CN106379564B - Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles - Google Patents
Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles Download PDFInfo
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- CN106379564B CN106379564B CN201610884415.9A CN201610884415A CN106379564B CN 106379564 B CN106379564 B CN 106379564B CN 201610884415 A CN201610884415 A CN 201610884415A CN 106379564 B CN106379564 B CN 106379564B
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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
The invention discloses a tri-axis micro-interference torque motion simulating device for the ground simulation of space vehicles. The device comprises a base, an outer ring, an outer ring bearing pair, a middle ring, a middle ring bearing pair, an inner bearing pair and an instrument platform. Compared with the prior art that an air flotation ball bearing is adopted, the device has the advantages that air flotation bearings are adopted in the outer ring bearing pair, the middle ring bearing pair and the inner bearing pair, so that the development difficulty of the motion simulating device can be effectively reduced; a motor can be utilized for driving and controlling, conventional angular measurement devices including an optical grating, an induction synchronizer and the like can be used for measuring operation angle information of the space vehicles, so that the simulation result has good accuracy and veracity, and the operation is convenient; and a tri-axis micro-interference torque is simulated by virtue of the outer ring, the outer ring bearing pair, the middle ring, the middle ring bearing pair and the inner bearing pair, so that the revolution range of the motion simulating device can be expanded, and the analogue simulation of the large-scale tri-axis micro-interference torque can be realized.
Description
Technical field
The present invention relates to spacecraft ground simulation technical field, more particularly to the spacecraft ground emulation micro- perturbed force of three axles
Square motion simulator.
Background technology
Background of related of the invention is illustrated below, but these explanation might not constitute it is of the invention existing
Technology.
Three-axis air-bearing table is the key device of spacecraft attitude control system full physical simulation, in full physical simulation reality
The performance of middle inspection satellite control system is tested, is the important means and method in spacecraft development process.Usual three axles gas
Floating platform is built based on ball bearing, and ball bearing forms high pressure air film and floats stage body is simulated by compressed air, outside analog satellite too
The running environment of aerial micro- disturbance torque.
The shortcoming of this structure is：Can not carry out the measurement of angle using common metering system, such as inductosyn,
Photoelectric code disk, grating etc., therefore measurement is always to perplex it to carry high-precision bottleneck；Two revolution ranges of the free degree of ball bearing
Very little；It can not be driven to operate using common motor, the modes such as jet, flywheel can only be used.
The content of the invention
It is an object of the invention to propose a kind of spacecraft ground the emulation micro- disturbance torque motion simulator of three axles, energy
It is enough to realize turning round on a large scale, it is easy to measure spacecraft operation angle information, and operation control can be carried out using motor, emulate
As a result accuracy and accuracy are good, are easy to operation.
The spacecraft ground emulation micro- disturbance torque motion simulator of three axles of the invention, including：Pedestal, outer shroud
With outer shroud bearing pair, middle ring and middle ring bearing pair, inner ring bearing pair and platform；Wherein, outer shroud bearing pair, middle ring bearing pair
It is air-bearing with inner ring bearing pair；Outer shroud is rotatably arranged on pedestal by outer shroud bearing pair, the rotary shaft and base of outer shroud
The upper side of seat is vertical；Middle ring is rotatably arranged on outer shroud by middle ring bearing pair, the rotary shaft of middle ring and the upper table of pedestal
Face is parallel；
One end of inner ring bearing pair is arranged in middle ring, the other end and platform are connected, the rotary shaft of inner ring bearing pair
Rotary shaft with middle ring is vertical；Platform can be under the driving effect of inner ring bearing pair around the rotary shaft of inner ring bearing pair
Rotate.
Preferably, inner ring bearing pair includes inner ring bearing and inner axle；The outer ring of inner ring bearing is fixedly provided in middle ring
On, the axial direction of inner ring bearing is vertical with the rotary shaft of middle ring；Inner axle is fixed on the inner ring of inner ring bearing, one end of inner axle with
Inner ring bearing is connected, and the other end is connected with platform.
