CN106494653B - Planetary landing sport simulated system and method based on air floating table - Google Patents
Planetary landing sport simulated system and method based on air floating table Download PDFInfo
- Publication number
- CN106494653B CN106494653B CN201610920788.7A CN201610920788A CN106494653B CN 106494653 B CN106494653 B CN 106494653B CN 201610920788 A CN201610920788 A CN 201610920788A CN 106494653 B CN106494653 B CN 106494653B
- Authority
- CN
- China
- Prior art keywords
- air
- main platform
- subsystem
- gravitation
- component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
Abstract
A kind of planetary landing sport simulated system based on air floating table and method are disclosed, wherein the system includes：Three Degree Of Freedom air supporting support subsystem, single-degree-of-freedom air supporting support subsystem, motion assistant subsystem, the main platform of air-flotation system, thrust executive subsystem, pose measurement subsystem and controller.The present invention is used includes the motion of Three Degree Of Freedom air supporting support subsystem, single-degree-of-freedom air supporting support subsystem, the main platform of air-flotation system and thrust executive subsystem Simulated Spacecraft in space, drive spacecraft to reach initial motion state using the given force application apparatus of original state, the gravitation between force application apparatus Simulated Spacecraft and planet is simulated using gravitation.Planetary landing sport simulated system of the invention and method can simulate the deep space environment of complexity, the full physical simulation of planetary landing campaign is realized, the efficiency-cost ratio of aircraft, reduce risk is improved, shorten the R＆D cycle, have great importance for survey of deep space, planetary landing research etc..
Description
Technical field
The present invention relates to spacecraft simulation technical field, more particularly to the planetary landing sport simulated system based on air floating table
And method.
Background technology
Background of related of the invention is illustrated below, but these explanation might not constitute it is of the invention existing
Technology.
Modern space flight survey of deep space mission requirements carries out planetary landing detection, and spacecraft enters planetary scale from around track
Until it is a motion process for complexity to drop on planet, lander is needed in face of planet complicated and changeable in this process
Environment and burst conditions, and need to carry out the regulation and control of track profile, landing whether be successfully directly connected to detection mission into
Lose.
Spacecraft will be difficult to repair once launching, and its special running environment makes its ground simulation test seem particularly heavy
Will.At present three classes are broadly divided into for spacecraft ground emulation：Mathematics/emulation of the computer software, semi-physical simulation and full physics
Emulation.Most effective, the most convictive experiment of full physical simulation when being spacecraft ground emulation mode, its axle of nucleus equipment room three
Air floating table.The air film formed between air-bearing and bearing block by compressed air floats simulation stage body, so as to realize near
Like friction free relative motion, with the spacecrafts such as analog satellite disturbance torque very little suffered by outer space mechanical environment.It is real
Proof is trampled, the full physical simulation experiment based on air floating table can significantly improve the efficiency-cost ratio of aircraft, reduce risk shortens research and development
In the cycle, be the important means and method in spacecraft development process.
But prior art is usually the mathematical simulation for carrying out landing movement navigation control program, and full physics is not carried out also
The research report of emulation.
The content of the invention
It is an object of the invention to propose a kind of planetary landing sport simulated system and method that can be based on air floating table, energy
The full physical simulation of planetary landing campaign is enough realized, the efficiency-cost ratio of aircraft is improved, reduce risk shortens the R＆D cycle.
