CN106516182B - Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system - Google Patents

Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system Download PDF

Info

Publication number
CN106516182B
CN106516182B CN201611047724.7A CN201611047724A CN106516182B CN 106516182 B CN106516182 B CN 106516182B CN 201611047724 A CN201611047724 A CN 201611047724A CN 106516182 B CN106516182 B CN 106516182B
Authority
CN
China
Prior art keywords
cabin
degree
platform
load
air
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
Application number
CN201611047724.7A
Other languages
Chinese (zh)
Other versions
CN106516182A (en
Inventor
赵艳彬
张伟
赵洪波
朱敏
廖鹤
廖波
唐忠兴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Institute of Satellite Engineering
Original Assignee
Shanghai Institute of Satellite Engineering
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Institute of Satellite Engineering filed Critical Shanghai Institute of Satellite Engineering
Priority to CN201611047724.7A priority Critical patent/CN106516182B/en
Publication of CN106516182A publication Critical patent/CN106516182A/en
Application granted granted Critical
Publication of CN106516182B publication Critical patent/CN106516182B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64GCOSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G7/00Simulating cosmonautic conditions, e.g. for conditioning crews

Abstract

The invention discloses a double five-degree-of-freedom air floatation master-slave non-contact double-super-satellite ground principle verification system which comprises a middle hollow-out type platform cabin five-degree-of-freedom air floatation table and a load cabin five-degree-of-freedom air floatation table, wherein the load cabin five-degree-of-freedom air floatation table is embedded in the middle hollow-out type platform cabin five-degree-of-freedom air floatation table, dynamic and static isolation is realized through a non-contact magnetic floatation mechanism, and the system also comprises a high-precision attitude control system which comprises a load attitude control loop, a two-cabin relative position control loop and a relative attitude control loop. 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 non-contact embedded double-super control in a plurality of degrees of freedom in the direction of removing the gravity.

