact is double super to be defended
The Proof-Of Principle of star.Compared with current traditional method, the double super satellite ground Proof-Of Principle of master-slave mode noncontact that the present invention provides
System has the following characteristics that 1) meet " sound isolate noncontact, principal and subordinate work in coordination with high accuracy " double super design of satellites theory；2) letter
Single easy, by the passive air supporting of load cabin, the active air supporting of platform cabin, sound is realized by magnetic floating mechanism and isolates noncontact；Load
Based on cabin, the driven control in platform cabin subsequent load cabin, realize principal and subordinate and work in coordination with high accuracy control.
Content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of double super satellite ground of master-slave mode noncontact is former
Reason checking system.
The double super satellite ground Proof-Of Principle system of a kind of master-slave mode noncontact that there is provided according to the present invention it is characterised in that
Including actively pneumatically supported platform cabin, also include passive air supporting or the pneumatically supported load cabin of active；Non- connecing is passed through with load cabin in platform cabin
Tactile magnetic floating mechanism realizes sound isolation；
Active air-floating apparatus air supporting is passed through in smooth marble platform in platform cabin；
Load cabin is passed through the passive air supporting of single-axle air bearing table or is passed through active air-floating apparatus active air supporting.
Preferably, active air-floating apparatus include gas cylinder, control valve, plane air-bearing, plane axis bearing, in control valve
Under control, the air film that the compressed gas in dependence gas cylinder are formed between plane air-bearing and plane axis bearing, make platform cabin
Float.
Preferably, control adopts based on load cabin, the driven control of load cabin is followed the tracks of in platform cabin, platform cabin and load cabin this
The control of two cabin relative positions ensures that two cabins do not collide.
Preferably, using multiple plane air-bearings, platform cabin is floated, realize substantially friction free relative motion bar
Part, with analog platform cabin disturbance torque suffered by outer space mechanical environment.
Preferably, load cabin, using the active air-floating apparatus as platform cabin, realizes the attitude of load cabin and platform cabin
Rotate and translation.
Preferably, the sound isolation between load cabin and platform cabin is realized using electromagnetic force or electrostatic force mode.
Preferably, described load cabin is provided with grating angular position pick up, laser angular position pick up, optical fibre gyro,
Magnetic floating mechanism coil and these quiet parts of load cabin control unit.
Preferably, described platform cabin is provided with solar array drive mechanism, exterior operator, these movable parts of flywheel
Part, is also equipped with these flexible appendages of solar battery array and platform cabin posture control unit.
There is provided load cabin according to grating angular position pick up/attitude sensor such as laser angular position pick up, optical fibre gyro
Z-axis direction on attitude information, and feed back to load cabin posture control unit, load cabin posture control unit generation action refers to
Order, drives non-contact magnetically float means to produce control moment, makes load cabin reach expected pointing accuracy in the z-axis direction.
Detect two cabin relative attitude information by the measurement apparatus on non-contact magnetically float means and feed back to the control in platform cabin
Unit processed, the control unit in platform cabin calculates control instruction and drives flywheel, jet thrust device etc. to produce control moment, makes to put down
The attitude real-time tracking load cabin in platform cabin.
Detect relative position information in x-axis and y-axis direction for two cabins by the measurement apparatus on non-contact magnetically float means
And feeding back to the control unit in platform cabin, the control unit in platform cabin calculates control instruction and drives non-contact magnetically float means to make
It produces controling power, so that the position relative load cabin in platform cabin is maintained in desired threshold value in x-axis and y-axis direction.
By non-contact magnetically float means are symmetrically installed on interface, realize load cabin z-axis and rotate and platform cabin x-axis and y
Axle translational decoupling controls.
Compared with prior art, the present invention has a following beneficial effect:
Present invention could apply to the double super satellite of checking master-slave mode noncontact is adopted " sound isolation noncontact, principal and subordinate's solution
The feasibility of brand-new design method of coupling high accuracy " and gesture stability Performance Evaluation.The double super satellite platform of master-slave mode noncontact
Achievable load pointing accuracy, degree of stability are up to 10 respectively-4Degree, 10-6Double hypervisor of degrees second, can be applicable to height rail high score
Remote sensing, distributed remote sensing, high accuracy formation, High-performance lasers communication and the fields such as survey of deep space.