Planetary landing sport simulated system based on air floating table of the invention, including：Three Degree Of Freedom air supporting branch chapelet
System, single-degree-of-freedom air supporting support subsystem, motion assistant subsystem, the main platform of air-flotation system, thrust executive subsystem, pose
Measurement subsystem and controller；Wherein,
The top of single-degree-of-freedom air supporting support subsystem is connected with the bottom of the main platform of air-flotation system, single-degree-of-freedom air supporting branch
The bottom of chapelet system is arranged in Three Degree Of Freedom air supporting support subsystem；The rotating shaft of single-degree-of-freedom air supporting support subsystem and rail
Road plane is vertical；
Motion assistant subsystem includes：The given force application apparatus of original state and gravitation simulation force application apparatus；Original state is given
Determine force application apparatus include be arranged in Three Degree Of Freedom air supporting support subsystem concentrate on work at selected units component and can in orbit plane freely
The handgrip component of translation, handgrip component is detachably connected with component of concentrating on work at selected units；Gravitation simulation force application apparatus are used for Simulated Spacecraft
Gravitation between planet；
Pose measurement subsystem is arranged on the main platform of air-flotation system, the posture information for obtaining the main platform of air-flotation system
And it is sent to controller；
Controller is used for：Handgrip component is controlled to be connected with component of concentrating on work at selected units and in orbit plane according to default motion state
Interior translation；Posture information according to receiving determines the pose of the main platform of air-flotation system, when the pose of the main platform of air-flotation system reaches
During default initial position, control component of concentrating on work at selected units is disconnected with handgrip component；Gravitation mould is adjusted according to the posture information for receiving
Intend the gravitation between force application apparatus and the main platform of air-flotation system；Thrust control instruction is generated according to the posture information for receiving and is sent
Give thrust executive subsystem；
Thrust executive subsystem is arranged on the main platform of air-flotation system, for controlling gas according to the thrust control instruction for receiving
The motion state of the main platform of floating system.
Preferably, handgrip component includes：Original state driver part and two handgrips；
Original state driver part is arranged in orbit plane, can be put down in orbit plane under the control of the controller
It is dynamic；
Handgrip is arranged on original state driver part；When two handgrips are closed, handgrip component is connected with component of concentrating on work at selected units；Two
When individual handgrip is separated, handgrip component is disconnected with component of concentrating on work at selected units.
Preferably, handgrip is pneumatic gripping device.
Preferably, original state driver part is set with gravitation simulation force application apparatus linkage.
Preferably, gravitation simulation force application apparatus include：Magnet assembly and coil block；In magnet assembly and coil block
One is arranged on the main platform of air-flotation system, and another is arranged on original state driver part.
Preferably, magnet assembly is arranged on the main platform of air-flotation system, including opening is towards air-flotation system main platform outside
U magnet；Coil block includes coil and gravitation driver part, and gravitation driver part is arranged on original state driver part
On, one end of coil is arranged on gravitation driver part, and the other end gos deep into the cavity of U magnet.
Preferably, pose measurement subsystem includes：Laser tracker and the intelligence being arranged on the main platform of air-flotation system
Gauge head, accelerometer and gyroscope.
Preferably, thrust executive subsystem includes：The pressure-reduced and-regulated and solenoid valve block being arranged on the main platform of air-flotation system
Part, nozzle, gas cylinder group and control circuit box.
Preferably, orbit plane is marble slab, and Three Degree Of Freedom air supporting support subsystem is arranged on greatly enough by three gas
On reason stone plate.
According to another aspect of the present invention, there is provided use the planetary landing motion simulation method of said system, it is including as follows
Step：
After receiving the operational order of outside input, the motion appearance of the main platform of air-flotation system is controlled using thrust executive subsystem
State, the posture information of the main platform of air-flotation system is obtained using pose measurement subsystem；
Gravitation between force application apparatus Simulated Spacecraft and planet is simulated by gravitation, gravitation mould is adjusted according to posture information
Intend the gravitation between force application apparatus and the main platform of air-flotation system；
Drive Three Degree Of Freedom air supporting support subsystem on orbit plane according to pre- using the given force application apparatus of original state
If motion state translation, when the pose of the main platform of air-flotation system reaches default initial position, make that original state is given to be applied
The component of concentrating on work at selected units of power apparatus is disconnected with handgrip component.