Description

Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system
Technical Field
The invention relates to a double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system.
Background
The master-slave non-contact internal type 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, ensures that the load direction and stability are not realized by a platform control system any more, and physically isolates the micro-vibration interference of the platform cabin through the dynamic and static isolation of the platform cabin and the load cabin, thereby fundamentally solving 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 non-contact type 'double-super' satellite platform has the following characteristics: 1) "double super" performance: the master-slave non-contact double-super satellite platform adopts a brand-new thought and method of dynamic and static isolation in space and master-slave cooperation in control, adopts a complete pose decoupling configuration and a sliding mode layer control thought, and utilizes a high-precision and high-bandwidth non-contact magnetic suspension mechanism to realizeThe pointing accuracy of the existing satellite attitude is better than 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 technical bottleneck of 'double-super' 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 type '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 of the master-slave mode non-contact double-super satellite platform is isolated, and the influence of the thermal deformation of the platform on the load direction is effectively avoided. In addition, the double-super satellite has the advantages of simplicity, practicability, safety, reliability, high redundancy, low quality, low power consumption and the like.
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 non-contact type 'double-super' satellite ground principle verification method 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.
Disclosure of Invention
The invention aims to provide a ground principle verification system for a double five-degree-of-freedom air-flotation master-slave non-contact double-super satellite, which simulates a space weightless environment by adopting an air-flotation mode, can be applied to air flotation of two non-contact cabin bodies of an inclusion type respectively, and verifies the feasibility of a brand-new design method of dynamic-static isolation non-contact and master-slave decoupling high precision adopted by a master-slave non-contact inclusion type double-super satellite on the ground and the feasibility of the method in three aspectsAnd evaluating the attitude control performance in the direction of dimensional rotation and two-dimensional translation. The master-slave non-contact internal type 'double super' satellite platform can realize that the load pointing precision and the stability respectively reach 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 purpose of the invention is realized by the following technical scheme: a double five-degree-of-freedom air floatation principal and subordinate non-contact type double super satellite ground principle verification system comprises a middle hollow-out type platform cabin five-degree-of-freedom air floatation table and a load cabin five-degree-of-freedom air floatation table, wherein the load cabin five-degree-of-freedom air floatation table is embedded in the middle hollow-out type platform cabin five-degree-of-freedom air floatation table, dynamic and static isolation is achieved through a non-contact magnetic floatation mechanism 5, small-angle attitude rotation of two cabins in the X, Y, Z axis direction and translation in the X axis direction and the Y axis direction are achieved, the design principle of a double super satellite in other five directions in the gravity direction can be verified, the attitude control potential can be evaluated, the system further comprises a high-precision attitude control system, and the high-precision attitude control system comprises a load attitude control loop 100, a two cabin relative position control loop 200 and a relative attitude control loop 300.
The load attitude control loop 100 comprises a load instruction 101, a load control unit 102, a load attitude control algorithm 103, a magnetic suspension mechanism 104, a load cabin 105 and a star sensor-gyroscope; the two-cabin relative position control loop 200 comprises a relative position operation instruction 201 and a relative position control unit 202; relative attitude control loop 300 includes a relative attitude control algorithm 302, an external actuator 303, and a relative position sensor 305.
The dynamic and static isolation between the five-degree-of-freedom air floating platform of the platform cabin and the five-degree-of-freedom air floating platform of the load cabin is realized by using but not limited to an electromagnetic force or an electrostatic force mode.
Wherein, the platform cabin five-degree-of-freedom air floating platform comprises a platform cabin and a five-degree-of-freedom active air floating system, the load cabin five-degree-of-freedom air floating platform comprises a load cabin and a five-degree-of-freedom active air floating system, the five-degree-of-freedom active air floating system mainly has the task of floating the whole cabin section through air injection of an air storage bottle in the platform cabin through an air floating bearing, simultaneously generates two translational freedom degrees in the direction of X, Y and rotation in three directions of X, Y, Z, the system comprises an air bottle, a control valve, a plane bearing, an air-float ball bearing and a bearing seat, an air film is formed between the air-float ball bearing and the bearing seat by compressed air to float the cabin body, therefore, the relative motion condition with approximate zero friction is realized to simulate the mechanical environment of the cabin body in the outer space with small interference torque, and the two-dimensional translation of the two cabins floats the cabin body by adopting four or more plane bearings. In particular, the method comprises the following steps of,
the air-float ball bearing can realize three-dimensional rotation simulation in a weightless state. When the air floatation ball is in work, pressurized air is discharged through a throttling port on a ball socket of the spherical air floatation bearing, an air film is formed between the ball socket and the ball head, and the ball head and the platform are floated. The mass center of the platform is adjusted to be approximately coincident with the spherical center of the spherical air bearing, so that when the platform rotates around the spherical center of the spherical air bearing in a posture, the reaction force of the spherical air bearing is counteracted with the gravity of the platform, the microgravity environment in space can be simulated, and the platform is also in a micro-friction state when rotating in the posture because the gas lubrication is formed.
The key part of the translation part of the air bearing table is a plane air bearing, air source gas forms an air cushion between the air bearing and the platform, and the whole test table is suspended by the generated reaction force, so that the purposes of weightlessness and frictionless state simulation are achieved.
The load cabin is provided with but not limited to a payload 3, a fiber-optic gyroscope 9, a star sensor, a laser angular position sensor 18, a magnetic suspension mechanism stator 5b and a load cabin control unit 8, and the load cabin actively floats on a smooth marble platform through five degrees of freedom to realize two-dimensional translation and three-dimensional rotation through a spherical bearing; the platform cabin is provided with but not limited to a solar sailboard 10 and a driving mechanism thereof, a flywheel 6, a thruster 14, a storage box 4, an antenna and a magnetic suspension mechanism rotor 5a, and the platform cabin actively floats on a smooth marble platform through five degrees of freedom to realize two-dimensional translation and three-dimensional rotation through a spherical bearing.