Brief description
The detailed description with reference to the following drawings, non-limiting example made by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the double super satellite ground Proof-Of Principle system schematic of master-slave mode noncontact.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These broadly fall into the present invention
Protection domain.
The double super satellite platform of principal and subordinate's noncontact is mainly made up of load cabin and platform cabin, and load cabin is provided with optical fiber top
The peace and quiet part such as spiral shell, payload, star sensor, magnetic floating mechanism stator, platform cabin is provided with solar array and its driving machine
The movable parts such as structure, flywheel, thruster, tank, antenna, magnetic floating mechanism mover.Pass through non-between load cabin and this two cabin of platform cabin
Contact magnetic floating mechanism realizes sound isolation.
The double super satellite ground Proof-Of Principle system of a kind of master-slave mode noncontact that there is provided according to the present invention it is characterised in that
Including actively pneumatically supported platform cabin, also include passive air supporting or the pneumatically supported load cabin of active；Non- connecing is passed through with load cabin in platform cabin
Tactile magnetic floating mechanism realizes sound isolation；
Active air-floating apparatus air supporting is passed through in smooth marble platform in platform cabin；
Load cabin is passed through the passive air supporting of single-axle air bearing table or is passed through active air-floating apparatus active air supporting.
Preferably, active air-floating apparatus include gas cylinder, control valve, plane air-bearing, plane axis bearing, in control valve
Under control, the air film that the compressed gas in dependence gas cylinder are formed between plane air-bearing and plane axis bearing, make platform cabin
Float.
Preferably, control adopts based on load cabin, the driven control of load cabin is followed the tracks of in platform cabin, platform cabin and load cabin this
The control of two cabin relative positions ensures that two cabins do not collide.
Preferably, using multiple plane air-bearings, platform cabin is floated, realizes approximate friction free relative motion condition,
With analog platform cabin disturbance torque suffered by outer space mechanical environment.
Preferably, load cabin, using the active air-floating apparatus as platform cabin, realizes the attitude of load cabin and platform cabin
Rotate and translation.
Preferably, the sound isolation between load cabin and platform cabin is realized using electromagnetic force or electrostatic force mode.
Preferably, described load cabin is provided with grating angular position pick up, laser angular position pick up, optical fibre gyro,
Magnetic floating mechanism coil and these quiet parts of load cabin control unit.
Preferably, described platform cabin is provided with solar array drive mechanism, exterior operator, these movable parts of flywheel
Part, is also equipped with these flexible appendages of solar battery array and platform cabin posture control unit.
As shown in figure 1, the double super satellite ground Proof-Of Principle system of master-slave mode noncontact is mainly by actively pneumatically supported platform cabin
Passively pneumatically supported load cabin composition.Load cabin include grating angular position pick up, laser angular position pick up, optical fibre gyro,
The peace and quiet part such as magnetic floating mechanism coil and load cabin control unit.Load cabin passes through the passive air supporting of single-axle air bearing table.Platform cabin
Mainly it is made up of general satellite modules, each including solar array drive mechanism and exterior operator such as thruster, flywheel etc.
Plant movable part, also include the flexible appendages such as solar battery array and platform cabin posture control unit.Active air supporting is passed through in platform cabin
Device air supporting is in smooth marble platform.
The independent gesture stability loop of load cabin is configured so that according to grating angular position pick up/laser Angle Position
The attitude sensors such as sensor, optical fibre gyro provide the attitude information of load cabin, and feed back to load cabin posture control unit, carry
Lotus cabin posture control unit produces action command, drives magnetic floating mechanism to produce control moment, makes load cabin reach expected sensing
Precision.
The relative Attitude Control for Spacecraft loop in platform cabin is configured so that detects two cabins by the measurement apparatus on magnetic floating mechanism
Relative attitude information simultaneously feeds back to the control unit in platform cabin, and the control unit in platform cabin calculates control instruction and drives outside
Actuator etc. produces control moment, makes the attitude real-time tracking load cabin in platform cabin.
