CN106516182A - Double five-degrees-of-freedom air bearing and master-slave non-contact double-super satellite ground principle verification system - Google Patents
Double five-degrees-of-freedom air bearing and master-slave non-contact double-super satellite ground principle verification system Download PDFInfo
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- CN106516182A CN106516182A CN201611047724.7A CN201611047724A CN106516182A CN 106516182 A CN106516182 A CN 106516182A CN 201611047724 A CN201611047724 A CN 201611047724A CN 106516182 A CN106516182 A CN 106516182A
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Abstract
The invention discloses a double five-degrees-of-freedom air bearing and master-slave non-contact double-super satellite ground principle verification system. The double five-degrees-of-freedom air bearing and master-slave non-contact double-super satellite ground principle verification system comprises a middle hollow-out platform cabin five-degrees-of-freedom air-bearing platform and a load cabin five-degrees-of-freedom air-bearing platform, wherein the load cabin five-degrees-of-freedom air-bearing platform is embedded into the middle hollow-out platform cabin five-degrees-of-freedom air-bearing platform; and movement and quiescence are isolated through a non-contact magnetic levitation mechanism. The double five-degrees-of-freedom air bearing and master-slave non-contact double-super satellite ground principle verification system further comprises a high precision posture control system, wherein the high precision posture control system comprises a load posture control circuit, two-cabin relative position control circuit and a two-cabin relative posture control circuit. The invention can verify controls of three-dimensional rotations and two-dimensional translations of two cabins and can realize and verify master-slave non-contact embedded type double-super control in a plurality of degrees of freedom except a gravity direction.
Description
Technical field
The present invention relates to contactless pair of super satellite ground Proof-Of Principle systems of a kind of couple of five degree of freedom air supporting principal and subordinate.
Background technology
Break traditions satellite load cabin and platform cabin of principal and subordinate's noncontact internal " double super " satellite platform is connected mentality of designing,
Using " sound isolation noncontact, principal and subordinate decoupling high accuracy " brand-new design method so that load point to degree of stability no longer according to
Realize by platform control system, isolated with load cabin sound by platform cabin, physically the micro-vibration interference in isolation platform cabin,
The great difficult problem that load pointing accuracy and degree of stability are difficult to be substantially improved can fundamentally be solved.
Compared with current traditional method, contactless " double super " satellite platform of principal and subordinate has the characteristics that：1) " double super " property
Energy：Contactless " double super " satellite platform of principal and subordinate is isolated with spatially sound, the brand-new thought and method of principal and subordinate's collaboration in control,
Configuration and sliding formwork layer control thought are decoupled using complete pose, using high accuracy, high bandwidth non-contact magnetically float means, satellite is realized
Attitude pointing accuracy is better than 5 × 10-4Degree, attitude stability are better than 5 × 10-6The superhigh precision of degrees second, thoroughly solves " double super "
Technical bottleneck, realizes the complete measurable and controllable of load attitude.2) Whole frequency band vibration isolation：Contactless " double super " satellite platform of principal and subordinate
Two cabins are connected by magnetic floating mechanism noncontact, realize that sound is isolated, and directly separate the activity of platform cabin and flexible part to load cabin
Micro-vibration transmission, the super steady working condition of superfinishing of effective guarantee load, so as to reach the effect of Whole frequency band vibration isolation, greatly reduces
Bandwidth demand to control system product.3) isolation platform thermal deformation：The connected design of tradition is compared, master-slave mode noncontact is " double
It is super " two cabin spatial separation of satellite platform, effectively prevent the impact that platform thermal deformation is pointed to load.Additionally, " double super " satellite
Also have that simple, safe and reliable, redundancy is high, the low advantage of quality low power consumption.
" double super " satellite is a brand-new design concept, needs to verify the feasible of its design principle by ground experiment
Property.Compared with current traditional method, contactless " double super " the satellite ground Proof-Of Principle method tool of double five degree of freedom air supporting principals and subordinates
There are following characteristics：1) meet " double super " the design of satellites theory of " sound isolates noncontact, principal and subordinate's collaboration high accuracy "；2) control logical
Road is more, by the load cabin active air supporting of five degree of freedom, the platform cabin active air supporting of five degree of freedom, is realized by magnetic floating mechanism
Sound isolates noncontact；Based on load cabin, the driven control in platform cabin subsequent load cabin is realized in Three dimensional rotation, bidimensional translation side
Principal and subordinate's collaboration high-precision control upwards；3) space weightlessness technology maturation reliability is simulated using air supporting mode, is easily realized.