The attitude control loop of the load cabin provides attitude information of the load cabin in the X, Y, Z axis direction through attitude sensors such as a laser angular position sensor and a fiber optic gyroscope and feeds the attitude information back to the attitude control unit of the load cabin, and the attitude control unit of the load cabin generates an action instruction to drive a non-contact magnetic suspension mechanism to generate a control moment, so that the load cabin achieves expected attitude pointing accuracy and stability in the X, Y, Z axis direction.
The relative attitude control loop detects relative attitude information in the direction of the shafts of the two cabins X, Y, Z through a measuring device on the non-contact magnetic suspension mechanism and feeds the relative attitude information back to a control unit of the platform cabin, and the control unit of the platform cabin calculates a control instruction and drives a flywheel, an air injection thruster and the like to generate control torque so that the attitude of the platform cabin tracks the load cabin in real time.
The control unit of the platform cabin calculates a control command and drives the non-contact magnetic suspension mechanism to generate a control force, so that the position of the platform cabin relative to the load cabin is kept within an expected threshold value in the X-axis and Y-axis directions.
The ground principle verification system can be divided into a double-super satellite control principle prototype and ground corollary equipment according to functions, wherein the double-super satellite control principle prototype comprises 8 subsystems such as a structure, a counting tube, a measurement and control system, a general circuit, a control system, a propulsion system, a quality characteristic adjustment system, an active air floatation system and the like. The ground corollary equipment comprises 2 subsystems such as ground comprehensive monitoring and plant corollary equipment.
The principle prototype structure consists of two parts, namely a service platform 2 and a payload cabin 1. The main components adopted by the structural system are a honeycomb sandwich plate, a bracket, a solar sailboard 10 and the like.
The number pipe subsystem is composed of a number pipe computer and a number pipe subsystem software. The digital computer hardware is composed of fan-free industrial computers 8 and 11 and corresponding I/O board cards, and realizes data communication with each single machine and subsystem. The digital management subsystem software is developed based on an xPC real-time operating system, and the functions of collecting, managing and distributing principle prototype data information are realized.
The measurement and control subsystem consists of a measurement and control computer and measurement and control subsystem software. The measuring and controlling computer is composed of fan-free industrial computers 8 and 11, an angular position information collecting card and wireless communication equipment. The measurement and control subsystem software is developed based on an xPC real-time operating system, and functions of angular position information uploading, information data forwarding of the digital management subsystem and the ground comprehensive monitoring subsystem are achieved.
The overall circuit subsystem is composed of 28V, 24V, 12V and 5V discharge regulators, a lithium ion storage battery pack, a battery charge-discharge controller, a distributor, a low-frequency cable network and the like, and is mainly responsible for supplying and distributing power to test measurement and control equipment for testing and stand-by units of each subsystem, and electrically connecting the units and parts.
The attitude control subsystem is mainly used for carrying out principle verification on ultra-precision ultra-stable control of a load cabin of a principle model machine of a 'double-super' satellite principle, driven control of a platform cabin and cooperative decoupling control of the two cabins, and observing attitude control functions and performances of an initial unlocking anti-collision mode, a stable 'double-super' mode and a maneuvering mode of the principle model machine. The load cabin is provided with measuring elements such as a fiber-optic gyroscope 9, a distance measuring device 15, a laser angular position simulator 18 and the like, executing elements such as a magnetic levitation mechanism 5 and the like, the platform cabin is provided with measuring elements such as a gyroscope 7 and the like, and executing mechanisms such as a flywheel 6, an air jet 14 and the like.
The propulsion subsystem assists in completing the establishment of an initial balance attitude, provides torque for momentum unloading of the flywheel 6, prevents collision of the two cabins, provides thrust for horizontal motion control of the two cabins, and simulates track control of the two cabins.
When ground test principle is verified, firstly, mass characteristic adjustment is needed to be carried out on a 'double-super' satellite principle prototype, 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 active air flotation subsystem is a five-degree-of-freedom air flotation platform of the middle hollow platform cabin, a five-degree-of-freedom air flotation platform of the load cabin, an enveloping plane air flotation 17, a spherical surface air flotation 12 and corresponding supports 13 and 16.
Compared with the prior art, the invention has the following beneficial effects:
the air floatation mode is adopted to simulate the space weightless environment, the method can be applied to the air floatation of two non-contact cabin bodies of an inclusion type, and the feasibility of a brand-new design method of dynamic and static isolation non-contact and master-slave decoupling high precision adopted by a master-slave non-contact inclusion type double-super satellite and attitude control performance evaluation in three-dimensional rotation and two-dimensional translation directions are verified on the ground. The master-slave non-contact internal type 'double super' satellite platform can realize that the load pointing precision and the stability respectively reach 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.
Drawings
FIG. 1 is a schematic diagram of a master-slave non-contact embedded type "dual-super" satellite configuration.
FIG. 2 is a block diagram of a master-slave non-contact embedded type "double super" satellite high-precision attitude control.
Fig. 3 is a schematic diagram of the structure of the ball socket and the spherical air bearing.
FIG. 4 is a schematic diagram of a dual five-degree-of-freedom air-floating master-slave non-contact embedded type 'dual-super' satellite ground principle verification system.
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 variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1-2 and 4, a double five-degree-of-freedom air-floating master-slave non-contact type double super satellite ground principle verification system comprises a middle hollow-out platform cabin five-degree-of-freedom air-floating platform and a load cabin five-degree-of-freedom air-floating platform, wherein the load cabin five-degree-of-freedom air-floating platform is embedded in the middle hollow-out platform cabin five-degree-of-freedom air-floating platform, dynamic and static isolation is realized through a non-contact magnetic suspension mechanism 5, small-angle attitude rotation of two cabins in the X, Y, Z axis direction and translation in the X axis and Y axis directions are realized, the design principle of a 'double super' satellite in other five directions in the gravity direction and the evaluation attitude control potential can be verified, and the system further comprises a high-precision attitude control system, and the high-precision attitude control system comprises a load attitude control loop 100, a two-cabin relative position control loop 200 and a relative attitude control.