Preferably, inner ring bearing pair is further included：It is arranged on the lengthening inner axle between inner axle and platform；Plus
One end of inner axle long is connected with the other end of inner axle, and the other end for lengthening inner axle is connected with platform.
Preferably, inner ring bearing pair includes：Inner ring bearing and inner axle；Wherein, the outer ring of inner ring bearing is fixedly disposed
In middle ring, the axial direction of inner ring bearing is vertical with the rotary shaft of middle ring；Inner axle is arranged on the inner ring of inner ring bearing, inner axle
Two ends are connected by an inner ring bearing with middle ring respectively；Platform is removably disposed on inner axle.
Preferably, platform has beginning cavity directed downwardly, and outer shroud, middle ring are embedding to be contained in cavity.
Preferably, fenestral fabric is provided with platform, for installed load.
Preferably, motion simulator is further included：It is arranged on the inner ring between inner ring bearing pair and platform；It is interior
The side of ring is fixedly connected with the other end of the inner ring bearing pair, and platform is fixedly provided in the opposite side of inner ring.
Preferably, outer shroud is opening up camber or ∪ type frameworks, or outer shroud is opening up curved face type structure.
Preferably, the opening inner side of outer shroud is provided with two middle ring bearing pairs, two middle ring bearing pair turning on outer shroud
Moving axis is symmetrical, and the axial direction of middle ring bearing pair is parallel with the upper surface of pedestal；Middle ring is arranged in the opening of outer shroud, the two ends of middle ring
It is connected with outer shroud by a middle ring bearing pair respectively.
Preferably, the edge of outer shroud is provided with two middle ring bearing pairs, two rotary shafts of the middle ring bearing pair on outer shroud
Symmetrically, the axial direction of middle ring bearing pair and the upper surface of pedestal are parallel；Middle ring is to be set in the camber framework or ∪ types on the outside of middle ring
Framework or curved face type structure, the two ends on the inside of middle ring are connected by a middle ring bearing pair with outer shroud respectively.
Spacecraft ground emulation of the invention is included with the micro- disturbance torque motion simulator of three axles：Pedestal, outer shroud
With outer shroud bearing pair, middle ring and middle ring bearing pair, inner ring bearing pair and platform.With in the prior art use air-floating ball bearing
Compare, outer shroud bearing pair of the invention, middle ring bearing pair and inner ring bearing pair use air-bearing, can effectively reduce motion
The development difficulty of analogue means, and control can be driven using motor, conventional grating and inductosyn can be used
The operation angle information of spacecraft is measured Deng conventional angle measurement unit, simulation result accuracy and accuracy are good, be easy to behaviour
Make；The micro- disturbance torque of three axles is simulated by outer shroud and outer shroud bearing pair, middle ring and middle ring bearing pair and inner ring bearing pair, can
The revolution range of motion simulator is improved, the analogue simulation of the micro- disturbance torque of three axles on a large scale is realized.
Brief description of the drawings
By the specific embodiment part of offer referring to the drawings, the features and advantages of the present invention will become more
It is readily appreciated that, in the accompanying drawings：
Fig. 1 is the spacecraft ground emulation micro- disturbance torque motion simulator schematic diagram of three axles of the invention；
During Fig. 2 in the preferred embodiment of the present invention air-bearing structural representation.
Specific embodiment
Illustrative embodiments of the invention are described in detail with reference to the accompanying drawings.Illustrative embodiments are retouched
State merely for the sake of demonstration purpose, and be definitely not to the present invention and its application or the limitation of usage.
In order to solve problems of the prior art, the present invention is substituted in existing three-axis air-bearing table using air-bearing
Air-floating ball bearing, and it is micro- to simulate three axles by outer shroud and outer shroud bearing pair, middle ring and middle ring bearing pair and inner ring bearing pair
Disturbance torque.1 pair of spacecraft ground emulation of the invention with reference to the accompanying drawings is entered with the micro- disturbance torque motion simulator of three axles
Row is described in detail.