The content of the invention
It is an object of the invention to provide contactless pair of super satellite ground principles of a kind of couple of five degree of freedom air supporting principal and subordinate are tested
Card system, simulates space weightlessness using air supporting mode, can apply to two non-contacting nacelles of internal gas respectively
It is floating, verify on the ground principal and subordinate's noncontact internal " double super " satellite it is adopt " sound isolate noncontact, principal and subordinate decouple it is high-precision
Degree " brand-new design method feasibility and in Three dimensional rotation and bidimensional translation direction gesture stability Performance Evaluation.Principal and subordinate
Noncontact internal " double super " satellite platform is capable of achieving load pointing accuracy, degree of stability and is up to 10 respectively-4Degree, 10-6Degrees second
" double super " control, can be applicable to the fields such as high score remote sensing, high accuracy formation, High-performance lasers communication, survey of deep space.
The purpose of the present invention is achieved through the following technical solutions：A kind of couple of five degree of freedom air supporting principal and subordinate is contactless double super
Satellite ground Proof-Of Principle system, including a middle hollow type platform cabin five degree of freedom air floating table and a load cabin five degree of freedom gas
Floating platform, load cabin five degree of freedom air floating table are embedded in middle hollow type platform cabin five degree of freedom air floating table, and pass through noncontact
Magnetic floating mechanism 5 realizes that sound is isolated, and realizes that low-angle attitude of two cabins on X, Y, Z axis direction is rotated, and X-axis and Y-axis side
Translation upwards, it may be verified that except " double super " design of satellites principle and assessment attitude on other five directions on gravity direction
Control potentiality, also including a high-precision attitude control system, high-precision attitude control system includes load gesture stability loop 100
With two cabin relative position control loops 200 and relative Attitude Control for Spacecraft loop 300.
Wherein, the load gesture stability loop 100 includes load instruction 101, load control unit 102, load attitude
Control algolithm 103, magnetic floating mechanism 104, load cabin 105 and star sensor-gyro；Two cabin relative position control loops 200 include
Relative position operational order 201, relative position control unit 202；Relative Attitude Control for Spacecraft loop 300 includes that relative Attitude Control for Spacecraft is calculated
Method 302, exterior operator 303, relative position sensor 305.
Wherein, between platform cabin five degree of freedom air floating table and load cabin five degree of freedom air floating table sound isolation utilize but not
It is limited to electromagnetic force or electrostatic force mode is realized.
Wherein, platform cabin five degree of freedom air floating table includes platform cabin and five degree of freedom active air-flotation system, and load cabin five is certainly
Load cabin and five degree of freedom active air-flotation system are included by degree air floating table, the main task of five degree of freedom active air-flotation system is logical
Whole bay section is floated by the gas bomb Jing air-bearings jet crossed in platform cabin, at the same produce X, two translational degree of freedom of Y-direction,
Around the rotation in tri- directions of X, Y, Z, for verifying load cabin and the control rotated with bidimensional translation of three, platform cabin under below-G conditions
System, system include gas cylinder, control valve, plane bearing, air-floating ball bearing and bearing block, by compressed gas air-floating ball bearing with
The air film formed between bearing block, floats nacelle, so as to realize approximate friction free relative motion condition, is existed with simulating nacelle
The mechanical environment of disturbance torque very little suffered by outer space, the bidimensional translation in two cabins is by being incited somebody to action using four or multiple plane bearings
Nacelle floats.Specifically,
Air-floating ball bearing is capable of achieving the simulation of the three-dimensional rotation under weightlessness.During work, body Jing sphere air-bearing shafts of calming the anger
The restriction held on ball-and-socket is discharged, and forms air film, float bulb and platform between ball-and-socket and bulb.By the centroid adjustment of platform
Overlap to approximate with the centre of sphere of sphere air-bearing, then when platform does attitude rotary motion around the sphere air-bearing centre of sphere, ball
The counteracting force of face air-bearing is offseted such that it is able to microgravity environment in simulation space with platform gravity, and because same shape
Into gas lubrication, platform is also at micro tribology state when doing attitude rotary motion.
The critical component of air floating table translation part is plane air-bearing, and source gas are between air-bearing and platform
Air cushion is formed, the counteracting force of generation makes whole testing stand suspend, reaches to the weightless and purpose without Frotteurism simulation.