The present invention is used includes Three Degree Of Freedom air supporting support subsystem, single-degree-of-freedom air supporting support subsystem, air-flotation system
Main platform and thrust executive subsystem Simulated Spacecraft drive space flight in the motion in space using the given force application apparatus of original state
Device reaches initial motion state, and the gravitation between force application apparatus Simulated Spacecraft and planet is simulated using gravitation.According to the present invention
Planetary landing sport simulated system and method can simulate complexity deep space environment, for survey of deep space, planetary landing study
Etc. having great importance.
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 schematic diagram for showing planetary landing sport simulated system of the invention.
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.
Referring to Fig. 1, the planetary landing sport simulated system based on air floating table of the invention includes：Three Degree Of Freedom air supporting is supported
Subsystem 2, single-degree-of-freedom air supporting support subsystem 3, motion assistant subsystem, the main platform 4, thrust of air-flotation system perform subsystem
System, pose measurement subsystem and controller 13.
The top of single-degree-of-freedom air supporting support subsystem 3 is connected with the bottom of the main platform 4 of air-flotation system, such as single-degree-of-freedom
The upper axis bearing of air supporting support subsystem 3 is connected by mechanical interface with the bottom of the main platform 4 of air-flotation system；Single-degree-of-freedom gas
The bottom of floating support subsystem 3 is arranged in Three Degree Of Freedom air supporting support subsystem 2；Single-degree-of-freedom air supporting support subsystem 3
Rotating shaft is vertical with orbit plane.In order to prevent due to analog distortion caused by orbit plane out-of-flatness, marble slab 1 can be used
As orbit plane.Three Degree Of Freedom air supporting support subsystem 3 is arranged on 1 on marble slab by three gas foots 20.Three Degree Of Freedom
Platform gas cylinders group 6 can be set in air supporting support subsystem 3, for driving Three Degree Of Freedom air supporting support subsystem 3 and three freely
Degree air supporting support subsystem 2 is rotated, with the attitude maneuver of Simulated Spacecraft and control.
Pose measurement subsystem is arranged on the main platform 4 of air-flotation system, and the pose for obtaining the main platform 4 of air-flotation system is believed
Cease and be sent to controller 13.Controller 13 generates thrust control instruction and is sent to and is arranged on gas according to the posture information for receiving
Thrust executive subsystem on the main platform 4 of floating system.Thrust executive subsystem controls air supporting according to the thrust control instruction for receiving
The motion state of the main platform 4 of system, so as to control the movement locus and attitude of space simulator.In the embodiment show in figure 1,
Pose measurement subsystem includes：Laser tracker 14 and the intelligent gauge head 15, acceleration being arranged on the main platform of air-flotation system
Meter 12 and gyroscope 11.
Thrust executive subsystem can simulate the high thrust cold air thruster of high thrust motor and a rail control when becoming rail
The low thrust cold air thruster of making.In the embodiment show in figure 1, thrust executive subsystem includes：It is arranged on air supporting system
Unite pressure-reduced and-regulated and electromagnetic valve component 7 on main platform 4, nozzle 8, gas cylinder group 9 and control circuit box 10.Gas cylinder group
After high pressure nitrogen purge gas in 9 are through the decompression of pressure-reducing valve voltage stabilizing valve module, voltage stabilizing in pressure-reduced and-regulated and electromagnetic valve component 7, subtracting
Sprayed by nozzle 8 under the control of the magnetic valve in pressure voltage stabilizing and electromagnetic valve component 7, the moment of reaction of generation acts on air supporting system
Unite on main platform 4, promote the main platform 4 of air-flotation system to move.Pose measurement subsystem be able to will be obtained by wireless communication components
Posture information be transmitted to controller 13, control circuit box 10 on the main platform 4 of air-flotation system receives the appearance of controller 13
Sending instruction to the thrust executive subsystem on the main platform 4 of air-flotation system after rail control instruction carries out jet, so as to control and navigate
The movement locus and attitude of its simulator.Certainly, the posture information of acquisition directly can also be transmitted to control by pose measurement subsystem
Circuit box processed 10, calculates rail control system and instructs by control circuit box 10 according to default program, and based on the rail control for calculating
System instruction control sends instruction and carries out jet to the thrust executive subsystem on the main platform 4 of air-flotation system, so as to control and space flight
The movement locus and attitude of simulator.