The load attitude control loop 100 comprises a load instruction 101, a load control unit 102, a load attitude control algorithm 103, a magnetic suspension mechanism 104, a load cabin 105 and a star sensor-gyroscope; the two-cabin relative position control loop 200 comprises a relative position operation instruction 201 and a relative position control unit 202; relative attitude control loop 300 includes a relative attitude control algorithm 302, an external actuator 303, and a relative position sensor 305.
The dynamic and static isolation between the platform cabin five-degree-of-freedom air floating platform and the load cabin five-degree-of-freedom air floating platform is realized by using but not limited to an electromagnetic force or an electrostatic force mode.
The five-degree-of-freedom air floating platform of the platform cabin comprises a platform cabin and a five-degree-of-freedom active air floating system, the five-degree-of-freedom air floating platform of the load cabin comprises a load cabin and the five-degree-of-freedom active air floating system, the five-degree-of-freedom active air floating system mainly aims at floating the whole cabin section through air injection of an air storage bottle in the platform cabin through an air floating bearing, simultaneously generates two translational freedom degrees in the direction of X, Y and rotation in three directions of X, Y, Z, the system comprises an air bottle, a control valve, a plane bearing, an air-float ball bearing and a bearing seat, an air film is formed between the air-float ball bearing and the bearing seat by compressed air to float the cabin body, therefore, the relative motion condition with approximate zero friction is realized to simulate the mechanical environment of the cabin body in the outer space with small interference torque, and the two-dimensional translation of the two cabins floats the cabin body by adopting four or more plane bearings. In particular, the method comprises the following steps of,
the air-float ball bearing can realize three-dimensional rotation simulation in a weightless state. When the air floatation ball is in work, pressurized air is discharged through a throttling port on a ball socket of the spherical air floatation bearing, an air film is formed between the ball socket and the ball head, and the ball head and the platform are floated. The mass center of the platform is adjusted to be approximately coincident with the spherical center of the spherical air bearing, when the platform does attitude rotation motion around the spherical center of the spherical air bearing, the reaction force of the spherical air bearing is counteracted with the gravity of the platform, so that the microgravity environment in space can be simulated, and because the gas lubrication is formed, the platform is also in a micro-friction state when doing attitude rotation motion, and the structural schematic diagram of the ball socket and the spherical air bearing is shown in fig. 3.
The key part of the translation part of the air bearing table is a plane air bearing, air source gas forms an air cushion between the air bearing and the platform, and the whole test table is suspended by the generated reaction force, so that the purposes of weightlessness and frictionless state simulation are achieved.
The load cabin is provided with but not limited to a payload 3, a fiber optic gyroscope 9, a star sensor, a laser angular position sensor 18, a magnetic suspension mechanism stator 5b and a load cabin control unit 8, the load cabin actively floats on a smooth marble platform through five degrees of freedom to realize two-dimensional translation, and three-dimensional rotation is realized through a spherical bearing; the platform cabin is provided with but not limited to a solar sailboard 10 and a driving mechanism thereof, a flywheel 6, a thruster 14, a storage box 4, an antenna, a magnetic suspension mechanism rotor 5a, a solar cell array and other flexible accessories and a platform cabin attitude control unit 11, and the platform cabin actively floats on a smooth marble platform through five degrees of freedom to realize two-dimensional translation and three-dimensional rotation through a spherical bearing.
The attitude control loop of the load cabin provides information such as an attitude angle, an attitude angular velocity and the like of the load cabin 1 through attitude sensors such as a laser angular position sensor, a fiber optic gyroscope 7 and the like, and feeds back the information to an attitude control unit 8 of the load cabin, the attitude control unit 8 generates a corresponding action command according to the attitude information of the load cabin, corresponding current values of a coil of a magnetic suspension mechanism are introduced, the magnetic suspension mechanism 5 is driven to generate a control moment, and the load cabin 1 is controlled to achieve the expected attitude pointing accuracy and stability.
The relative attitude control loop detects the relative position and the relative speed of the two cabins through a distance measuring device on the magnetic suspension mechanism 5, resolves the relative attitude angle and the relative attitude angular speed information of the two cabins, feeds back the information to a control unit 11 of the platform cabin, and the control unit 11 resolves attitude control instructions according to the relative attitude information of the two cabins and drives external execution mechanisms 7, 4 and the like to generate attitude control torque, so that the attitude of the platform cabin 2 is controlled to follow the motion of the load cabin 1 within preset accuracy.
The distance measuring device 15 on the magnetic suspension mechanism 5 detects the relative position and the relative speed information of the two cabins, and feeds back the information to the control unit 11 of the platform cabin, 11 calculates the position control instruction and drives the magnetic suspension mechanism 5 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 the expected threshold value
Platform cabin 2 relative position control loop: the distance measuring device 15 on the magnetic suspension mechanism 5 detects the relative position and relative speed information of the two cabins, and feeds back the information to the control units 11 and 11 of the platform cabin to calculate the position control instruction and drive the magnetic suspension mechanism 5 to generate the position control force, so as to control the relative position of the platform cabin 2 and the load cabin 1 to be kept within an expected threshold value.
The implementation of the method is characterized in that a platform cabin five-degree-of-freedom air floating platform and a load cabin five-degree-of-freedom air floating platform are arranged on a marble platform, the load cabin five-degree-of-freedom air floating platform is arranged on the platform cabin five-degree-of-freedom air floating platform, three-dimensional rotation and two-dimensional translation of the platform cabin and the load cabin are respectively controlled, the load cabin is mainly used for controlling, 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, and accordingly five-degree-of-freedom verification of three.
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 and 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.