Wherein, it is provided with the load cabin but is not limited to payload 3, optical fibre gyro 9, star sensor, laser angular position
Sensor 18, magnetic floating mechanism stator 5b and load cabin control unit 8 are put, load cabin is by five degree of freedom active air supporting smooth
In marble platform, two-dimensional translation is realized, and Three dimensional rotation is realized by spherical bearing；Install but be not limited to solar sail in platform cabin
Plate 10 and its drive mechanism, flywheel 6, thruster 14, tank 4, antenna, magnetic floating mechanism mover 5a, platform cabin pass through five degree of freedom
Active air supporting in smooth marble platform is realized two-dimensional translation, and realizes Three dimensional rotation by spherical bearing.
Wherein, the load cabin gesture stability loop is by attitude sensors such as laser angular position pick up, optical fibre gyros
Attitude information on the X, Y, Z axis direction of load cabin is provided, and feeds back to load cabin posture control unit, load cabin gesture stability list
Unit produces action command, drives non-contact magnetically float means to produce control moment, makes load cabin reach up to be expected in X, Y, Z axis side
Attitude pointing accuracy and degree of stability.
Wherein, two cabin X, Y, Z are detected by the measurement apparatus on non-contact magnetically float means in the relative Attitude Control for Spacecraft loop
Relative attitude information the control unit in platform cabin is fed back on direction of principal axis, the control unit in platform cabin calculates control instruction simultaneously
Drive flywheel, jet thrust device etc. to produce control moment, make the attitude real-time tracking load cabin in platform cabin.
Wherein, by the measurement apparatus on non-contact magnetically float means, the two cabins relative position control loop detects that two cabins exist
Relative position information in X-axis and Y direction simultaneously feeds back to the control unit in platform cabin, and the control unit in platform cabin calculates control
System is instructed and drives non-contact magnetically float means to make which produce controling power, makes the position relative load cabin in platform cabin in X-axis and Y-axis side
It is maintained in desired threshold value upwards.
Ground Proof-Of Principle system can be divided into " double super " satellite control principle model machine and ground corollary equipment two according to function
Part, " double super " satellite control principle model machine include that structure, number pipe, observing and controlling, overall circuit, control, propulsion, mass property are adjusted
8 subsystems such as whole, active air supporting.Ground corollary equipment includes 2 subsystems such as floor synthetic monitoring, Factory Building corollary equipment.
Principle prototype structure is made up of service platform 2 and 1 two parts of payload bay.The critical piece that structural system is adopted
There are honeycomb sandwich panel, support, solar array 10 etc..
Data handling subsystem is made up of several pipe computer sum pipe subsystem softwares.Number pipe computer hardware is by fan-free industry control
Machine 8 and 11 and its corresponding I/O boards are collectively constituted, and are realized and the data path between each unit, subsystem.Data handling subsystem
Software is developed based on xPC real time operating systems, realizes collection, management and the distribution function of principle prototype data message.
Tracking-telemetry and command subsystem is made up of Measurement ＆control computer and tracking-telemetry and command subsystem software.Measurement ＆control computer is by fan-free industrial computer 8
With 11 and angle position information capture card, Wireless Telecom Equipment composition.Tracking-telemetry and command subsystem software is opened based on xPC real time operating systems
Send out, realize angle position information upload, data handling subsystem and floor synthetic Monitor And Control Subsystem information data forwarding capability.
Overall circuit subsystem is by 28V, 24V, 12V and 5V electric discharge actuator, lithium-ions battery group, battery charging and discharging control
Device processed, distributor and low-frequency cable net etc. are constituted, and are mainly responsible for each subsystem units of participating in the experiment on test measuring and controlling equipment and platform
For distribution, and the electrical connection between unit, part.
Attitude control subsystem mainly it is super to the superfinishing of " double super " satellite principle prototype load cabin it is steady control, the driven control in platform cabin
Make and two cabins collaboration uneoupled control carries out principle checking, and investigate principle prototype and initially unlock anticollision pattern, stablize " double
It is super " the attitude control function and performance of pattern and maneuver model.Wherein load cabin configures optical fibre gyro 9, distance-measuring device 15, laser
18 grade measuring cell of Angle Position simulator, 5 grade executive component of magnetic floating mechanism, platform cabin configuration 7 grade measuring cell of gyro, flywheel 6,
14 grade actuator of jet.