Motion assistant system includes：The given force application apparatus of original state and gravitation simulation force application apparatus.Gravitation simulation force
The gravitation that device is used between Simulated Spacecraft and planet.The given force application apparatus of original state include being arranged on Three Degree Of Freedom air supporting
In support subsystem 2 concentrate on work at selected units component 16 and can in orbit plane free translation handgrip component 17, handgrip component 17 with
Component 16 of concentrating on work at selected units is detachably connected.
Controller 13 controls handgrip component 17 to be connected and in orbit plane with component 16 of concentrating on work at selected units according to default motion state
Interior translation；Posture information according to receiving determines the pose of the main platform 4 of air-flotation system, when the pose of the main platform 4 of air-flotation system reaches
During to default initial position, control component 16 of concentrating on work at selected units is disconnected with handgrip component 17.Handgrip component 17 and component 16 of concentrating on work at selected units
During connection, the given force application apparatus of original state under the control instruction effect of ground control cabinet with motion space simulator according to
Given motion state motion, when handgrip component 17 is disconnected with component 16 of concentrating on work at selected units, original state gives force application apparatus moment
Space simulator is unclamped, space simulator translation in orbit plane under the graviational interaction of gravitation simulation force application apparatus reaches
The given effect of original state.
In order to as far as possible improve specific impulse, in some embodiments of the invention, Three Degree Of Freedom air supporting support subsystem 2, and/or
Nozzle in single-degree-of-freedom air supporting support subsystem 3, and/or thrust executive subsystem can be using contraction shape nozzle.Further
Preferably, determine to shrink the mass flow of shape jet expansion according to equation below 1, specific impulse can not only be improved, additionally it is possible to improve
To the stability of strutting system of the main platform 4 of air-flotation system.
β=ln (1+ γ) formula 2
In formula, QmTo shrink the mass flow of shape jet expansion, unit is：g/s；PsFor gas sprays fore pressure, unit is
Pa；P is the pressure for shrinking shape jet expansion cross section, and unit is Pa；SeTo shrink shape jet expansion cross-sectional area, unit is
mm2；γ is specific heats of gases ratio, and unit is J/ (kg DEG C)；TsBe gas temperature, unit for DEG C；R is gas constant, and unit is J/
(mol·℃)；β is correction factor, firm without unit quantity.
Under normal circumstances, the value of β is γ.But the quality of the contraction shape jet expansion that this span is calculated
Flow is poor to the stability of strutting system of the main platform 4 of air-flotation system, and the main platform 4 of air-flotation system is easily in the direction of vertical track plane
Upper vertical tremor, reduces the accuracy of authentic physical simulation simulation.In order to solve this problem, the present invention is through studying for a long period of time β
Value be set to ln (1+ γ).Set by this value, 2 pairs of gas of Three Degree Of Freedom air supporting support subsystem can be significantly improved
The stability of strutting system of the main platform 4 of floating system.
Influence of the gravitation of planet to spacecraft movement locus is than larger, and its gravity field model is extremely complex, gravitation it is big
Small and direction is also all change.The present invention simulates the gravitation between force application apparatus Simulated Spacecraft and planet, control using gravitation
Device processed 13 is according to the gravitation between the posture information adjustment gravitation simulation force application apparatus and the main platform 4 of air-flotation system for receiving.Becoming
During rail, space simulator is simulated under the graviational interaction of force application apparatus in the high thrust and gravitation of thrust executive subsystem, by ellipse
Circular orbit enters hyperbolic orbit, so that the real process of true simulation rail control, realizes the authentic thing to planetary landing campaign
Reason simulation.