The relative position control loop in platform cabin is configured so that and detects two cabins by the measurement apparatus on magnetic floating mechanism
Relative position information simultaneously feeds back to the control unit in platform cabin, and the control unit in platform cabin calculates control instruction and drives magnetic to float
Mechanism makes it produce controling power, so that the position relative load cabin in platform cabin is maintained in desired threshold value.
The permanent magnet end of magnetic floating mechanism and coil-end using but be not limited to electromagnetic force or electrostatic force mode, by control line
The curent change of circle end coil, to adjust relative position and relative attitude between load cabin and platform cabin, prevents both from touching
Hit.
It is necessary first to mass property adjustment is carried out to " double super " satellite principle prototype during the checking of ground experiment principle, make
Its horizontal direction centroid adjustment precision reaches 0.1gf cm, and specific implementation process is divided into barycenter preconditioning, manual coarse adjustment gentle automatically
Accurate adjustment is put down.The standard quality block of wherein manual coarse adjustment flat interest different size, automatic precision leveling adopts up to 1 μm of certainty of measurement
Hi-Fix platform is realized.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or change, this not shadow
Ring the flesh and blood of the present invention.In the case of not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combine.
Claims (8)
1. a kind of double super satellite ground Proof-Of Principle system of master-slave mode noncontact is it is characterised in that include actively pneumatically supported platform
Cabin, also includes passive air supporting or the pneumatically supported load cabin of active；Platform cabin and load cabin realize sound by non-contact magnetically float means
Isolation；
Active air-floating apparatus air supporting is passed through in smooth marble platform in platform cabin；
Load cabin is passed through the passive air supporting of single-axle air bearing table or is passed through active air-floating apparatus active air supporting.
2. the double super satellite ground Proof-Of Principle system of master-slave mode noncontact according to claim 1 is it is characterised in that actively
Air-floating apparatus include gas cylinder, control valve, plane air-bearing, plane axis bearing, under the control of a control valve, rely in gas cylinder
The air film that compressed gas are formed between plane air-bearing and plane axis bearing, makes platform cabin float.
3. the double super satellite ground Proof-Of Principle system of master-slave mode noncontact according to claim 1 is it is characterised in that control
Based on upper employing load cabin, the driven control of load cabin, the control of platform cabin and this two cabins relative position of load cabin are followed the tracks of in platform cabin
Ensure that two cabins do not collide.
4. the double super satellite ground Proof-Of Principle system of master-slave mode noncontact according to claim 2 is it is characterised in that adopt
Platform cabin is floated by multiple plane air-bearings, realizes substantially friction free relative motion condition, with analog platform cabin outside
The mechanical environment of disturbance torque suffered by sheaf space.
5. the double super satellite ground Proof-Of Principle system of master-slave mode noncontact according to claim 2 is it is characterised in that load
Cabin is rotated and translation using the active air-floating apparatus as platform cabin, the attitude realizing load cabin with platform cabin.
6. the double super satellite ground Proof-Of Principle system of master-slave mode noncontact according to claim 1 is it is characterised in that load
Sound isolation between cabin and platform cabin is realized using electromagnetic force or electrostatic force mode.
7. the double super satellite ground Proof-Of Principle system of master-slave mode noncontact according to claim 1 is it is characterised in that described
Grating angular position pick up, laser angular position pick up, optical fibre gyro, magnetic floating mechanism coil and load are provided with load cabin
These quiet parts of cabin control unit.
8. the double super satellite ground Proof-Of Principle system of master-slave mode noncontact according to claim 1 is it is characterised in that described
Solar array drive mechanism, exterior operator, these movable parts of flywheel are provided with platform cabin, are also equipped with solar cell
These flexible appendages of battle array and platform cabin posture control unit.