Propulsion subsystem assists the foundation for completing initial balance attitude, the momentum discharge for flywheel 6 to provide torque, while anti-
Only two cabins collision, provides thrust for two cabin horizontal movement controls, simulates two cabin orbits controllings.
When ground experiment principle is verified, it is necessary first to carry out mass property adjustment to " double super " satellite principle prototype, make
Its horizontal direction centroid adjustment precision reaches 0.1gf cm, and it is gentle automatically that specific implementation process is divided into barycenter preconditioning, manual coarse adjustment
Accurate adjustment is put down.The wherein standard quality block of manual coarse adjustment flat interest different size, automatic precision leveling is using up to 1 μm of certainty of measurement
Hi-Fix platform is realized.
Active air supporting subsystem is above-mentioned middle hollow type platform cabin five degree of freedom air floating table and a load cabin five degree of freedom
Air floating table, envelope plane air supporting 17, sphere air supporting 12, and corresponding support 13 and 16.
Compared with prior art, the invention has the advantages that：
Space weightlessness is simulated using air supporting mode, two non-contacting nacelles of internal gas respectively is can apply to
It is floating, verify on the ground principal and subordinate's noncontact internal " double super " satellite it is adopt " sound isolate noncontact, principal and subordinate decouple it is high-precision
Degree " brand-new design method feasibility and in Three dimensional rotation and bidimensional translation direction gesture stability Performance Evaluation.Principal and subordinate
Noncontact internal " double super " satellite platform is capable of achieving load pointing accuracy, degree of stability and is up to 10 respectively-4Degree, 10-6Degrees second
" double super " control, can be applicable to the fields such as high score remote sensing, high accuracy formation, High-performance lasers communication, survey of deep space.
Description of the drawings
Fig. 1 is principal and subordinate's noncontact internal " double super " satellite configuration schematic diagram.
Fig. 2 is principal and subordinate's noncontact internal " double super " satellite high-precision gesture stability block diagram.
Fig. 3 is ball-and-socket and sphere air-bearing structure principle chart.
Fig. 4 is double five degree of freedom air supporting principal and subordinate's noncontact internals " double super " satellite ground Proof-Of Principle system schematic.
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 deformations and improvement can also be made.These belong to the present invention
Protection domain.
As shown in Fig. 1-Fig. 2 and Fig. 4, contactless pair of super satellite ground Proof-Of Principles of a kind of couple of five degree of freedom air supporting principal and subordinate
System, including a middle hollow type platform cabin five degree of freedom air floating table and a load cabin five degree of freedom air floating table, load cabin five is certainly
It is embedded in middle hollow type platform cabin five degree of freedom air floating table by degree air floating table, and is realized by non-contact magnetically float means 5 dynamic
Quiet isolation, realizes that low-angle attitude of two cabins on X, Y, Z axis direction is rotated, and the translation in X-axis and Y direction, can test
Card also includes except " double super " design of satellites principle and assessment gesture stability potentiality on other five directions on gravity direction
One high-precision attitude control system, high-precision attitude control system include load gesture stability loop 100 and two cabin relative positions
Control loop 200 and relative Attitude Control for Spacecraft loop 300.
The load gesture stability loop 100 includes that load instruction 101, load control unit 102, load gesture stability are calculated
Method 103, magnetic floating mechanism 104, load cabin 105 and star sensor-gyro；Two cabin relative position control loops 200 include relative position
Put operational order 201, relative position control unit 202；Relative Attitude Control for Spacecraft loop 300 include relative Attitude Control for Spacecraft algorithm 302,
Exterior operator 303, relative position sensor 305.
Sound isolation between platform cabin five degree of freedom air floating table and load cabin five degree of freedom air floating table is utilized but is not limited to
Electromagnetic force or electrostatic force mode are realized.
