CN106467175B - Double five-degree-of-freedom air floatation master-slave type non-contact double-super satellite ground principle verification system - Google Patents
Double five-degree-of-freedom air floatation master-slave type non-contact double-super satellite ground principle verification system Download PDFInfo
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Abstract
The invention provides a ground principle verification system for a double five-degree-of-freedom air floatation master-slave type non-contact double-super satellite, which comprises a master-slave type non-contact double-super satellite and a plurality of groups of air floatation units adopting an active air floatation mode; each group of air floatation units comprises a plane air floatation device and a spherical air floatation device, wherein the spherical air floatation device is arranged at the top of the plane air floatation device; the load cabin of the master-slave non-contact double super satellite is supported on the ground by one group of air floating units, and the platform cabin of the master-slave non-contact double super satellite is supported on the ground by the other group of air floating units. The invention adopts two-cabin five-degree-of-freedom active air floatation in configuration, and realizes the purpose of verifying principle feasibility and attitude control performance potential evaluation of a master-slave mode non-contact double-super satellite from five degrees of freedom of two-cabin three-dimensional rotation and two-dimensional translation.
Description
Technical Field
The invention relates to the field of double-super satellites, in particular to a double-five-degree-of-freedom air floatation master-slave type non-contact double-super satellite ground principle verification system.
Background
The master-slave non-contact double-super satellite platform breaks through the design idea that a traditional satellite load cabin is fixedly connected with a platform cabin, adopts a brand new design method of dynamic and static isolation, non-contact and master-slave decoupling high precision, enables the load direction and stability not to depend on a platform control system any more, isolates the micro-vibration interference of the platform cabin from the physics through the dynamic and static isolation of the platform cabin and the load cabin, and can fundamentally solve the major problem that the load direction precision and stability are difficult to greatly improve.
Compared with the traditional method at present, the master-slave mode non-contact double-super satellite platform has the following characteristics: 1) double super performance: the master-slave non-contact double-super satellite platform is in dynamic and static isolation in space and controls master-slave cooperationThe full pose decoupling configuration and sliding mode layer control idea are adopted, and the high-precision and high-bandwidth non-contact magnetic suspension mechanism is utilized to realize that the satellite attitude pointing precision is superior to 5 multiplied by 10-4The degree and the posture stability are better than 5 multiplied by 10-6The degree/second ultrahigh precision thoroughly solves the bottleneck of double-super technology, and realizes the complete measurement and control of the load attitude. 2) Full frequency band vibration isolation: the two cabins of the master-slave non-contact double-super satellite platform are in non-contact connection through the magnetic suspension mechanism, dynamic and static isolation is achieved, the movement of the platform cabin and the micro-vibration transmission of the flexible part to the load cabin are directly isolated, the super-precise and super-stable working state of the load is effectively guaranteed, the full-frequency-band vibration isolation effect is achieved, and the bandwidth requirement on a control system product is greatly reduced. 3) Thermal deformation of the isolation platform: compared with the traditional fixed connection design, the two-cabin space isolation of the master-slave non-contact double-super satellite platform effectively avoids the influence of the platform thermal deformation on the load direction. In addition, the double super satellite has the advantages of simplicity, practicability, safety, reliability, high redundancy, low quality, low power consumption and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a double five-degree-of-freedom air flotation master-slave type non-contact double-super satellite ground principle verification system.
The ground principle verification system for the double five-degree-of-freedom air floatation master-slave type non-contact double-super satellite comprises a master-slave type non-contact double-super satellite and a plurality of groups of air floatation units adopting an active air floatation mode;
each group of air floatation units comprises a plane air floatation device and a spherical air floatation device, wherein the spherical air floatation device is arranged at the top of the plane air floatation device;
the load cabin of the master-slave non-contact double super satellite is supported on the ground by one group of air floating units, and the platform cabin of the master-slave non-contact double super satellite is supported on the ground by the other group of air floating units.
Preferably, the spherical air floating device comprises a spherical bearing, a spherical bearing seat and an air tank;
the spherical bearing is matched with the spherical bearing seat;
the spherical bearing is arranged at the bottom of the load cabin or the bottom of the platform cabin;
the spherical bearing seat is provided with an air injection channel and an air injection port, and the air injection port is communicated with an output port of the air tank through the air injection channel;
the air jet is positioned on the surface of the spherical bearing seat opposite to the spherical bearing.
Preferably, the planar air floating device comprises an air foot plate and an air tank;
the air foot plate is provided with an air injection channel and an air injection port, and the air injection port is communicated with the output port of the air tank through the air injection channel;
the air jet is positioned on the bottom surface of the air foot plate.