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| CN201610810846.0A CN106364699A (en) | 2016-09-08 | 2016-09-08 | Master-slave mode non-contact double superior satellite ground principle verification system |
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Cited By (11)
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| CN106516182A (en) * | 2016-11-23 | 2017-03-22 | 上海卫星工程研究所 | Double five-degrees-of-freedom air bearing and master-slave non-contact double-super satellite ground principle verification system |
| CN106915476A (en) * | 2017-03-01 | 2017-07-04 | 西北工业大学 | A kind of Split type electric magnetic couple satellite load points to control method |
| CN107168348A (en) * | 2017-05-17 | 2017-09-15 | 上海卫星工程研究所 | Satellite non-contact magnetically float means current compensation control method |
| CN107554817A (en) * | 2017-07-11 | 2018-01-09 | 西北工业大学 | The compound formation method of satellite |
| CN107792393A (en) * | 2017-09-25 | 2018-03-13 | 上海卫星工程研究所 | The non-contact internal satellite ground checking system of principal and subordinate and its verification method |
| CN107804483A (en) * | 2017-09-25 | 2018-03-16 | 上海卫星工程研究所 | Non-contact double super satellite platforms and its relative position control of collision avoidance method |
| CN109599005A (en) * | 2019-01-25 | 2019-04-09 | 上海卫星工程研究所 | Double super satellite platform posture ground simulation simulators based on gas magnetic complex controll |
| CN110053786A (en) * | 2019-03-22 | 2019-07-26 | 上海卫星工程研究所 | Solar and Heliospheric Observatory ground experiment device and its system |
| CN110077623A (en) * | 2019-03-27 | 2019-08-02 | 上海卫星工程研究所 | Solar and Heliospheric Observatory platform |
| CN111157199A (en) * | 2019-12-16 | 2020-05-15 | 上海卫星工程研究所 | Flexible cable rigidity determination test method, system and medium |
| CN116067641A (en) * | 2023-04-04 | 2023-05-05 | 上海航天空间技术有限公司 | Space Lorentz force actuator mounting and calibrating test system and method |
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Cited By (15)
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| CN106516182A (en) * | 2016-11-23 | 2017-03-22 | 上海卫星工程研究所 | Double five-degrees-of-freedom air bearing and master-slave non-contact double-super satellite ground principle verification system |
| CN106516182B (en) * | 2016-11-23 | 2020-03-06 | 上海卫星工程研究所 | Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system |
| CN106915476A (en) * | 2017-03-01 | 2017-07-04 | 西北工业大学 | A kind of Split type electric magnetic couple satellite load points to control method |
| CN107168348A (en) * | 2017-05-17 | 2017-09-15 | 上海卫星工程研究所 | Satellite non-contact magnetically float means current compensation control method |
| CN107554817B (en) * | 2017-07-11 | 2020-02-14 | 西北工业大学 | Satellite composite formation method |
| CN107554817A (en) * | 2017-07-11 | 2018-01-09 | 西北工业大学 | The compound formation method of satellite |
| CN107804483A (en) * | 2017-09-25 | 2018-03-16 | 上海卫星工程研究所 | Non-contact double super satellite platforms and its relative position control of collision avoidance method |
| CN107792393A (en) * | 2017-09-25 | 2018-03-13 | 上海卫星工程研究所 | The non-contact internal satellite ground checking system of principal and subordinate and its verification method |
| CN107792393B (en) * | 2017-09-25 | 2020-07-14 | 上海卫星工程研究所 | Master-slave non-contact embedded satellite ground verification system and verification method thereof |
| CN109599005A (en) * | 2019-01-25 | 2019-04-09 | 上海卫星工程研究所 | Double super satellite platform posture ground simulation simulators based on gas magnetic complex controll |
| CN109599005B (en) * | 2019-01-25 | 2021-03-09 | 上海卫星工程研究所 | Double-super-satellite platform attitude ground simulator based on gas-magnetic composite control |
| CN110053786A (en) * | 2019-03-22 | 2019-07-26 | 上海卫星工程研究所 | Solar and Heliospheric Observatory ground experiment device and its system |
| CN110077623A (en) * | 2019-03-27 | 2019-08-02 | 上海卫星工程研究所 | Solar and Heliospheric Observatory platform |
| CN111157199A (en) * | 2019-12-16 | 2020-05-15 | 上海卫星工程研究所 | Flexible cable rigidity determination test method, system and medium |
| CN116067641A (en) * | 2023-04-04 | 2023-05-05 | 上海航天空间技术有限公司 | Space Lorentz force actuator mounting and calibrating test system and method |
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