Platform cabin five degree of freedom air floating table includes platform cabin and five degree of freedom active air-flotation system, load cabin five degree of freedom gas
Floating platform includes load cabin and five degree of freedom active air-flotation system, and the main task of five degree of freedom active air-flotation system is by platform
Whole bay section is floated by the gas bomb Jing air-bearings jet in cabin, at the same produce X, two translational degree of freedom of Y-direction, around X, Y,
The rotation in tri- directions of Z, for verifying load cabin and the control rotated with bidimensional translation of three, platform cabin, system under below-G conditions
Including gas cylinder, control valve, plane bearing, air-floating ball bearing and bearing block, by compressed gas in air-floating ball bearing and bearing block
Between the air film that formed, float nacelle, so as to realize approximate friction free relative motion condition, to simulate nacelle, layer is empty outside
Between suffered disturbance torque very little mechanical environment, the bidimensional translation in two cabins is by being floated nacelle using four or multiple plane bearings
Rise.Specifically,
Air-floating ball bearing is capable of achieving the simulation of the three-dimensional rotation under weightlessness.During work, body Jing sphere air-bearing shafts of calming the anger
The restriction held on ball-and-socket is discharged, and forms air film, float bulb and platform between ball-and-socket and bulb.By the centroid adjustment of platform
Overlap to approximate with the centre of sphere of sphere air-bearing, then when platform does attitude rotary motion around the sphere air-bearing centre of sphere, ball
The counteracting force of face air-bearing is offseted such that it is able to microgravity environment in simulation space with platform gravity, and because same shape
Into gas lubrication, platform is also at micro tribology state, ball-and-socket and sphere air-bearing structural principle when doing attitude rotary motion
Figure is as shown in Figure 3.
The critical component of air floating table translation part is plane air-bearing, and source gas are between air-bearing and platform
Air cushion is formed, the counteracting force of generation makes whole testing stand suspend, reaches to the weightless and purpose without Frotteurism simulation.
Payload 3, optical fibre gyro 9, star sensor, laser angular position sensing are provided with but are not limited in the load cabin
Device 18, magnetic floating mechanism stator 5b and load cabin control unit 8, load cabin is by five degree of freedom active air supporting in smooth marble
On platform, two-dimensional translation is realized, and Three dimensional rotation is realized by spherical bearing；Platform cabin install but be not limited to solar array 10 and
The flexible appendages such as its drive mechanism, flywheel 6, thruster 14, tank 4, antenna, magnetic floating mechanism mover 5a, solar battery array peace
Platform cabin posture control unit 11, platform cabin realize that two dimension is flat by five degree of freedom active air supporting in smooth marble platform
It is dynamic, and Three dimensional rotation is realized by spherical bearing.
The load cabin gesture stability loop is provided by attitude sensors such as laser angular position pick up, optical fibre gyros 7
The information such as the attitude angle of load cabin 1, attitude angular velocity, and load cabin posture control unit 8,8 is fed back to according to load cabin attitude
Information produces corresponding actions instruction, is passed through the corresponding current value of magnetic floating mechanism coil, drives magnetic floating mechanism 5 to produce control moment,
Control load cabin 1 reaches expected attitude pointing accuracy and degree of stability.
The relative Attitude Control for Spacecraft loop two cabin relative positions and phase are detected by the distance-measuring device on magnetic floating mechanism 5
To speed, two cabin relative attitude angles and relative attitude angular velocity information are resolved, 11,11 basis of control unit in platform cabin is fed back to
Two cabin relative attitude information calculate gesture stability and instruct and drive exterior operator 7,4 etc. to produce gesture stability torque, control
The motion in the attitude in platform cabin processed 2 subsequent load cabin 1 in the predetermined precision.
The two cabins relative position control loop:Distance-measuring device 15 on magnetic floating mechanism 5 detects two cabin relative positions
And relative velocity, and feed back to the control unit 11,11 in platform cabin and calculate position control and instruct and drive magnetic floating mechanism 5
Which is made to produce position control power, control platform cabin 2 is maintained in expected threshold value with the relative position of load cabin 1
2 relative position control loop of platform cabin：Distance-measuring device 15 on magnetic floating mechanism 5 detect two cabin relative positions and
Relative velocity, and feed back to the control unit 11,11 in platform cabin and calculate position control and instruct and drive magnetic floating mechanism 5 to make
Which produces position control power, and control platform cabin 2 is maintained in expected threshold value with the relative position of load cabin 1.
Originally it is embodied as platform cabin five degree of freedom air floating table and load cabin five degree of freedom air floating table being placed in marble platform
On, load cabin five degree of freedom air floating table is placed in platform cabin five degree of freedom air floating table, realizes the three-dimensional of platform cabin and load cabin respectively
The control with bidimensional translation is rotated, is adopted in control based on load cabin, platform cabin tracking load cabin is driven to be controlled and two cabin phases
Two cabins do not collide and do not separate too far to be ensured to position control, so as to reach from two cabin Three dimensional rotation, bidimensional translation this five
Degree of freedom is verified.