The given force application apparatus of original state are acted in Three Degree Of Freedom air supporting support subsystem 2, gravitation simulation force application apparatus
Act on the main platform 4 of air-flotation system, so main platform 4 of air-flotation system is except the graviational interaction by gravitation simulation force application apparatus
Outward, do not fettered by the given force application apparatus of original state, translation in orbit plane can be realized and around perpendicular to track
The Z axis of plane are rotated, and simulation is in orbit and landing mission.Also just to say and can ensure motion by single-degree-of-freedom air-flotation system 3
Auxiliary body does not influence the freedom of motion of the main platform 4 of whole air-flotation system.
In some embodiments of the invention, handgrip component 17 includes：Original state driver part (not shown) and
Two handgrip (not shown)s.Original state driver part is arranged in orbit plane, can be existed under the control of the controller
Translation in orbit plane；Handgrip is arranged on original state driver part, when two handgrips are closed, handgrip component 17 and group of concentrating on work at selected units
Part 16 is connected, and when two handgrips are separated, handgrip component 17 is disconnected with component 16 of concentrating on work at selected units.Those skilled in the art should manage
Solution, handgrip do not influence the implementation of technical solution of the present invention with the concrete structure and connected mode of component 16 of concentrating on work at selected units, as long as handgrip with
The handgrip of component 16 of concentrating on work at selected units can realize detachable connection, and such as handgrip can use pneumatic gripping device.
During original state is given, the posture information of the main platform 4 of air-flotation system constantly change further, since
Planet is continually changing to the gravitation size and Orientation of spacecraft, therefore the gravitation size of gravitation simulation force application apparatus also constantly becomes
Change.The attitude information of the main subsequent time of platform 4 of air-flotation system is calculated according to current pose information and default control algolithm
Draw, in order to reduce the amount of calculation of control algolithm as far as possible, and improve the accuracy of gesture stability, original state can be driven
Part is set with gravitation simulation force application apparatus linkage.In the embodiment in figure 1, original state driver part simulates force with gravitation
Device is linked by mechanical beam 5 and set.
In some embodiments of the invention, gravitation simulation force application apparatus include：Magnet assembly and coil block.By magnetic
Property component and coil block simulation planet to the gravitation of spacecraft, simple structure, be easy to control, low cost.Magnet assembly and line
One in coil assembly can be arranged on the main platform of air-flotation system, and another can be arranged on original state driver part.
For example, magnet assembly is arranged on the main platform of air-flotation system, including opening is towards the U magnet on the outside of the main platform of air-flotation system
19；Coil block includes coil 18 and gravitation driver part, and gravitation driver part is arranged on original state driver part, coil
18 one end is arranged on gravitation driver part, and the other end gos deep into the cavity of U magnet 19.By changing the stream in coil 18
Relative position between galvanization or adjustment coil 18 and U magnet 19, can change gravitation and simulate force application apparatus to air supporting
The gravitation size and Orientation of the main platform 4 of system.
Present invention also offers the planetary landing motion simulation method using above-mentioned planetary landing sport simulated system, including
Following steps：
After receiving the operational order of outside input, the motion appearance of the main platform of air-flotation system is controlled using thrust executive subsystem
State, the posture information of the main platform of air-flotation system is obtained using pose measurement subsystem；
Gravitation between force application apparatus Simulated Spacecraft and planet is simulated by gravitation, gravitation mould is adjusted according to posture information
Intend the gravitation between force application apparatus and the main platform of air-flotation system；
Drive Three Degree Of Freedom air supporting support subsystem on orbit plane according to pre- using the given force application apparatus of original state
If motion state translation, when the pose of the main platform of air-flotation system reaches default initial position, make that original state is given to be applied
The component of concentrating on work at selected units of power apparatus is disconnected with handgrip component.
