CN107161360B - Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks - Google Patents
Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks Download PDFInfo
- Publication number
- CN107161360B CN107161360B CN201710422297.4A CN201710422297A CN107161360B CN 107161360 B CN107161360 B CN 107161360B CN 201710422297 A CN201710422297 A CN 201710422297A CN 107161360 B CN107161360 B CN 107161360B
- Authority
- CN
- China
- Prior art keywords
- pedestal
- suspension
- spacecraft
- free
- mechanical arm
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks proposed by the present invention, including free pedestal, co-ordinate-type mechanical arm, suspension gravity compensation system and coordinated control communication system, different task demand, different orbital characteristics, the reasonability of space tasks embodiment of different operating mode and the ground test of feasibility and verifying can be applied to；It can realize that the spacecraft orbit of execution task moves simulation by free pedestal, the gravity compensation of spacecraft is realized by suspension, pass through the movement such as the pose adjustment of spacecraft, in-orbit service during co-ordinate-type mechanical arm simulation task execution, to complete the track of the spacecraft of execution space tasks and parallel across the scale verifying of posture, the deficiency in domestic and international present Research is made up.
Description
Technical field
The invention belongs to spacecraft Navigation, Guidance and Control system ground verification technique fields, and in particular to space tasks
Replaceable across the scale verifying device of free pedestal motion reappearance.
Background technique
Space tasks are before actually executing, it is necessary to after carrying out comprehensive comprehensive verification on ground in advance, Fang Kejin
Row test, ground validation stage as space tasks Key of Implementation part, are able to verify that the reasonability and technology of space tasks scheme
Feasibility provides scientific basis for the validating in orbit that space tasks carry into execution a plan.And the space tasks ground validation stage success with
It is no to depend greatly on whether the verifying means that it is used really reflect the process feature that task is completed.Briefly
It says, these features include: that the implementation procedure of space tasks is completed during track operation, the execution of space tasks
Journey is completed in microgravity environment, and space tasks implementation procedure is a multiple subsystem coordination optimization and the process of control etc.
Deng.The experimental system on land of existing clarifying space task has (1) time restriction, it is difficult to obtain the prolonged weightlessness that continues and imitate
Fruit；(2) space limits, and ignores absolute orbit movement, only can be carried out the verification experimental verification of part subtask or subsystem, lead to space
The bulk testing verifying of task is extremely difficult；(3) waterproof, gas-tight performance of the existing gravitational compensation method in part to electromechanical equipment
It is required that it is high, and due to the influence of fluid viscosity and resistance, it is also difficult to meet complex task manoeuvring test requirement etc., thus it is anxious
Need to develop a kind of high reliablity, it is adaptable, be easily achieved and safeguard and the unrestricted space tasks verifying of time and space is flat
Platform, to complete space tasks ground test and the verifying work of high-fidelity.
For the space tasks embodiment ground validation stage, carries out have developed based on each of different verifying means both at home and abroad
Quasi-instrument system, research contents are concentrated mainly on mathematical simulation, on three directions of semi-physical simulation and physical simulation, but not
It can reflect whole features of Spatial Cooperation task process, specific as follows:
1) mathematical simulation means can not really describe cooperation task process.
2) semi-physical simulation means do not account for microgravity environment, at the same just in cooperation task a certain subsystem or
Person's specific function is verified, and the satisfaction of each subsystem controls performance is not meant to that the overall performance of comprehensive integration also meets
It is required that.
3) physical simulation means are by gravity compensation stimulated microgravity, but the simulation of existing compensation technique is micro- heavy
Actual trajcctorics movement can not be reproduced under force environment, can only realize relative track movement, and just for a certain in cooperation task
Subsystem or specific function are verified.Component in kind, which is avoided, based on physical simulation means is difficult to the tired of accurate mathematical modeling
Difficulty can find in advance and solve the problems, such as that there may be can be more intuitive in ground validation sky in real space movement
Between task execution process.China is seldom for the ground large testing equipment of all kinds of execution space tasks aircraft verifying at present,
All be that oriented mission designs, it may be verified that task type it is single, lack versatility；And it can not really verify Spatial Cooperation task
Overall process, lack fidelity.