Referring to Fig. 1, spacecraft ground emulation of the invention is included with the micro- disturbance torque motion simulator of three axles：Base
Seat 10, outer shroud 30 and outer shroud bearing pair 20, middle ring 50 and middle ring bearing pair 40, inner ring bearing pair 60 and platform 80.Outer shroud
30 are rotatably arranged on pedestal 10 by outer shroud bearing pair 20, and the rotary shaft of outer shroud 30 is vertical with the upper side of pedestal 10.In
Ring 50 is rotatably arranged on outer shroud 30 by middle ring bearing pair 40, and the rotary shaft of middle ring 50 is parallel with the upper surface of pedestal 10.
One end of inner ring bearing pair 60 is arranged in middle ring 50, the other end and platform 80 are connected, the rotary shaft of inner ring bearing pair 60
Rotary shaft with middle ring 50 is vertical.Platform 80 can be under the driving effect of inner ring bearing pair 60 around inner ring bearing pair 60
Rotary shaft rotate.
Outer shroud 30 and outer shroud bearing pair 20, middle ring 50 and middle ring bearing pair 40 and the simulation of inner ring bearing pair 60 can be respectively
Three micro- disturbance torques of axial direction of simulation, slewing area is big, compared with the small revolution range of two frees degree of air-floating ball bearing, this
Invention can significantly improve the revolution range of motion simulator, realize the analogue simulation of the micro- disturbance torque of three axles on a large scale.
Angularly measurement apparatus need to install on the rotating shaft for conventional grating and inductosyn, cannot otherwise be surveyed
Amount, and air-floating ball bearing drives rotation using modes such as jet, flywheels, does not have rotary shaft, therefore routine cannot be used
Angle measurement unit measures the operation angle information of spacecraft.Outer shroud bearing pair 20 of the invention, middle ring bearing pair 40 and inner ring
Bearing pair 60 uses air-bearing such that it is able to avoid the defect brought using air-floating ball bearing, improves the standard of measurement result
True property and accuracy, and it is easy to operate.
In some currently preferred embodiments of the present invention, air-bearing carry taper air cavity, taper air cavity upside for air inlet,
Downside is gas outlet, the radius of the radius less than downside gas outlet of upper side-inlet.Compared with the bearing of ring restrictor, with cone
The air-bearing of shape air cavity can keep pressure higher under the conditions of supply gas pressure and larger air-film thickness higher, improve
The stability of strutting system of air-bearing.As shown in Figure 2.Air velocity can meet following relation in the air film of air-bearing：
In formula, r0It is the radius of air vent, unit is mm；r1It is the radius of taper air cavity downside gas outlet, unit is mm；
r2It is the radius of air-bearing, unit is mm；H is air-film thickness, and unit is mm；h0It is the thickness of taper air cavity, unit is mm；p
It is gas film pressure, unit is Pa；μ is the dynamic viscosity of gas, and unit is Pas；β is correction factor.Determine gas according to formula 1
Air velocity in the air film that floating axle holds, can make the air-flow in air film uniform, improve the stability of strutting system of air-bearing.It is preferred that
Ground, when β=0.3~0.7, the air-flow in air film is more preferable to the stability of strutting system of air-bearing.
During due to being the influence that simulate micro- disturbance torque to spacecraft operation angle information, therefore angle is run to spacecraft
The measurement of degree information must be accurate, otherwise cannot accurately carry out analogue simulation.The structure of air-floating ball bearing causes that its attitude is surveyed
The difficulty of amount is larger, and in order to obtain gesture stability effect higher, air-floating ball bearing R＆D costs in itself are also higher.The present invention
Air-floating ball bearing is substituted using air-bearing, the emulation cost of R＆D costs and motion simulator can be significantly reduced.