Compared with prior art, planetary landing sport simulated system of the invention and method can simulate the deep space ring of complexity
Border, realizes the full physical simulation of planetary landing campaign, improves the efficiency-cost ratio of aircraft, and reduce risk shortens the R＆D cycle, for
Survey of deep space, planetary landing research etc. have great importance.
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. a kind of planetary landing sport simulated system based on air floating table, it is characterised in that including：Three Degree Of Freedom air supporting branch chapelet
System, single-degree-of-freedom air supporting support subsystem, motion assistant subsystem, the main platform of air-flotation system, thrust executive subsystem, pose
Measurement subsystem and controller；Wherein,
The top of single-degree-of-freedom air supporting support subsystem is connected with the bottom of the main platform of air-flotation system, single-degree-of-freedom air supporting branch chapelet
The bottom of system is arranged in Three Degree Of Freedom air supporting support subsystem；The rotating shaft of single-degree-of-freedom air supporting support subsystem is put down with track
Face is vertical；
Motion assistant subsystem includes：The given force application apparatus of original state and gravitation simulation force application apparatus；Original state is given to be applied
Power apparatus include be arranged in Three Degree Of Freedom air supporting support subsystem concentrate on work at selected units component and can in orbit plane free translation
Handgrip component, handgrip component is detachably connected with component of concentrating on work at selected units；Gravitation simulation force application apparatus are used for Simulated Spacecraft and row
Gravitation between star；
Pose measurement subsystem is arranged on the main platform of air-flotation system, and the posture information for obtaining the main platform of air-flotation system is concurrent
Give controller；
Controller is used for：It is connected with component of concentrating on work at selected units according to default motion state control handgrip component and is put down in orbit plane
It is dynamic；Posture information according to receiving determines the pose of the main platform of air-flotation system, when the pose of the main platform of air-flotation system reach it is default
Initial position when, control component of concentrating on work at selected units is disconnected with handgrip component；Posture information adjustment gravitation simulation according to receiving is applied
Gravitation between power apparatus and the main platform of air-flotation system；Generate thrust control instruction and be sent to according to the posture information for receiving and push away
Power executive subsystem；
Thrust executive subsystem is arranged on the main platform of air-flotation system, for according to the thrust control instruction control air supporting system for receiving
Unite the motion state of main platform.
2. planetary landing sport simulated system as claimed in claim 1, wherein, handgrip component includes：Original state drive division
Part and two handgrips；
Original state driver part is arranged in orbit plane, being capable of the translation in orbit plane under the control of the controller；
The handgrip is arranged on original state driver part；When described two handgrips are closed, handgrip component connects with component of concentrating on work at selected units
Connect；When described two handgrips are separated, handgrip component is disconnected with component of concentrating on work at selected units.
3. planetary landing sport simulated system as claimed in claim 2, wherein, the handgrip is pneumatic gripping device.
4. planetary landing sport simulated system as claimed in claim 2, wherein, original state driver part is applied with gravitation simulation
Power apparatus linkage is set.
5. the planetary landing sport simulated system as described in claim 2 or 4, wherein, gravitation simulation force application apparatus include：Magnetic
Component and coil block；One in magnet assembly and coil block is arranged on the main platform of air-flotation system, and another is arranged on
On original state driver part.
6. planetary landing sport simulated system as claimed in claim 5, wherein, magnet assembly is arranged on the main platform of air-flotation system
On, including opening is towards the U magnet on the outside of the main platform of air-flotation system；Coil block includes coil and gravitation driver part, draws
Driven part is arranged on original state driver part, and one end of coil is arranged on gravitation driver part, and the other end gos deep into U
In the cavity of shape magnet.
7. planetary landing sport simulated system as claimed in claim 1, wherein, pose measurement subsystem includes：Laser is tracked
Instrument and the intelligent gauge head being arranged on the main platform of air-flotation system, accelerometer and gyroscope.