Summary of the invention
Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks proposed by the present invention can be execution
The spacecraft of task provides microgravity movement environment, and energy ground reproduces the movement of its actual trajcctorics, thus clarifying space task
Complete procedure solves above-mentioned critical issue and makes up deficiency in domestic and international present Research.
Technical solution of the present invention:
Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks includes free pedestal, co-ordinate-type machinery
Arm, suspension gravity compensation system and coordinated control communication system realize the spacecraft orbit to the task of execution by free pedestal
Movement simulation, the gravity compensation of spacecraft is realized by suspension, passes through space flight during co-ordinate-type mechanical arm simulation task execution
The movement such as the pose adjustment of device, in-orbit service, thus complete to execute the spacecraft of space tasks track and posture it is parallel across
Scale verifying.
The free pedestal includes pedestal car body, base motion control unit and pedestal sensing positioning unit, base motion
Control unit is made of pedestal servo motor, base driver and base motion control card, and pedestal senses positioning unit by pedestal
Camera, pedestal photoelectric encoder, pedestal data collecting card and pedestal wireless communication card composition；Base motion control card is according to examination
Desired locations and speed needed for testing the movement of object track and pedestal sensing positioning unit fusion measure obtained free pedestal
Motion state feedback information controls the operating of pedestal servo motor by base driver, makes free pedestal tracking desired trajectory.
The co-ordinate-type mechanical arm includes index module, rotary module and mechanical arm drive control unit, mechanical arm driving
Control unit is made of mechanical arm servo motor, mechanical arm driver, mechanical arm control card, and index module is by horizontally and vertically transporting
The linear mould group of dynamic three groups is constituted, and subjects can be driven to simulate it in the fortune in space under the control of mechanical arm driving unit
Dynamic, rotary module is made of the mechanism for constituting three pitching, yaw and rolling rotational freedoms, in the control of mechanical arm driving unit
System is lower can to drive subjects to simulate it in the Attitude control in space.
The suspension gravity compensation system includes support frame, without constraint suspension mechanism, buffering measuring unit, horizontal follower
Structure, vertical Active Compensation mechanism and suspension drive control unit, no constraint suspension mechanism is by deep groove ball bearing and its fixed framework
At the approximate unconfined Attitude control of, it is ensured that subjects, buffering measuring unit by buffer gear, tension sensor,
Obliquity sensor and universal joint are constituted, and vertical Active Compensation mechanism is driven by rack and pinion engagement, buffer measuring unit
It is connect by universal joint with the rack gear of vertical Active Compensation mechanism, suspension drive control unit is driven by suspension servo motor, suspension
Dynamic device and suspension control card are constituted, and when subjects horizontal movement, no constraint suspension mechanism drives buffer structure relatively vertical
Active Compensation mechanism is swung, and obliquity sensor real-time measurement buffer gear and the inter-agency swing angle of vertical Active Compensation pass
Suspension control card is passed, suspension control card drives horizontal follower by the corresponding suspension servo motor of suspension driver control
Pivot angle is eliminated in movement, guarantees that buffer structure and vertical Active Compensation mechanism are in always on same straight line, when subjects are vertical
When movement, the numerical value of tension sensor, which changes, passes to suspension control card, and suspension controller passes through control suspension driver
Corresponding suspension servo motor is driven to drive Active Compensation mechanism kinematic, it is ensured that subjects are in microgravity state or space is appointed
The gravity state that business requires.
The no constraint suspension mechanism is replaceable, gives no constraint suspension mechanism one and no constraint suspension machine in the present invention
Structure two, to adapt to the subjects of different shapes while minimizing additional mass.
The coordinated control communication system include coordinating control module, data communication module, monitoring running state module and
Real-time display module realizes that free pedestal, co-ordinate-type mechanical arm and suspension three system multi objective controls of gravity compensation system are appointed
The information transmitting of business, the coordination optimization between status monitoring and system.