Inner ring bearing pair 60 can be arranged in middle ring 50, and in the preferred embodiment shown in Fig. 1, inner ring bearing pair 60 is wrapped
Include：Inner ring bearing (not shown) and inner axle (not shown).The outer ring of inner ring bearing is fixedly provided in middle ring 50
On, the axial direction of inner ring bearing is vertical with the rotary shaft of middle ring 50；Inner axle is fixed on the inner ring of inner ring bearing, one end of inner axle
It is connected with inner ring bearing, the other end is connected with platform 80.In inner axle rotation process, can drive platform 80 around
The rotary shaft of inner ring bearing pair 60 is rotated, and this structure can realize the rotation in the range of 360 ° in theory.Preferably, inner axle
Secondary 60 are held to may further include：Lengthen inner axle 70.Inner axle 70 is lengthened to be arranged between inner axle and platform 80, its
One end is connected with the other end of inner axle, and the other end is connected with platform 80.Set between inner axle and platform 80
Inner axle 70 is lengthened, by increasing capacitance it is possible to increase the gap between middle ring 50 and platform 80, consequently facilitating installed load.Additionally, increasing
Gap between middle ring 50 and platform 80 is also prevented from being touched with outer shroud 30 or middle ring 50 in the rotation process of platform 80
Hit, reduce device damage, and improve the simulation accuracy of motion simulator.
Certainly, inner ring bearing pair 60 can also be set in the outside of middle ring 50.Such as, inner ring bearing pair 60 includes：Inner ring
Bearing (not shown) and inner axle (not shown).The outer ring of inner ring bearing is fixedly provided in middle ring 50, inner ring
The axial direction of bearing is vertical with the rotary shaft of middle ring 50.Inner axle is arranged on the inner ring of inner ring bearing, and the two ends of inner axle lead to respectively
An inner ring bearing is crossed to be connected with middle ring 50.Platform 80 is removably disposed on inner axle.Those skilled in the art
Can select other modes that inner ring bearing pair 60 is connected with middle ring 50 according to actual conditions, the present invention does not do specific limit to this
It is fixed, if inner ring bearing pair 60 can be connected with middle ring 50 and rotary shaft and the middle ring 50 of inner ring bearing pair 60 rotary shaft
It is vertical.
In some embodiments of the invention, platform 80 has a beginning cavity directed downwardly, and outer shroud 30, middle ring 50 is embedding contains
In the cavity, so that motion simulator more compact structure of the invention.Grid is also provided with platform 80
Shape structure (not shown), for installed load.
In the embodiment show in figure 1, platform 80 is directly connected by lengthening inner axle 70 with inner ring bearing pair 60.
In actual application, it is also possible to which inner ring (not shown) is set between inner ring bearing pair 60 and platform 80.Inner ring
Side be fixedly connected with the other end of inner ring bearing pair 60, platform 80 is fixedly provided in the opposite side of inner ring.With Fig. 1
In embodiment as a example by, set between inner axle 70 and platform 80 circular or square plate as inner ring that can lengthen,
Interior plane of a loop is vertical with inner axle 70 is lengthened.The connection that inner ring can increase between inner ring bearing pair 60 and platform 80 is set
Strength and stability, improves the precision of the gesture stability of inner ring bearing pair 60.
Middle ring 50 can be arranged on those skilled in the art the inside of outer shroud 30.In order to increase the rotation of middle ring 50 as far as possible
Scope, can be set to opening up camber or ∪ type frameworks, or outer shroud 30 is set to opening up by outer shroud 30
Curved face type structure.In the embodiment show in figure 1, middle ring 50 can be arranged on the inside of outer shroud 30, and outer shroud 30 is set to opening
∪ type frameworks upward.It is further preferred that the opening inner side of outer shroud 30 is provided with two middle ring bearing pairs 40, two middle annulate shafts
The secondary rotation axial symmetry on outer shroud 30 is held, the axial direction of middle ring bearing pair 40 is parallel with the upper surface of pedestal 10；Middle ring 50 is set
In the opening of outer shroud 30, the two ends of middle ring 50 are connected by a middle ring bearing pair 40 with outer shroud 30 respectively.