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 various modifications or modification within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (8)
1. contactless double super satellite ground Proof-Of Principle systems of a kind of couple of five degree of freedom air supporting principal and subordinate, it is characterised in that include
One middle hollow type platform cabin five degree of freedom air floating table and a load cabin five degree of freedom air floating table, load cabin five degree of freedom air floating table
It is embedded in middle hollow type platform cabin five degree of freedom air floating table, and realizes that sound is isolated by non-contact magnetically float means, also wraps
A high-precision attitude control system is included, high-precision attitude control system includes load gesture stability loop and two cabin relative position controls
Loop processed and relative Attitude Control for Spacecraft loop.
2. contactless double super satellite ground Proof-Of Principle systems of double five degree of freedom air supporting principals and subordinates according to claim 1, its
It is characterised by, the load gesture stability loop 100 includes load instruction 101, load control unit 102, load gesture stability
Algorithm 103, magnetic floating mechanism 104, load cabin 105 and star sensor-gyro；Two cabin relative position control loops 200 include relative
Position operation instruction 201, relative position control unit 202；Relative Attitude Control for Spacecraft loop 300 includes relative Attitude Control for Spacecraft algorithm
302nd, exterior operator 303, relative position sensor 305.
3. contactless double super satellite ground Proof-Of Principle systems of double five degree of freedom air supporting principals and subordinates according to claim 1, its
It is characterised by, the sound isolation between platform cabin five degree of freedom air floating table and load cabin five degree of freedom air floating table is utilized but is not limited to
Electromagnetic force or electrostatic force mode are realized.
4. contactless double super satellite ground Proof-Of Principle systems of double five degree of freedom air supporting principals and subordinates according to claim 1, its
It is characterised by, platform cabin five degree of freedom air floating table includes platform cabin and five degree of freedom active air-flotation system, load cabin five degree of freedom
Air floating table includes load cabin and five degree of freedom active air-flotation system, and five degree of freedom active air-flotation system includes gas cylinder, control valve, puts down
Spherical bearing, air-floating ball bearing and bearing block, the air film formed between air-floating ball bearing and bearing block by compressed gas, make cabin
Body floats, so as to realize approximate friction free relative motion condition, to simulate nacelle in disturbance torque very little suffered by outer sheaf space
Mechanical environment, the bidimensional translation in two cabins is by being floated nacelle using four or multiple plane bearings.
5. contactless double super satellite ground Proof-Of Principle systems of double five degree of freedom air supporting principals and subordinates according to claim 4, its
It is characterised by, payload 3, optical fibre gyro 9, star sensor, laser Angle Position is provided with but be not limited in the load cabin and is passed
Sensor 18, magnetic floating mechanism stator 5b and load cabin control unit 8, platform cabin are installed but are not limited to solar array 10 and its driving machine
Structure, flywheel 6, thruster 14, tank 4, antenna, magnetic floating mechanism mover 5a.
6. contactless double super satellite ground Proof-Of Principle systems of double five degree of freedom air supporting principals and subordinates according to claim 2, its
It is characterised by, the load cabin gesture stability loop is provided by attitude sensors such as laser angular position pick up, optical fibre gyros
Attitude information on the X, Y, Z axis direction of load cabin, and load cabin posture control unit is fed back to, load cabin posture control unit is produced
Raw action command, drives non-contact magnetically float means to produce control moment, makes load cabin reach up to expected appearance in X, Y, Z axis side
State pointing accuracy and degree of stability.
7. contactless double super satellite ground Proof-Of Principle systems of double five degree of freedom air supporting principals and subordinates according to claim 2, its
It is characterised by, two cabin X, Y, Z axis sides are detected by the measurement apparatus on non-contact magnetically float means in the relative Attitude Control for Spacecraft loop
Relative attitude information feed back to the control unit in platform cabin upwards, the control unit in platform cabin calculates control instruction and drives
Flywheel, jet thrust device etc. produce control moment, make the attitude real-time tracking load cabin in platform cabin.
8. contactless double super satellite ground Proof-Of Principle systems of double five degree of freedom air supporting principals and subordinates according to claim 2, its
It is characterised by, the two cabins relative position control loop detects two cabins in X-axis by the measurement apparatus on non-contact magnetically float means
With the relative position information in Y direction and the control unit in platform cabin is fed back to, the control unit in platform cabin calculates control
Instruct and drive non-contact magnetically float means to make which produce controling power, the position relative load cabin in platform cabin is made in X-axis and Y direction
On be maintained in desired threshold value.
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