Compared with the prior art, the invention has the following beneficial effects:
the invention simulates the space weightlessness environment by adopting an air floatation mode, and can be applied to verifying 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 non-contact double-super satellite on the ground and attitude control performance evaluation in three-dimensional rotation and two-dimensional translation directions. The master-slave non-contact double-super satellite platform can realize the load pointing precision and the stability respectively up to 10-4Degree of 10-6The degree/second double-super control can be applied to the fields of high-resolution remote sensing, high-precision formation, high-performance laser communication, deep space exploration and the like.
The invention adopts two-cabin five-degree-of-freedom active air floatation in configuration, the two cabins realize dynamic and static isolation through a non-contact magnetic floating mechanism, the load cabin is mainly adopted in control, the platform cabin tracks the driven control of the load cabin and the relative position control of the two cabins to ensure that the two cabins do not collide with each other and are not separated too far, thereby achieving the purpose of verifying the principle feasibility and the attitude control performance potential evaluation of a master-slave non-contact double-super satellite through five degrees of freedom including three-dimensional rotation and two-dimensional translation of the two cabins.
The spherical air floating device floats the cabin body by means of an air film formed between the spherical bearing and the spherical bearing seat by compressed air in the air tank, so that the relative motion condition with approximate zero friction is realized, the mechanical environment with small interference torque of the cabin body in an outer layer space is simulated, and the two-dimensional translation of the two cabins floats the cabin body by adopting four or more plane air floating bearings.
The load cabin and the platform cabin realize dynamic and static isolation through a non-contact magnetic suspension mechanism, realize small-angle attitude rotation of the two cabins in the direction of X, Y, Z axes and translation in the directions of an X axis and a Y axis, verify the design principle of a double super satellite in other five directions in the direction of removing gravity and evaluate the attitude control potential, and the dynamic and static isolation between the two cabins is realized by utilizing an electromagnetic force or an electrostatic force mode. The load cabin and the platform cabin realize two-dimensional translation on a smooth marble platform through a plane air floating device, and realize three-dimensional rotation through a spherical bearing of a spherical air floating device.
When the ground test system carries out principle verification, firstly, the mass characteristic of a double-super satellite principle prototype is required to be adjusted, so that the adjustment precision of the mass center in the horizontal direction reaches 0.1gf cm, and the specific implementation process comprises mass center pre-adjustment, manual rough adjustment and automatic fine leveling. Wherein, the manual rough leveling is realized by standard mass blocks with different specifications, and the automatic fine leveling is realized by a high-precision positioning table with the measurement precision as high as 1 mu m. The system provided by the invention can verify the control of three-dimensional rotation and two-dimensional translation of the two cabins, and can realize and verify master-slave mode non-contact double-super control by multiple degrees of freedom in the direction of removing the gravity.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a master-slave non-contact double-super satellite ground principle verification system with double five-degree-of-freedom air flotation.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The double super satellite is a brand new design concept, and the feasibility of the design principle of the double super satellite needs to be verified through ground tests. Compared with the traditional method at present, the double five-degree-of-freedom air flotation master-slave type non-contact double-super satellite ground principle verification system has the following characteristics: 1) the design concept of a double super satellite with high precision of dynamic and static isolation, non-contact and master-slave cooperation is met; 2) more control channels are provided, and dynamic and static isolation non-contact is realized through five-degree-of-freedom load cabin active air floatation and five-degree-of-freedom platform cabin active air floatation and a magnetic floatation mechanism; the load cabin is a main load cabin, and the platform cabin is controlled by following the load cabin to realize master-slave cooperative high-precision control in the three-dimensional rotation and two-dimensional translation directions; 3) the technology for simulating the space weightless environment by adopting the air floatation mode is mature and reliable and is easy to realize.
The master-slave non-contact double-super satellite mainly comprises a load cabin and a platform cabin, wherein the load cabin is provided with quiet components such as a payload, an optical fiber gyroscope, a star sensor, a magnetic suspension mechanism stator and the like, and the platform cabin is provided with movable components such as a solar sailboard and a driving mechanism thereof, a flywheel, a thruster, a storage box, an antenna, a magnetic suspension mechanism rotor and the like. And the load cabin and the platform cabin are separated by a non-contact magnetic suspension mechanism.