According to above-mentioned mechanical construction and control system, the replaceable free base motion of space tasks proposed by the present invention
Reproduce across scale verifying device working principle be subjects be fixed on hang gravity compensation system without constraint suspension mechanism
On, hang the obliquity sensor of gravity compensation system and the motion information of tension sensor real-time measurement hitch point, suspension control
Card realizes hitch point according to the suspension servo motor on the motion information controlled level direction and the servo motor on vertical direction
Three-dimensional space follows movement, and providing subjects and executing space tasks is locating gravity environment, realizes space gravity movement
The reproduction of environment.Co-ordinate-type mechanical arm can drive the Three Degree Of Freedom of the rotation of subjects Three Degree Of Freedom and relative free-radical seat flat
It is dynamic, to realize the pose motion reappearance of experimental subjects.Pedestal senses positioning unit and passes through filtering fusion pedestal camera acquisition
Image information and pedestal photoelectric encoder be that free pedestal provides real-time position information, base motion control unit, which passes through, to be based on
The space orbit kinetics equation of subjects calculates desired orbital position in real time, utilizes across the scale principle of equal effects and similar reason
By the desired locations for calculating ground free radicals seat, the actual position information meter obtained by the desired locations information and measurement processing
Expectation input is calculated, drives free pedestal to realize desired similar movement, to realize the track motion reappearance of spacecraft.Coordinate control
Communication system processed controls free pedestal, co-ordinate-type mechanical arm and suspension gravity by the information reconciliation of integral data communication module and mends
The work of system is repaid, to reproduce the whole process that spacecraft executes space tasks comprehensively.
Compared with the prior art, the invention has the advantages that:
(1) gravity for passing through hang complementation test object, can reduce the interference of external environment, and it is micro- heavy to provide high-precision
Force environment；
(2) it is combined by free base systems and gravity compensation system and realizes that experiment spacecraft is synchronous with microgravity environment
The mode of movement provides experiment spacecraft not by the microgravity environment of time and space constraint；
It (3) can complete reproduction space task process, it may be verified that the executive condition of each link of scheme, largely
Improve the confidence level that space tasks ground reproduces.
(4) present invention can be verified for the different schemes of same task, can also be verified for different task, no
It is only applicable to single goal, is also suitble to the verifying of multiple target task, there is very strong versatility
Detailed description of the invention
Fig. 1 is the overall diagram of apparatus of the present invention.
Fig. 2 is the front view of apparatus of the present invention.
Figure label:
1: free pedestal；2: test spacecraft；3: co-ordinate-type mechanical arm；4: suspension gravity compensation system.
Fig. 3 is free pedestal.
Figure label:
11: pedestal car body；12: pedestal camera.
Fig. 4 is co-ordinate-type mechanical arm.
Figure label:
31: index module；32: rotary module.
Fig. 5 hangs gravity compensation system.
Figure label: 41: support frame；42: without constraint suspension mechanism one；43: buffering measuring unit；44: horizontal follower
Structure；45: vertical Active Compensation mechanism.
Fig. 6 is without constraint suspension mechanism.
Figure label:
5: test satellite；46: without constraint suspension mechanism two
Specific embodiment
In conjunction with Fig. 1 and Fig. 2, device proposed by the present invention includes free pedestal 1, co-ordinate-type mechanical arm 3, suspension gravity compensation
System 4 and coordinated control communication system are constituted, and test spacecraft 2 is the object of present apparatus verifying.Test spacecraft 2 and suspension weight
Force compensating system 4 and co-ordinate-type mechanical arm 3 connect, and co-ordinate-type mechanical arm 3 and suspension gravity compensation system 4 are mounted on free pedestal
On 1, and it can move therewith.
In conjunction with Fig. 3, pedestal camera 12 is mounted on the pedestal car body 11 of free pedestal 1, the base motion of free pedestal 1
Control unit, pedestal sense pedestal photoelectric encoder, pedestal data collecting card and the pedestal wireless communication card of positioning unit, coordinate
The mechanical arm driver of 3 mechanical arm drive control units of formula mechanical arm, mechanical arm control card, suspension gravity compensation system 4
Hang tune control module, the data communication of drive control unit suspension driver, suspension control card and coordinated control communication system
Module, monitoring running state module are installed on the inside of pedestal car body 11.