8. planetary landing sport simulated system as claimed in claim 1, wherein, thrust executive subsystem includes：It is arranged on gas
Pressure-reduced and-regulated and electromagnetic valve component, nozzle, gas cylinder group and control circuit box on the main platform of floating system.
9. planetary landing sport simulated system as claimed in claim 1, wherein, the orbit plane is marble slab, three from
It is arranged on marble slab enough by three gas by degree air supporting support subsystem.
10. using the planetary landing motion simulation method of claim 1~9 any system, it is characterised in that comprise the following steps：
After receiving the operational order of outside input, the athletic posture of the main platform of air-flotation system is controlled using thrust executive subsystem,
The posture information of the main platform of air-flotation system is obtained using pose measurement subsystem；
Gravitation between force application apparatus Simulated Spacecraft and planet is simulated by gravitation, gravitation mould is adjusted according to the posture information
Intend the gravitation between force application apparatus and the main platform of air-flotation system；
Drive Three Degree Of Freedom air supporting support subsystem on orbit plane according to default using the given force application apparatus of original state
Motion state translation, when the pose of the main platform of air-flotation system reaches default initial position, makes the given force dress of original state
The component of concentrating on work at selected units put is disconnected with handgrip component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610920788.7A CN106494653B (en) | 2016-10-21 | 2016-10-21 | Planetary landing sport simulated system and method based on air floating table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610920788.7A CN106494653B (en) | 2016-10-21 | 2016-10-21 | Planetary landing sport simulated system and method based on air floating table |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106494653A CN106494653A (en) | 2017-03-15 |
| CN106494653B true CN106494653B (en) | 2017-06-16 |
Family
ID=58318342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610920788.7A Active CN106494653B (en) | 2016-10-21 | 2016-10-21 | Planetary landing sport simulated system and method based on air floating table |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106494653B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873644B (en) * | 2017-04-10 | 2020-01-07 | 哈尔滨工业大学 | High-precision attitude control method for aircraft ground simulation system translation mechanism |
| CN110456631B (en) * | 2019-08-19 | 2022-12-09 | 哈尔滨工业大学 | Planet detection capture brake and device separation physical tracking device and method |
| CN110542440B (en) * | 2019-10-16 | 2022-11-22 | 哈尔滨工业大学 | Device and method for measuring residual moment of inertia device |
| CN111516912B (en) * | 2020-05-09 | 2022-04-08 | 天津航天机电设备研究所 | Small celestial body landing buffering microgravity test device and method |
| CN111571563B (en) * | 2020-05-22 | 2022-08-26 | 上海交通大学 | Semi-physical simulation system and method for asteroid attachment mechanism |
| CN111896162A (en) * | 2020-07-11 | 2020-11-06 | 西北工业大学 | Single-degree-of-freedom non-contact racemization simulation test platform and method for space out-of-control rolling satellite |
| CN113928603B (en) * | 2021-09-13 | 2022-10-14 | 哈尔滨工业大学 | Six-degree-of-freedom space microgravity simulation device and control method |
| CN114572430B (en) * | 2022-04-28 | 2024-02-27 | 中国人民解放军火箭军工程大学 | Multi-degree-of-freedom test system |
| CN116088344B (en) * | 2022-12-19 | 2024-04-09 | 中国科学院力学研究所 | Non-dragging control semi-physical simulation system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6622579B1 (en) * | 1999-07-20 | 2003-09-23 | Aerolas Gmbh Aerostatische Lager-Lasertechnik | Bearing arrangement for tension forces and bearing head therefor |
| CN103454927A (en) * | 2013-08-22 | 2013-12-18 | 哈尔滨工业大学 | Aircraft distribution type network all-physical ground simulation device and method |