As shown in fig. 1, the double five-degree-of-freedom air-floating master-slave non-contact double-super satellite ground principle verification system mainly comprises a five-degree-of-freedom active air-floating load cabin 1, a platform cabin 2 and a non-contact magnetic suspension mechanism 3. The load compartment 1 is provided with quiet components of a laser angular position sensor 12, a fiber optic gyroscope 13, a first magnetic levitation mechanism magnet 31 and a load compartment attitude control unit 15. The platform cabin 2 is composed of a general satellite module, and is provided with flexible accessories such as a second magnetic levitation mechanism magnet 32, a solar sailboard driving mechanism 23, an external execution mechanism, a solar battery array 24 and the like, and a platform cabin attitude control unit 25, wherein the external execution mechanism comprises movable parts such as a thruster 21 and a flywheel 22. The load cabin and the platform cabin are respectively and actively floated on a smooth marble platform through a five-degree-of-freedom air floating platform. A mirror 500 is arranged above the load compartment 1.
Load compartment attitude control loop: the attitude sensors such as the laser angular position sensor 12 and the optical fiber gyroscope 13 provide information such as an attitude angle, an attitude angular velocity and the like of the load cabin 1 and feed back the information to the attitude control unit 15 of the load cabin, the attitude control unit 15 of the load cabin generates a corresponding action command according to the attitude information of the load cabin, corresponding current values of coils of the magnetic suspension mechanism are introduced, the non-contact magnetic suspension mechanism 3 is driven to generate a control moment, and the load cabin 1 is controlled to achieve the expected attitude pointing accuracy and stability.
Platform cabin relative attitude control circuit: the distance measuring device on the non-contact magnetic suspension mechanism 3 detects the relative position and the relative speed of the two cabins, the relative attitude angle and the relative attitude angular speed information of the two cabins are calculated and fed back to the platform cabin attitude control unit 25, the platform cabin attitude control unit 25 calculates an attitude control command according to the relative attitude information of the two cabins and drives an external execution mechanism to generate an attitude control moment, and the attitude of the platform cabin 2 is controlled to follow the motion of the load cabin 1 within the preset precision.
Platform cabin relative position control circuit: the distance measuring device on the non-contact magnetic suspension mechanism 3 detects the relative position and the relative speed information of the two cabins and feeds back the information to the platform cabin attitude control unit 25, the platform cabin attitude control unit 25 calculates the position control instruction and drives the non-contact magnetic suspension mechanism 3 to generate the position control force, and the relative position of the platform cabin 2 and the load cabin 1 is controlled to be kept within an expected threshold value.
Specifically, the double five-degree-of-freedom air floatation master-slave type non-contact double super satellite ground principle verification system provided by the invention comprises a master-slave type non-contact double super satellite and a plurality of groups of air floatation units adopting an active air floatation mode; each group of air floatation units comprises a plane air floatation device and a spherical air floatation device, wherein the spherical air floatation device is arranged at the top of the plane air floatation device; the load cabin of the master-slave non-contact double super satellite is supported on the ground by one group of air floating units, and the platform cabin of the master-slave non-contact double super satellite is supported on the ground by the other group of air floating units.
The spherical air floating device comprises a spherical bearing 100, a spherical bearing seat 200 and an air tank; the spherical bearing is matched with the spherical bearing seat; the spherical bearing is arranged at the bottom of the load cabin or the bottom of the platform cabin; the spherical bearing seat is provided with an air injection channel and an air injection port, and the air injection port is communicated with an output port of the air tank through the air injection channel; the air jet is positioned on the surface of the spherical bearing seat opposite to the spherical bearing.
The plane air floatation device comprises an air foot plate 300 and an air tank; the air foot plate is provided with an air injection channel and an air injection port, and the air injection port is communicated with the output port of the air tank through the air injection channel; the air jet is positioned on the bottom surface of the air foot plate. The gas nozzles of the gas foot plate 300 eject high-pressure gas to form the gas foot 400.