Middle ring 50 can also be set in those skilled in the art the outside of outer shroud 30.For example, the edge of outer shroud 30 is set
There are two middle ring bearing pairs, rotation axial symmetry of the two middle ring bearing pairs on outer shroud 30, and the two middle ring bearing pairs
Axial direction it is parallel with the upper surface of pedestal 10.In order to increase the slewing area of middle ring 50 as far as possible, middle ring 50 can be set to set
The camber framework or ∪ types framework or curved face type structure in the outside of outer shroud 30 are located at, the two ends of the inner side of middle ring 50 are respectively by one
Collar bearing pair is connected with outer shroud 30.
Compared with prior art, the present invention can effectively reduce the development difficulty of motion simulator；Motor can be used
Be driven control, using conventional grating and inductosyn angularly measurement apparatus measure spacecraft operation angle information,
Simulation result accuracy and accuracy are good, are easy to operation；Can improve the revolution range of motion simulator, realize on a large scale three
The analogue simulation of the micro- disturbance torque of axle.
Although with reference to illustrative embodiments, invention has been described, but it is to be understood that the present invention does not limit to
The specific embodiment that Yu Wenzhong is described in detail and shown, in the case of without departing from claims limited range, this
Art personnel can make various changes to the illustrative embodiments.
Claims (10)
1. spacecraft ground is emulated with the micro- disturbance torque motion simulator of three axles, it is characterised in that including：Pedestal, outer shroud and outer
Collar bearing pair, middle ring and middle ring bearing pair, inner ring bearing pair and platform；Wherein, outer shroud bearing pair, middle ring bearing pair and interior
It is air-bearing that collar bearing is secondary；
The outer shroud is rotatably arranged on the pedestal by the outer shroud bearing pair, the rotary shaft of the outer shroud and the base
The upper side of seat is vertical；
The middle ring is rotatably arranged on the outer shroud by the middle ring bearing pair, the rotary shaft of the middle ring and the base
The upper surface of seat is parallel；
One end of the inner ring bearing pair is arranged in the middle ring, the other end is connected with the platform, the inner axle
The rotary shaft for holding pair is vertical with the rotary shaft of the middle ring；
The platform can be under the driving effect of the inner ring bearing pair around the rotary shaft turn of the inner ring bearing pair
It is dynamic；
Wherein, the air-bearing carries taper air cavity, and taper air cavity upside is air inlet, downside is gas outlet, and upside is entered
The radius of gas port is less than the radius of downside gas outlet, and the air-bearing causes air velocity in the air film of the air-bearing
Meet：
In formula, r0It is the radius of air vent, unit is mm；r1It is the radius of taper air cavity downside gas outlet, unit is mm；r2For
The radius of air-bearing, unit is mm；H is air-film thickness, and unit is mm；h0It is the thickness of taper air cavity, unit is mm；P is
Gas film pressure, unit is Pa；μ is the dynamic viscosity of gas, and unit is Pas；β is correction factor.
2. motion simulator as claimed in claim 1, wherein, the inner ring bearing pair includes：Inner ring bearing and inner axle；
Wherein,
The outer ring of the inner ring bearing is fixedly provided in the middle ring, and the axial direction of the inner ring bearing and the middle ring turn
Moving axis is vertical；
Inner axle is fixed on the inner ring of the inner ring bearing, and one end of the inner axle is connected with the inner ring bearing, the other end
It is connected with the platform.
3. motion simulator as claimed in claim 2, wherein, the inner ring bearing pair is further included：It is arranged on described
Lengthening inner axle between inner axle and the platform；The other end of described one end and the inner axle for lengthening inner axle
Connection, the other end for lengthening inner axle is connected with the platform.