Claims (6)

1. A double five-degree-of-freedom air flotation master-slave non-contact double-super-satellite ground principle verification system is characterized by comprising a middle hollow-out platform cabin five-degree-of-freedom air floating platform and a load cabin five-degree-of-freedom air floating platform, wherein the load cabin five-degree-of-freedom air floating platform is embedded in the middle hollow-out platform cabin five-degree-of-freedom air floating platform, and dynamic and static isolation is realized through a non-contact magnetic floating mechanism;
the load attitude control loop (100) comprises a load instruction (101), a load control unit (102), a load attitude control algorithm (103), a magnetic suspension mechanism (104), a load cabin (105) and a star sensor-gyroscope; the two-cabin relative position control loop (200) comprises a relative position operation instruction (201) and a relative position control unit (202); the relative attitude control loop (300) comprises a relative attitude control algorithm (302), an external actuator (303) and a relative position sensor (305);
the five-freedom-degree air floating platform of the platform cabin comprises the platform cabin and a five-freedom-degree active air floating system, the five-freedom-degree air floating platform of the load cabin comprises the load cabin and the five-freedom-degree active air floating system, the five-freedom-degree active air floating system comprises an air bottle, a control valve, a plane bearing, an air floating ball bearing and a bearing seat, and an air film formed between the air floating ball bearing and the bearing seat by compressed air is relied on to float the cabin body, so that approximate frictionless relative motion conditions are realized to simulate a mechanical environment in which the cabin body is subjected to small interference torque in an outer layer space, and the two-dimensional translation of the two cabins floats the.
2. The dual five-degree-of-freedom air-floating master-slave non-contact dual-super-satellite ground principle verification system as claimed in claim 1, wherein the dynamic and static isolation between the platform cabin five-degree-of-freedom air-floating platform and the load cabin five-degree-of-freedom air-floating platform is realized by means of, but not limited to, electromagnetic force or electrostatic force.
3. The double five-degree-of-freedom air-floating master-slave non-contact double-supersatellite ground principle verification system according to claim 1, wherein a payload (3), a fiber-optic gyroscope (9), a star sensor, a laser angular position sensor (18), a magnetic suspension mechanism stator (5 b) and a load cabin control unit (8) are mounted on the load cabin, and a solar sailboard (10) and a driving mechanism thereof, a flywheel (6), a thruster (14), a storage box (4), an antenna and a magnetic suspension mechanism rotor (5 a) are mounted on the platform cabin.
4. The system for verifying the ground principle of the double-five-degree-of-freedom air-floating master-slave non-contact double-supersatellite according to claim 1, wherein the load attitude control loop provides attitude information of the load compartment in the X, Y, Z axis direction through a laser angular position sensor and a fiber-optic gyroscope attitude sensor, and feeds the attitude information back to a load compartment attitude control unit, and the load compartment attitude control unit generates an action command to drive the non-contact magnetic levitation mechanism to generate a control moment, so that the load compartment achieves the expected attitude pointing accuracy and stability in the X, Y, Z axis direction.
5. The system for verifying the ground principle of a double-five-degree-of-freedom air-float master-slave non-contact double-supersatellite according to claim 1, wherein the relative attitude control loop detects the relative attitude information in the direction of the axis X, Y, Z of the two cabins through a measuring device on the non-contact magnetic suspension mechanism and feeds the information back to a control unit of the platform cabin, and the control unit of the platform cabin calculates a control command and drives a flywheel and an air-jet thruster to generate a control moment so that the attitude of the platform cabin tracks the load cabin in real time.
6. The system for verifying the ground principle of a double-five-degree-of-freedom air-floating master-slave non-contact double-supersatellite according to claim 1, wherein the relative position control loop of the two cabins detects the relative position information of the two cabins in the X-axis and Y-axis directions through a measuring device on the non-contact magnetic suspension mechanism and feeds the relative position information back to a control unit of the platform cabin, and the control unit of the platform cabin calculates a control instruction and drives the non-contact magnetic suspension mechanism to generate a control force so that the position of the platform cabin relative to the load cabin is kept within a desired threshold value in the X-axis and Y-axis directions.
CN201611047724.7A 2016-11-23 2016-11-23 Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system Active CN106516182B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611047724.7A CN106516182B (en) 2016-11-23 2016-11-23 Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611047724.7A CN106516182B (en) 2016-11-23 2016-11-23 Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system

Publications (2)

Publication Number Publication Date
CN106516182A CN106516182A (en) 2017-03-22
CN106516182B true CN106516182B (en) 2020-03-06

Family

ID=58356989

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611047724.7A Active CN106516182B (en) 2016-11-23 2016-11-23 Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system

Country Status (1)

Country Link
CN (1) CN106516182B (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107168348B (en) * 2017-05-17 2020-07-14 上海卫星工程研究所 Current compensation control method for satellite non-contact magnetic suspension mechanism
CN107244430B (en) * 2017-06-07 2019-04-30 北京航空航天大学 Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation
CN108045600A (en) * 2017-10-23 2018-05-18 上海卫星工程研究所 Double super satellite platform load cabin composite control methods
CN108725843A (en) * 2018-05-25 2018-11-02 哈尔滨工业大学 A kind of internal two-body satellite platform configuration
CN108873920A (en) * 2018-06-15 2018-11-23 上海卫星工程研究所 Filled Spacecraft attitude dynamics full physical simulation pilot system and method
CN108803376A (en) * 2018-06-15 2018-11-13 上海卫星工程研究所 Liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation
CN109781102B (en) * 2019-01-14 2020-10-09 上海卫星工程研究所 Attitude measurement method and system based on double super platforms
CN109774969B (en) * 2019-01-25 2021-05-07 上海卫星工程研究所 Embedded semi-physical simulation system based on active following of air-floating ball socket
CN109795724B (en) * 2019-01-25 2020-07-14 上海卫星工程研究所 Double-super-satellite platform test device based on integration of air floating ball and journal bearing
CN109599005B (en) * 2019-01-25 2021-03-09 上海卫星工程研究所 Double-super-satellite platform attitude ground simulator based on gas-magnetic composite control
CN110053786A (en) * 2019-03-22 2019-07-26 上海卫星工程研究所 Solar and Heliospheric Observatory ground experiment device and its system
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