The invention adopts an active air flotation mode of plane air flotation and spherical air flotation, realizes the dynamic and static isolation of the platform cabin and the load cabin through a magnetic flotation mechanism, adopts the active control of the load cabin, adopts the following driven control of the platform cabin, and can verify the feasibility and the attitude control performance potential evaluation of the master-slave non-contact double-super satellite from five degrees of freedom of three-dimensional rotation and two-dimensional translation of the two cabins.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (1)
1. A double five-degree-of-freedom air floatation master-slave type non-contact double super satellite ground principle verification system comprises a master-slave type non-contact double super satellite and is characterized by further comprising a plurality of groups of air floatation units adopting an active air floatation mode;
each group of air floatation units comprises a plane air floatation device and a spherical air floatation device, wherein the spherical air floatation device is arranged at the top of the plane air floatation device;
the load cabin of the master-slave non-contact double super satellite is supported on the ground by one group of air floating units, and the platform cabin of the master-slave non-contact double super satellite is supported on the ground by the other group of air floating units;
the spherical air floating device comprises a spherical bearing, a spherical bearing seat and an air tank;
the spherical bearing is matched with the spherical bearing seat;
the spherical bearing is arranged at the bottom of the load cabin or the bottom of the platform cabin;
the spherical bearing seat is provided with an air injection channel and an air injection port, and the air injection port is communicated with an output port of the air tank through the air injection channel;
the air jet is positioned on the surface of the spherical bearing seat opposite to the spherical bearing;
the plane air floating device comprises an air foot plate and an air tank;
the air foot plate is provided with an air injection channel and an air injection port, and the air injection port is communicated with the output port of the air tank through the air injection channel;
the air jet is positioned on the bottom surface of the air foot plate;
the spherical air floating device floats the cabin body by means of an air film formed by compressed air in the air tank between the spherical bearing and the spherical bearing seat, so that the relative motion condition with approximate zero friction is realized, the mechanical environment of the interference torque of the cabin body in an outer layer space is simulated, and the two-dimensional translation of the two cabins floats the cabin body by adopting four or more plane air floating bearings;
the load cabin and the platform cabin realize dynamic and static isolation through a non-contact magnetic suspension mechanism, realize attitude rotation of the two cabins in the direction of X, Y, Z axis and translation in the directions of X axis and Y axis, verify the design principle of the double super satellite in other five directions except the gravity direction and evaluate the attitude control potential, and the dynamic and static isolation between the two cabins is realized by using electromagnetic force or electrostatic force; the load cabin and the platform cabin realize two-dimensional translation on the marble platform through a planar air floating device and realize three-dimensional rotation through a spherical bearing of a spherical air floating device;
the double five-degree-of-freedom air flotation master-slave type non-contact double super satellite ground principle verification system comprises:
load compartment attitude control loop: the laser angular position sensor (12) and the optical fiber gyroscope 13 which are arranged on the load cabin (1) provide information of attitude angle and attitude angular velocity of the load cabin (1) and feed back the information to the load cabin attitude control unit (15) arranged on the load cabin (1), the load cabin attitude control unit (15) generates corresponding action instructions according to the load cabin attitude information, corresponding current values of a magnetic suspension mechanism coil are introduced, the non-contact magnetic suspension mechanism (3) is driven to generate control torque, and the load cabin (1) is controlled to achieve the expected attitude pointing accuracy and stability;
platform cabin relative attitude control circuit: a distance measuring device on the non-contact magnetic suspension mechanism (3) detects the relative position and the relative speed of the two cabins, the relative attitude angle and the relative attitude angular speed information of the two cabins are resolved and fed back to a platform cabin attitude control unit (25) on the platform cabin (2), the platform cabin attitude control unit (25) resolves an attitude control command according to the relative attitude information of the two cabins and drives an external execution mechanism to generate an attitude control moment, and the attitude of the platform cabin (2) is controlled to follow the motion of the load cabin (1) within a preset precision;
platform cabin relative position control circuit: the distance measuring device on the non-contact magnetic suspension mechanism (3) detects the relative position and the relative speed information of the two cabins and feeds back the relative position and the relative speed information to the platform cabin attitude control unit (25), the platform cabin attitude control unit (25) calculates out a position control instruction and drives the non-contact magnetic suspension mechanism (3) to generate a position control force, and the relative position of the platform cabin (2) and the load cabin (1) is controlled to be kept within an expected threshold value.
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| 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 |
| CN108945537B (en) * | 2018-08-31 | 2024-10-15 | 天津航天机电设备研究所 | Spacecraft three-dimensional zero gravity simulation device based on two-stage air floatation |
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| CN110077623A (en) * | 2019-03-27 | 2019-08-02 | 上海卫星工程研究所 | Solar and Heliospheric Observatory platform |
| CN111409879B (en) * | 2020-03-19 | 2021-02-02 | 上海卫星工程研究所 | Separated type micro-satellite ground full-physical principle verification test method |
| 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 |
| CN114132537B (en) * | 2021-12-01 | 2022-06-07 | 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 |
| CN115709460B (en) * | 2022-10-27 | 2024-07-05 | 银河航天(西安)科技有限公司 | Air supporting device for satellite assembly |
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