4. motion simulator as claimed in claim 1, wherein, the inner ring bearing pair includes：Inner ring bearing and inner axle；
Wherein,
The outer ring of the inner ring bearing is fixedly provided in the middle ring, and the axial direction of the inner ring bearing and the middle ring turn
Moving axis is vertical；The inner axle is arranged on the inner ring of the inner ring bearing, and the two ends of the inner axle are respectively by described in one
Inner ring bearing is connected with the middle ring；
The platform is removably disposed on the inner axle.
5. the motion simulator as described in claim 2-4 is any, wherein, the platform has beginning directed downwardly recessed
Chamber, the outer shroud, the middle ring are embedding to be contained in the cavity.
6. motion simulator as claimed in claim 5, wherein, fenestral fabric is provided with the platform, it is used for
Installed load.
7. motion simulator as claimed in claim 5, further includes：It is arranged on the inner ring bearing pair and the instrument
Inner ring between platform；The side of the inner ring is fixedly connected with the other end of the inner ring bearing pair, and the platform is consolidated
Surely it is arranged on the opposite side of the inner ring.
8. motion simulator as claimed in claim 5, wherein, the outer shroud is opening up camber or ∪ type frameworks,
Or the outer shroud is opening up curved face type structure.
9. motion simulator as claimed in claim 8, wherein, the opening inner side of the outer shroud is provided with two middle collar bearings
Pair, rotation axial symmetry of described two middle ring bearing pairs on the outer shroud, axial direction and the pedestal of the middle ring bearing pair
Upper surface it is parallel；
The middle ring is arranged in the opening of the outer shroud, the two ends of the middle ring respectively by a middle ring bearing pair with it is described
Outer shroud is connected.
10. motion simulator as claimed in claim 5, wherein, the edge of the outer shroud is provided with two middle ring bearing pairs,
Rotation axial symmetry of described two middle ring bearing pairs on the outer shroud, the axial direction of the middle ring bearing pair is upper with the pedestal
Surface is parallel；
The middle ring is to be set in camber framework or ∪ types framework or the curved face type structure on the outside of the middle ring, the middle ring inner side
Two ends be connected with the outer shroud by a middle ring bearing pair respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610884415.9A CN106379564B (en) | 2016-10-10 | 2016-10-10 | Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles |
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| CN201610884415.9A CN106379564B (en) | 2016-10-10 | 2016-10-10 | Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles |
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| CN108639393B (en) * | 2018-05-09 | 2020-04-21 | 上海航天控制技术研究所 | Novel allosteric controller and method |
| CN111458171B (en) * | 2020-04-28 | 2022-03-04 | 北京卫星环境工程研究所 | Spacecraft ground separation experimental device with disturbing force applying function |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386267A (en) * | 2014-11-03 | 2015-03-04 | 哈尔滨工业大学 | Testing device and method applicable for spacecraft high-stability pointing control |
| CN204831330U (en) * | 2015-08-13 | 2015-12-02 | 常熟理工学院 | Three -axle table's attitude sensor test system |
| CN205262489U (en) * | 2015-12-17 | 2016-05-25 | 九江精密测试技术研究所 | Triaxial stabilized platform based on electronic jar is realized |
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| RU2272995C1 (en) * | 2005-02-21 | 2006-03-27 | Владимир Аронович Беленький | Method for elaboration of navigational parameters and local vertical (modifications) |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386267A (en) * | 2014-11-03 | 2015-03-04 | 哈尔滨工业大学 | Testing device and method applicable for spacecraft high-stability pointing control |
| CN204831330U (en) * | 2015-08-13 | 2015-12-02 | 常熟理工学院 | Three -axle table's attitude sensor test system |
| CN205262489U (en) * | 2015-12-17 | 2016-05-25 | 九江精密测试技术研究所 | Triaxial stabilized platform based on electronic jar is realized |
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