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3859736A (en) * 1970-04-20 1975-01-14 Nasa Kinesthetic control simulator
CN101503116A (en) * 2009-02-17 2009-08-12 哈尔滨工业大学 Distributed spacecraft ground artificial system and implementing method thereof
CN105035361A (en) * 2015-07-31 2015-11-11 上海卫星工程研究所 Satellite with ultrahigh pointing accuracy and ultrahigh stability under dynamic-static isolation and principal-subordinate cooperative control
CN105185188A (en) * 2015-09-29 2015-12-23 北京精密机电控制设备研究所 A 5-DOF (degree of freedom) air-float motion simulator
CN106364699A (en) * 2016-09-08 2017-02-01 上海卫星工程研究所 Master-slave mode non-contact double superior satellite ground principle verification system
CN106467175A (en) * 2016-09-08 2017-03-01 上海卫星工程研究所 The double super satellite ground Proof-Of Principle system of double five degree of freedom air supporting master-slave mode noncontacts
CN107792393A (en) * 2017-09-25 2018-03-13 上海卫星工程研究所 The non-contact internal satellite ground checking system of principal and subordinate and its verification method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105501466A (en) * 2015-11-30 2016-04-20 上海卫星工程研究所 Master-slave cooperation non-contact satellite platform and control system and method thereof

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3859736A (en) * 1970-04-20 1975-01-14 Nasa Kinesthetic control simulator
CN101503116A (en) * 2009-02-17 2009-08-12 哈尔滨工业大学 Distributed spacecraft ground artificial system and implementing method thereof
CN105035361A (en) * 2015-07-31 2015-11-11 上海卫星工程研究所 Satellite with ultrahigh pointing accuracy and ultrahigh stability under dynamic-static isolation and principal-subordinate cooperative control
CN105185188A (en) * 2015-09-29 2015-12-23 北京精密机电控制设备研究所 A 5-DOF (degree of freedom) air-float motion simulator
CN106364699A (en) * 2016-09-08 2017-02-01 上海卫星工程研究所 Master-slave mode non-contact double superior satellite ground principle verification system
CN106467175A (en) * 2016-09-08 2017-03-01 上海卫星工程研究所 The double super satellite ground Proof-Of Principle system of double five degree of freedom air supporting master-slave mode noncontacts
CN107792393A (en) * 2017-09-25 2018-03-13 上海卫星工程研究所 The non-contact internal satellite ground checking system of principal and subordinate and its verification method

Also Published As

Publication number Publication date
CN106516182A (en) 2017-03-22

Similar Documents

Publication Publication Date Title
US9764829B1 (en) Multirotor aircraft with enhanced yaw control
CN104787363B (en) A kind of satellite ground microgravity dynamic load simulation mechanism
Jiang et al. Fixed-time rendezvous control of spacecraft with a tumbling target under loss of actuator effectiveness
McKerrow Modelling the Draganflyer four-rotor helicopter
Romano et al. Laboratory experimentation of autonomous spacecraft approach and docking to a collaborative target
CN102121829B (en) Miniature inertia measurement system
CN101726296B (en) Vision measurement, path planning and GNC integrated simulation system for space robot
Xu et al. Survey of modeling, planning, and ground verification of space robotic systems
CN105059568B (en) Decoupling control method of eight-rod six-degree-of-freedom satellite platform for ultra-precise ultra-stable satellites
Kim et al. Automatic mass balancing of air-bearing-based three-axis rotational spacecraft simulator
US8052093B2 (en) Control moment gyro and device for assembly thereof
CN103514792B (en) Space six degree of freedom air supporting follow-up motion platform
US20110226892A1 (en) Rotary wing vehicle
Miller et al. SPHERES: a testbed for long duration satellite formation flying in micro-gravity conditions
CN103383827B (en) Three-transfer-one-shift four-degree-of-freedom heavy-load static-balance parallel motion simulation stand mechanism
US10563985B2 (en) Inertial sensing device
US5501114A (en) Three-dimensional free motion apparatus
CN103383821B (en) With the six degree of freedom heavy duty static equilibrium parallel movement simulative platform mechanism of balanced controls
Rybus et al. New planar air-bearing microgravity simulator for verification of space robotics numerical simulations and control algorithms
Rybus et al. Planar air-bearing microgravity simulators: review of applications, existing solutions and design parameters
Schwartz et al. Historical review of air-bearing spacecraft simulators
CN102556372B (en) Semi-active six-degree-of-freedom simulation device
CN101509820B (en) Triaxial air bearing table balance method and apparatus thereof
CN107922056B (en) Method and system for stabilizing a load
CN103778823B (en) A kind of levitation device being applied in space capsule and microgravity experiment method

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
GR01 Patent grant