In conjunction with Fig. 4, co-ordinate-type mechanical arm 3 is made of index module 31 and rotary module 32, and rotary module 32 is mounted on seat
In parameter module 31, the end of rotary module 32 executes flange and connect with test spacecraft 2.
In conjunction with Fig. 5 and Fig. 6, it is outstanding by support frame 41, without constraint suspension mechanism 1 or without constraint to hang gravity compensation system 4
Suspension mechanism 2 46, buffering measuring unit 43, horizontal follower 44, vertical Active Compensation mechanism 45 and suspension drive control unit
It constitutes, test spacecraft 2 is suspended in no constraint suspension mechanism 1, no constraint suspension mechanism 1 and buffering measuring unit 43
One end connection, buffering 43 other end of measuring unit are connected to the vertical Active Compensation mechanism 45 being mounted on horizontal follower 44
On, horizontal follower 44 is connect with support frame 41.Can according to selection the characteristics of subjects without constraint suspension structure 1 or
Without constraint suspension structure 2 46.
Illustrate the test and validation step of the present apparatus for testing spacecraft 2:
(1) test spacecraft 2 is installed in suspension gravity compensation system 4, the position guarantee of a, Adjustment Tests spacecraft 2
Equivalent hitch point is overlapped with the mass center of test spacecraft 2；B, the position for adjusting vertical Active Compensation mechanism 45 reaches test space
Optimum position (being determined according to the space tasks that need to verify)；
(2) co-ordinate-type mechanical arm 3 is connect with test spacecraft 2；
(3) determine the system parameter of validation task object: a, the track profile kinetics equation of spacecraft and task are initial
B, state tests gravity numerical value suffered by spacecraft 2, c, the task sequence for testing spacecraft 2；
(4) carry out test and validation work: all systems of a, electrifying startup, b, free pedestal 1 control single in base motion
Member acts on the nominal trajectory of lower tracking test spacecraft 2 with pedestal sensing positioning unit, and c, test spacecraft 2 are real by task sequence
Track and attitude maneuver are applied, when d, co-ordinate-type mechanical arm 3 move the execution task of simulation test spacecraft 2 with dynamic test spacecraft 2
Position and Attitude control, e, hang gravity compensation system 4 hitch point tracking test spacecraft 2 three-dimensional space fortune
Dynamic, f, the running state data for recording all subsystems provide data for test analysis and support；
(5) terminate test, finishing analysis test result: a, closing installation's power source, unload test spacecraft 2, b, basis are appointed
The information of measurement record, the feasibility of analysis task scheme during business.
Claims (7)
1. replaceable free across the scale verifying device of pedestal motion reappearance of space tasks, it is characterized in that: device includes free radical
Seat, co-ordinate-type mechanical arm, suspension gravity compensation system and coordinated control communication system realize execution task by free pedestal
Spacecraft orbit movement simulation, the gravity compensation of spacecraft is realized by suspension, simulates task execution by co-ordinate-type mechanical arm
The pose adjustment of spacecraft, in-orbit service etc. act in the process, to complete the track and appearance of the spacecraft of execution space tasks
Parallel across the scale verifying of state；The object verified using testing spacecraft as the present apparatus, test spacecraft and suspension gravity compensation system
System and the connection of co-ordinate-type mechanical arm, co-ordinate-type mechanical arm and suspension gravity compensation system are mounted on free pedestal, and can be therewith
Movement；
The free pedestal includes pedestal car body, base motion control unit and pedestal sensing positioning unit, base motion control
Unit is made of pedestal servo motor, base driver and base motion control card, and pedestal sensing positioning unit is imaged by pedestal
Head, pedestal photoelectric encoder, pedestal data collecting card and pedestal wireless communication card composition；Base motion control card is according to test pair
Desired locations and speed as needed for track movement and pedestal sensing positioning unit fusion measure obtained free base motion
Status feedback information controls the operating of pedestal servo motor by base driver, makes free pedestal tracking desired trajectory；Pedestal is taken the photograph
As head is mounted on the pedestal car body of free pedestal, the base motion control unit of free pedestal, pedestal senses positioning unit
Pedestal photoelectric encoder, pedestal data collecting card and pedestal wireless communication card are installed on the inside of pedestal car body.
2. replaceable free across the scale verifying device of pedestal motion reappearance of space tasks according to claim 1, special
Sign is: the co-ordinate-type mechanical arm includes index module, rotary module and mechanical arm drive control unit, mechanical arm drive control
Unit is made of mechanical arm servo motor, mechanical arm driver, mechanical arm control card, and index module is by horizontally and vertically moving
Three groups of linear mould groups are constituted, and subjects can be driven to simulate it in the movement in space, rotation under the control of mechanical arm driving unit
Revolving die block is made of the mechanism for constituting three pitching, yaw and rolling rotational freedoms, under the control of mechanical arm driving unit
Subjects can be driven to simulate it in the Attitude control in space, rotary module is mounted on coordinate axle module 31, rotating mould
The end of block 32 executes flange and connect with test spacecraft.
3. replaceable free across the scale verifying device of pedestal motion reappearance of space tasks according to claim 1, special
Sign is: the suspension gravity compensation system include support frame, without constraint suspension mechanism, buffering measuring unit, horizontal follower,
Vertical Active Compensation mechanism and suspension drive control unit, no constraint suspension mechanism are made of deep groove ball bearing and its fixed frame,
It can guarantee the approximate unconfined Attitude control of subjects, vertical Active Compensation mechanism is passed by rack and pinion engagement
Dynamic, buffering measuring unit is made of buffer gear, tension sensor, obliquity sensor and universal joint, and buffering measuring unit passes through
Universal joint is connect with the rack gear of vertical Active Compensation mechanism, and suspension drive control unit is by suspension servo motor, suspension driver
It is constituted with suspension control card, when subjects horizontal movement, no constraint suspension mechanism drives the relatively vertical active of buffer structure
Compensation mechanism is swung, and obliquity sensor real-time measurement buffer gear and the inter-agency swing angle of vertical Active Compensation pass to
Control card is hung, suspension control card drives horizontal follower fortune by the corresponding suspension servo motor of suspension driver control
It is dynamic, pivot angle is eliminated, guarantees that buffer structure and vertical Active Compensation mechanism are in always on same straight line, when subjects are vertically transported
When dynamic, the numerical value of tension sensor, which changes, passes to suspension control card, and suspension controller is driven by control suspension driver
It moves corresponding suspension servo motor and drives Active Compensation mechanism kinematic, it is ensured that subjects are in microgravity state or space tasks
It is required that gravity state；Subjects are suspended in no constraint suspension mechanism, no constraint suspension mechanism and buffering measuring unit one
End connection, the buffering measuring unit other end is connected in the vertical Active Compensation mechanism being mounted on horizontal follower, horizontal
Follower is connect with support frame.
4. replaceable free across the scale verifying device of pedestal motion reappearance of space tasks according to claim 3, special
Sign is: the no constraint suspension mechanism is replaceable, gives no constraint suspension mechanism one and no constraint suspension mechanism two, to the greatest extent
Amount adapts to the subjects of different shapes while reducing additional mass.
5. replaceable free across the scale verifying device of pedestal motion reappearance of space tasks according to claim 1, special
Sign is: the coordinated control communication system include coordinating control module, data communication module, monitoring running state module and in real time
Display module realizes free pedestal, co-ordinate-type mechanical arm and suspension three system multi objective control tasks of gravity compensation system
Coordination optimization between information transmitting, status monitoring and system.
6. according to replaceable free across the scale verifying device of pedestal motion reappearance of the space tasks described in claim 2,3 or 5,
It is characterized in that: the working principle of replaceable free across the scale verifying device of pedestal motion reappearance of space tasks is solid for subjects
It is scheduled on sensing without the obliquity sensor and tension in constraint suspension mechanism, hanging gravity compensation system for suspension gravity compensation system
The motion information of device real-time measurement hitch point, suspension control card is according to the suspension servo electricity on the motion information controlled level direction
Machine follows movement with the servo motor realization hitch point three-dimensional space on vertical direction, provides subjects and executes space tasks
It is locating gravity environment, realizes the reproduction of space gravity movement environment；Co-ordinate-type mechanical arm can drive subjects three freely
Degree rotation and the Three Degree Of Freedom translation of relative free-radical seat, to realize the pose motion reappearance of experimental subjects；Pedestal sensing
Positioning unit provides reality by the image information and pedestal photoelectric encoder of filtering fusion pedestal camera acquisition for free pedestal
When location information, base motion control unit is calculated desired in real time by the space orbit kinetics equation based on subjects
Orbital position calculates the desired locations of ground free radicals seat using across the scale principle of equal effects and the theory of similarity, by the expectation position
The actual position information that confidence breath is obtained with measurement processing calculates expectation input, and free pedestal is driven to realize desired similar fortune
It is dynamic, to realize the track motion reappearance of spacecraft；Coordinated control communication system is assisted by the information of integral data communication module
Free pedestal, co-ordinate-type mechanical arm and the work for hanging gravity compensation system are made in regulation, so that reproducing spacecraft comprehensively executes sky
Between task whole process.
7. replaceable free across the scale verifying device of pedestal motion reappearance of space tasks according to claim 6, special
Sign is: illustrate the test and validation step of the present apparatus for testing spacecraft:
(1) test spacecraft is installed in suspension gravity compensation system, a, the position guarantee of Adjustment Tests spacecraft are equivalent outstanding
Hanging point is overlapped with the mass center of test spacecraft；B, the position for adjusting vertical Active Compensation mechanism reaches the optimum bit of test space
It sets, optimum position is determined by the space tasks that need to be verified；
(2) co-ordinate-type mechanical arm is connect with test spacecraft；
(3) system parameter of validation task object: a, the track profile kinetics equation of spacecraft and task original state is determined,
B, gravity numerical value suffered by spacecraft, c, the task sequence for testing spacecraft are tested；
(4) carry out test and validation work: all systems of a, electrifying startup, b, free pedestal 1 in base motion control unit and
Pedestal senses the nominal trajectory that positioning unit acts on lower tracking test spacecraft, and c, test spacecraft implement track by task sequence
With attitude maneuver, position and appearance when d, co-ordinate-type mechanical arm are with dynamic test spacecraft movement simulation test spacecraft execution task
State adjustment movement, e, hang gravity compensation system hitch point tracking test spacecraft three-dimensional space motion, f, record are all
The running state data of subsystem provides data for test analysis and supports；
(5) terminate test, finishing analysis test result: a, closing installation's power source, unload test spacecraft, b, according to task process
The information of middle measurement record, the feasibility of analysis task scheme.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422297.4A CN107161360B (en) | 2017-06-07 | 2017-06-07 | Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422297.4A CN107161360B (en) | 2017-06-07 | 2017-06-07 | Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107161360A CN107161360A (en) | 2017-09-15 |
| CN107161360B true CN107161360B (en) | 2019-06-11 |
Family
ID=59824686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710422297.4A Active CN107161360B (en) | 2017-06-07 | 2017-06-07 | Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107161360B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674700B (en) * | 2018-05-21 | 2019-07-16 | 哈尔滨工业大学 | Low perturbed force supported planar position follower tracking system based on series connection double-lever mechanism |
| CN111157208A (en) * | 2020-02-27 | 2020-05-15 | 广州大学 | Satellite micro-vibration isolation simulation measurement system and method |
| CN111872938B (en) * | 2020-07-30 | 2022-01-25 | 清华大学 | Spatial three-dimensional large-scale kinematics simulation system and method |
| CN113291496B (en) * | 2021-05-31 | 2022-05-03 | 哈尔滨工业大学 | Suspension type discrete motion system and use method |
| CN114013692B (en) * | 2021-10-29 | 2022-09-02 | 北京空间机电研究所 | Rotation test mechanism and method under vacuum low-temperature condition |
| CN114261544A (en) * | 2021-12-30 | 2022-04-01 | 哈尔滨工业大学 | Five-degree-of-freedom zero-gravity test device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1027017A (en) * | 1964-06-09 | 1966-04-20 | Dassault Electronique | Simulation of conditions met by extraterrestrial satellites |
| CN102650563A (en) * | 2011-12-20 | 2012-08-29 | 北京卫星环境工程研究所 | Ground testing system for on-track micro vibration of spacecraft |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
| CN105974822A (en) * | 2016-06-13 | 2016-09-28 | 北京航空航天大学 | Spacecraft autonomous fly-around intersection control system verification device and spacecraft autonomous fly-around intersection control method |
| CN105966644A (en) * | 2016-06-07 | 2016-09-28 | 中国人民解放军国防科学技术大学 | Simulation service star used for on-orbit service technical identification |
| CN106781834A (en) * | 2016-12-30 | 2017-05-31 | 南京航空航天大学 | A kind of desktop Satellite Simulation system |
-
2017
- 2017-06-07 CN CN201710422297.4A patent/CN107161360B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1027017A (en) * | 1964-06-09 | 1966-04-20 | Dassault Electronique | Simulation of conditions met by extraterrestrial satellites |
| CN102650563A (en) * | 2011-12-20 | 2012-08-29 | 北京卫星环境工程研究所 | Ground testing system for on-track micro vibration of spacecraft |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
| CN105966644A (en) * | 2016-06-07 | 2016-09-28 | 中国人民解放军国防科学技术大学 | Simulation service star used for on-orbit service technical identification |
| CN105974822A (en) * | 2016-06-13 | 2016-09-28 | 北京航空航天大学 | Spacecraft autonomous fly-around intersection control system verification device and spacecraft autonomous fly-around intersection control method |
| CN106781834A (en) * | 2016-12-30 | 2017-05-31 | 南京航空航天大学 | A kind of desktop Satellite Simulation system |
Non-Patent Citations (1)
| Title |
|---|
| 跨尺度微重力补偿实现的基座控制问题研究;胡云峰;《科技创新导报》;20161231(第32期);第186页 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107161360A (en) | 2017-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107161360B (en) | Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks | |
| CN103482089B (en) | Unrestricted suspension type initiative gravity compensation system | |
| CN106005497B (en) | A kind of suspension type six degree of freedom microgravity environment simulation system | |
| CN105905320B (en) | A kind of active gravity compensation system for having driftage servo-actuated | |
| CN107505846B (en) | A kind of anti-interference attitude harmony verification device of Space Manipulator System and control method | |
| CN106182003A (en) | A kind of mechanical arm teaching method, Apparatus and system | |
| CN105182770A (en) | System and method for spacecraft semi-physical simulation experiment based on rotor craft | |
| CN101794527B (en) | Manual control rendezvous and docking semi-physical simulation testing system | |
| CN108621202B (en) | Multi-arm space robot cooperative fine operation ground experiment system | |
| CN105539890A (en) | Device and method for simulating space mechanical arm to capture ground three-dimensional space microgravity of target satellite | |
| CN107458630B (en) | Suspension point cross-scale tracking method for suspension type active gravity compensation system | |
| CN104133479A (en) | Test system and method for simulating flexible satellite three-axis attitude coupling movement with single-axis air bearing table | |
| CN102865883B (en) | Test system for impact analysis of imaging quality of TDICCD (Time Delayed Integration Charge Coupled Device) by multi-source interference | |
| CN107244431B (en) | Space tasks ground motion reproduces across scale verification platform | |
| CN112650076B (en) | Constellation cooperative control ground simulation system | |
| CN105109713B (en) | The vertical subsystem control method of gravity compensation based on sliding-mode surface | |
| CN104325460A (en) | Method for simulating micro-gravity by multi-joint spatial mechanical arm | |
| CN116068915B (en) | High-simulation-degree distributed simulation device and method for GNC system of spacecraft | |
| CN203966431U (en) | The target detection of a kind of dexterous ammunition device and control analogue system | |
| CN117007348A (en) | Full-state air floatation ground test system for space manipulator | |
| CN103862458A (en) | Six-degree-of-freedom parallel platform for airborne servo system | |
| CN107244430B (en) | Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation | |
| CN111637902B (en) | Ground demonstration verification system and method for remote approach of small deep space celestial body | |
| CN117075495A (en) | Ground semi-physical simulation system based on multi-spacecraft attitude control | |
| CN107588786B (en) | A kind of multipurpose stellar simulator driving method for star sensor emulation testing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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 |