| CN104199312A (en) * | 2014-09-02 | 2014-12-10 | 哈尔滨工业大学 | Ground simulating developing device for satellite control system |
| CN105182798A (en) * | 2015-09-10 | 2015-12-23 | 哈尔滨工业大学 | Ground motion full-physical simulation system for spacecraft |
-
2016
- 2016-10-21 CN CN201610920788.7A patent/CN106494653B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6622579B1 (en) * | 1999-07-20 | 2003-09-23 | Aerolas Gmbh Aerostatische Lager-Lasertechnik | Bearing arrangement for tension forces and bearing head therefor |
| CN103454927A (en) * | 2013-08-22 | 2013-12-18 | 哈尔滨工业大学 | Aircraft distribution type network all-physical ground simulation device and method |
| CN104199312A (en) * | 2014-09-02 | 2014-12-10 | 哈尔滨工业大学 | Ground simulating developing device for satellite control system |
| CN105182798A (en) * | 2015-09-10 | 2015-12-23 | 哈尔滨工业大学 | Ground motion full-physical simulation system for spacecraft |
Non-Patent Citations (1)
| Title |
|---|
| 三自由度气浮仿真试验系统设计与实现;于利喜;《中国优秀硕士学位论文全文数据库》;20130701;第8-53页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106494653A (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106494653B (en) | Planetary landing sport simulated system and method based on air floating table | |
| CN107505846B (en) | A kind of anti-interference attitude harmony verification device of Space Manipulator System and control method | |
| Kim et al. | Automatic mass balancing of air-bearing-based three-axis rotational spacecraft simulator | |
| CN111099045B (en) | Full physical simulation method for double super satellite dynamics and control air floatation platform | |
| Nakka et al. | A six degree-of-freedom spacecraft dynamics simulator for formation control research | |
| Rybus et al. | Application of a planar air-bearing microgravity simulator for demonstration of operations required for an orbital capture with a manipulator | |
| Agrawal et al. | Air-bearing-based satellite attitude dynamics simulator for control software research and development | |
| CN114237273A (en) | System and method for testing position and attitude of tethered satellite in microgravity environment | |
| CN107861386A (en) | A kind of anti-interference attitude control ground checking system and its control method based on angular speed observer | |
| Ousaloo et al. | Verification of Spin Magnetic Attitude Control System using air-bearing-based attitude control simulator | |
| CN110428715A (en) | A kind of magentic suspension demonstrating Spacecraft Rendezvous docking section teaching device | |
| Yuan et al. | An innovative method for simulating microgravity effects through combining electromagnetic force and buoyancy | |
| Eun et al. | Design and development of ground-based 5-dof spacecraft formation flying testbed | |
| Cookson | Experimental investigation of spacecraft rendezvous and docking by development of a 3 degree of freedom satellite simulator testbed | |
| CN116520719A (en) | Method and system suitable for full physical simulation of attitude dynamics of flexible spacecraft | |
| Wei et al. | Novel ground microgravity experiment system for a spacecraft-manipulator system based on suspension and air-bearing | |
| CN114895716A (en) | Ground simulation system and method for high-precision tracking and aiming control of spacecraft | |
| Nehrenz | Initial design and simulation of the attitude determination and control system for LightSail-1 | |
| Fernandez et al. | Development of a tip-tilt air-bearing testbed for physically emulating proximity-flight orbital mechanics | |
| RU2326447C1 (en) | Dynamic simulator | |
| CN104391446A (en) | Stratospheric satellite six degree-of-freedom dynamics modeling and cascaded control method | |
| Robens et al. | Limit-Cycle Controls for Spacecraft in Formation Flight and Docking | |
| CN108415446A (en) | High area-mass ratio Spacecraft Attitude Control ground equivalent simulated experiment body and experimental method | |
| Basak et al. | Spin-Stabilization and Attitude Tracking of a Spacecraft Simulator using MPC | |
| Yeşilay et al. | A Review Paper: The Dynamics, Kinematics, Design and Control of Satellite Simulators with Spherical Air Bearing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |