CN106467175A - The double super satellite ground Proof-Of Principle system of double five degree of freedom air supporting master-slave mode noncontacts - Google Patents
The double super satellite ground Proof-Of Principle system of double five degree of freedom air supporting master-slave mode noncontacts Download PDFInfo
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Abstract
The invention provides a kind of pair of super satellite ground Proof-Of Principle system of five degree of freedom air supporting master-slave mode noncontact pair, including the double super satellite of master-slave mode noncontact, also include the air flotation cell of multigroup employing active air supporting mode；Every group of air flotation cell includes plane air-floating apparatus and sphere air-floating apparatus, and wherein, sphere air-floating apparatus are arranged on the top of plane air-floating apparatus；The load cabin of the double super satellite of master-slave mode noncontact supports on the ground by one group of air flotation cell, and the platform cabin of the double super satellite of master-slave mode noncontact is supported on the ground by another group of air flotation cell.Two cabin five degree of freedom active air supportings are adopted on configuration of the present invention, realizes verifying the principle feasibility of the double super satellite of master-slave mode noncontact and the purpose of gesture stability performance potential assessment from two cabin Three dimensional rotation, this five degree of freedom of bidimensional translation.
Description
Technical field
The present invention relates to double super satellite fields, in particular it relates to the double super satellite of double five degree of freedom air supporting master-slave mode noncontact
Ground Proof-Of Principle system.
Background technology
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 " is so that load sensing is no longer rely on putting down with degree of stability
Bench control system is realized, and is isolated by platform cabin and load cabin sound, physically the micro-vibration interference in isolation platform cabin, can be from
Fundamentally solution load pointing accuracy and degree of stability are 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 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.
Content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of pair of five degree of freedom air supporting master-slave mode noncontact
Double super satellite ground Proof-Of Principle systems.
The double super satellite ground Proof-Of Principle system of a kind of pair of five degree of freedom air supporting master-slave mode noncontact being provided according to the present invention
System, including the double super satellite of master-slave mode noncontact, also includes the air flotation cell of multigroup employing active air supporting mode；
Every group of air flotation cell includes plane air-floating apparatus and sphere air-floating apparatus, and wherein, sphere air-floating apparatus are arranged on flat
The top of face air-floating apparatus；
The load cabin of the double super satellite of master-slave mode noncontact supports on the ground by one group of air flotation cell, and master-slave mode noncontact is double
The platform cabin of super satellite is supported on the ground by another group of air flotation cell.
Preferably, sphere air-floating apparatus include spherical bearing, spherical bearing block, gas tank；
Spherical bearing is equipped with spherical bearing block；
Spherical bearing is arranged on the bottom of load cabin or the bottom in platform cabin；
Spherical bearing block is provided with jet channel and puff prot, and puff prot connects the delivery outlet of gas tank by jet channel；
Puff prot is located at spherical bearing block relative on the face of spherical bearing.
Preferably, plane air-floating apparatus include gas pedal plate, gas tank；
Gas pedal plate is provided with jet channel and puff prot, and puff prot connects the delivery outlet of gas tank by jet channel；
Puff prot is located at the bottom surface of gas pedal plate.
Compared with prior art, the present invention has following beneficial effect：
The present invention simulates space weightlessness using air supporting mode, can apply to verify master-slave mode noncontact on the ground
Double super satellites are adopted the feasibility of brand-new design method of " sound isolates noncontact, principal and subordinate's decoupling high accuracy " and in three-dimensional
Rotate and gesture stability Performance Evaluation on bidimensional translation direction.The double super satellite platform of master-slave mode noncontact can achieve that load points to essence
Degree, degree of stability are up to 10 respectively-4Degree, 10-6Double hypervisor of degrees second, can be applicable to high score remote sensing, high accuracy is formed into columns, high-performance
The fields such as laser communication, survey of deep space.
On configuration of the present invention adopt two cabin five degree of freedom active air supportings, two cabins by non-contact magnetically float means realize sound every
From adopting in control based on load cabin, platform cabin follows the tracks of that load cabin is driven to be controlled and two cabin relative positions control and ensure two cabins
Do not collide and do not separate too far, thus reaching non-from two cabin Three dimensional rotation, this five degree of freedom checking master-slave modes of bidimensional translation
The principle feasibility of the double super satellite of contact and the purpose of gesture stability performance potential assessment.
Sphere air-floating apparatus rely on the air film that the compressed gas in gas tank are formed between spherical bearing, spherical bearing block,
Nacelle is made to float, thus realizing approximate friction free relative motion condition, to simulate nacelle in disturbance torque suffered by outer sheaf space
The mechanical environment of very little, the bidimensional translation in two cabins is by being floated nacelle using four or multiple plane air-bearing.
Sound isolation is realized by non-contact magnetically float means in load cabin, this two cabin of platform cabin, realizes two cabins in X, Y, Z axis side
Low-angle attitude upwards rotates, and the translation in X-axis and Y direction is it may be verified that remove other five sides on gravity direction
Double super design of satellites principle upwards and assessment gesture stability potentiality, the sound isolation between two cabins utilizes electromagnetic force or electrostatic
Power mode is realized.Load cabin and platform cabin are all realized two dimension in smooth marble platform by plane air-floating apparatus and are put down
Dynamic, and Three dimensional rotation is realized by sphere air-floating apparatus spherical bearing.
Ground system test is carried out during principle checking it is necessary first to carry out mass property tune to double super satellite principle prototypes
Whole so as to horizontal direction centroid adjustment precision reaches 0.1gf cm, specific implementation process be divided into barycenter preconditioning, manual coarse adjustment put down
With automatic precision leveling.The standard quality block of wherein manual coarse adjustment flat interest different size, automatic precision leveling adopts certainty of measurement high
The hi-Fix platform reaching 1 μm is realized.Can verify that the control of two cabin Three dimensional rotation and bidimensional translation by the system that the present invention provides
System, can be except degree of freedom multiple on gravity direction are realized and verify the double hypervisor of master-slave mode noncontact.
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 double five degree of freedom air supporting master-slave mode noncontacts.
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.
Double super satellites are brand-new design concepts, need to verify the feasibility of its design principle by ground experiment.
Compared with current traditional method, the double super satellite ground Proof-Of Principle system of double five degree of freedom air supporting master-slave mode noncontacts has following
Feature：1) meet the double super design of satellites theory of " sound isolates noncontact, and principal and subordinate works in coordination with high accuracy "；2) control passage is more,
By the platform cabin active air supporting of the load cabin active air supporting of five degree of freedom, five degree of freedom, by magnetic floating mechanism realize sound every
From noncontact；Based on load cabin, the driven control in platform cabin subsequent load cabin, realize on Three dimensional rotation, bidimensional translation direction
Principal and subordinate works in coordination with high accuracy control；3) space weightlessness technology maturation reliability is simulated using air supporting mode, easily realize.
The double super satellite of master-slave mode noncontact is mainly made up of load cabin and platform cabin, and load cabin installs payload, optical fiber
The peace and quiet part such as gyro, star sensor, magnetic floating mechanism stator, platform cabin is provided with solar array and its drive mechanism, flywheel, pushes away
The movable parts such as power device, tank, antenna, magnetic floating mechanism mover.Pass through non-contact magnetically float means real between load cabin and platform cabin
Existing sound isolation.
As shown in figure 1, the double super satellite ground Proof-Of Principle system of double five degree of freedom air supporting master-slave mode noncontacts is mainly by five
Actively pneumatically supported load cabin 1, platform cabin 2, non-contact magnetically float means 3 form degree of freedom.Load cabin 1 is provided with laser Angle Position and passes
Sensor 12, optical fibre gyro 13, the first magnetic floating mechanism Magnet 31 and these quiet parts of load cabin posture control unit 15.Platform
Cabin 2 is made up of general satellite modules, is provided with the second magnetic floating mechanism Magnet 32, solar array drive mechanism 23, outside execution
The flexible appendages such as mechanism, solar battery array 24 and platform cabin posture control unit 25, exterior operator include thruster 21,
These movable parts of flywheel 22.Load cabin, platform cabin are respectively passed through five degree of freedom air floating table active air supporting and are put down in smooth marble
On platform.The top of load cabin 1 is provided with mirror 500.
Load cabin gesture stability loop：The attitude sensors such as laser angular position pick up 12, optical fibre gyro 13 provide load
The information such as the attitude angle in cabin 1, attitude angular velocity, and feed back to load cabin posture control unit 15, load cabin posture control unit
15 produce corresponding actions instruction according to load cabin attitude information, are passed through the corresponding current value of magnetic floating mechanism coil, drive noncontact
Magnetic floating mechanism 3 produces control moment, and control load cabin 1 reaches expected attitude pointing accuracy and degree of stability.
Platform cabin relative Attitude Control for Spacecraft loop：Distance-measuring device on non-contact magnetically float means 3 detects two cabins relative to position
Put and relative velocity, resolve two cabin relative attitude angles and relative attitude angular velocity information, feed back to platform cabin posture control unit
25, platform cabin posture control unit 25 calculates gesture stability according to two cabin relative attitude information and instructs and drive outside execution machine
Structure produces gesture stability moment, the motion in attitude subsequent load cabin 1 in predetermined precision in control platform cabin 2.
Platform cabin relative position control loop：Distance-measuring device on non-contact magnetically float means 3 detects two cabins relative to position
Put and relative velocity, and feed back to platform cabin posture control unit 25, platform cabin posture control unit 25 resolves out position
Control instruction simultaneously drives non-contact magnetically float means 3 to make it produce position control power, the relative position of control platform cabin 2 and load cabin 1
Put and be maintained in expected threshold value.
Specifically, the double super satellite ground principle of a kind of pair of five degree of freedom air supporting master-slave mode noncontact being provided according to the present invention
Checking system, including the double super satellite of master-slave mode noncontact, also includes the air flotation cell of multigroup employing active air supporting mode；Every group of gas
Floating unit includes plane air-floating apparatus and sphere air-floating apparatus, and wherein, sphere air-floating apparatus are arranged on the top of plane air-floating apparatus
Portion；The load cabin of the double super satellite of master-slave mode noncontact supports on the ground by one group of air flotation cell, and master-slave mode noncontact pair is super to be defended
The platform cabin of star is supported on the ground by another group of air flotation cell.
Sphere air-floating apparatus include spherical bearing 100, spherical bearing block 200, gas tank；Spherical bearing is joined with spherical bearing block
Close setting；Spherical bearing is arranged on the bottom of load cabin or the bottom in platform cabin；Spherical bearing block be provided with jet channel and
Puff prot, puff prot connects the delivery outlet of gas tank by jet channel；Puff prot is located at spherical bearing block relative to spherical bearing
On face.
Plane air-floating apparatus include gas pedal plate 300, gas tank；Gas pedal plate is provided with jet channel and puff prot, and puff prot leads to
Cross the delivery outlet that jet channel connects gas tank；Puff prot is located at the bottom surface of gas pedal plate.The puff prot of gas pedal plate 300 sprays high pressure gas
Body forms gas foot 400.
The present invention adopts plane air supporting and sphere pneumatically supported active air supporting mode, realizes platform cabin and load by magnetic floating mechanism
The sound isolation of lotus cabin, using load cabin active control, driven control is followed in platform cabin, can put down from two cabin Three dimensional rotation, bidimensional
Move feasibility and its assessment of gesture stability performance potential that this five degree of freedom verify the double super satellite of master-slave mode noncontact.
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 (3)
1. a kind of pair of super satellite ground Proof-Of Principle system of five degree of freedom air supporting master-slave mode noncontact pair, including master-slave mode noncontact
Double super satellites are it is characterised in that also include the air flotation cell of multigroup employing active air supporting mode；
Every group of air flotation cell includes plane air-floating apparatus and sphere air-floating apparatus, and wherein, sphere air-floating apparatus are arranged on plane gas
The top of floating device；
The load cabin of the double super satellite of master-slave mode noncontact supports on the ground by one group of air flotation cell, and master-slave mode noncontact pair is super to be defended
The platform cabin of star is supported on the ground by another group of air flotation cell.
2. the according to claim 1 pair of super satellite ground Proof-Of Principle system of five degree of freedom air supporting master-slave mode noncontact pair,
It is characterized in that, sphere air-floating apparatus include spherical bearing, spherical bearing block, gas tank；
Spherical bearing is equipped with spherical bearing block；
Spherical bearing is arranged on the bottom of load cabin or the bottom in platform cabin；
Spherical bearing block is provided with jet channel and puff prot, and puff prot connects the delivery outlet of gas tank by jet channel；
Puff prot is located at spherical bearing block relative on the face of spherical bearing.
3. the according to claim 1 pair of super satellite ground Proof-Of Principle system of five degree of freedom air supporting master-slave mode noncontact pair,
It is characterized in that, plane air-floating apparatus include gas pedal plate, gas tank；
Gas pedal plate is provided with jet channel and puff prot, and puff prot connects the delivery outlet of gas tank by jet channel；
Puff prot is located at the bottom surface of gas pedal plate.
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| CN201610815971.0A CN106467175B (en) | 2016-09-08 | 2016-09-08 | Double five-degree-of-freedom air floatation master-slave type non-contact double-super satellite ground principle verification system |
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| CN201610815971.0A CN106467175B (en) | 2016-09-08 | 2016-09-08 | Double five-degree-of-freedom air floatation master-slave type non-contact double-super satellite ground principle verification system |
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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 |
| CN108945537A (en) * | 2018-08-31 | 2018-12-07 | 天津航天机电设备研究所 | Spacecraft three-dimensional zero-g simulator based on double-stage air floatation |
| 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 |
| CN109649702A (en) * | 2019-01-25 | 2019-04-19 | 上海卫星工程研究所 | Double super satellite platform ground simulation equipment of the vertical control of differential type air bearing |
| CN109795724A (en) * | 2019-01-25 | 2019-05-24 | 上海卫星工程研究所 | Based on the integrated double super satellite platform experimental rigs of air floatation ball and the bearing of journals |
| CN110077623A (en) * | 2019-03-27 | 2019-08-02 | 上海卫星工程研究所 | Solar and Heliospheric Observatory platform |
| CN111409879A (en) * | 2020-03-19 | 2020-07-14 | 上海卫星工程研究所 | Separated type micro-satellite ground full-physical principle verification test method |
| CN113656935A (en) * | 2021-07-05 | 2021-11-16 | 清华大学 | Asteroid rigid-flexible coupling detector and calculation method of simulation motion parameters thereof |
| CN114132537A (en) * | 2021-12-01 | 2022-03-04 | 中国科学院空间应用工程与技术中心 | Space microgravity double-layer suspension vibration isolation device, scientific experiment cabinet and suspension method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN109649702A (en) * | 2019-01-25 | 2019-04-19 | 上海卫星工程研究所 | Double super satellite platform ground simulation equipment of the vertical control of differential type air bearing |
| CN109795724A (en) * | 2019-01-25 | 2019-05-24 | 上海卫星工程研究所 | Based on the integrated double super satellite platform experimental rigs of air floatation ball and the bearing of journals |
| 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 |
| CN109649702B (en) * | 2019-01-25 | 2021-11-23 | 上海卫星工程研究所 | Differential air-floatation vertical control double-super satellite platform ground simulation equipment |
| CN110077623A (en) * | 2019-03-27 | 2019-08-02 | 上海卫星工程研究所 | Solar and Heliospheric Observatory platform |
| CN111409879A (en) * | 2020-03-19 | 2020-07-14 | 上海卫星工程研究所 | Separated type micro-satellite ground full-physical principle verification test method |
| CN113656935A (en) * | 2021-07-05 | 2021-11-16 | 清华大学 | Asteroid rigid-flexible coupling detector and calculation method of simulation motion parameters thereof |
| CN113656935B (en) * | 2021-07-05 | 2024-03-15 | 清华大学 | Asteroid rigid-flexible coupling detector and calculation method of simulation motion parameters thereof |
| CN114132537A (en) * | 2021-12-01 | 2022-03-04 | 中国科学院空间应用工程与技术中心 | Space microgravity double-layer suspension vibration isolation device, scientific experiment cabinet and suspension method |
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