CN107244430B - Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation - Google Patents
Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation Download PDFInfo
- Publication number
- CN107244430B CN107244430B CN201710421847.0A CN201710421847A CN107244430B CN 107244430 B CN107244430 B CN 107244430B CN 201710421847 A CN201710421847 A CN 201710421847A CN 107244430 B CN107244430 B CN 107244430B
- Authority
- CN
- China
- Prior art keywords
- spacecraft
- information
- free
- hang spring
- space
- 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)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
It includes free base systems, hang spring integrated machine electronic compensating system, magnetic suspension system, experiment Space Vehicle System, coordinated control system, communication system and control centre that magnetic proposed by the present invention, which hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation, using across scale equivalent theory and the theory of similarity by the track motion transform of extraterrestrial target at the desired similar movement of ground free radicals seat, desired similar movement is accurately further tracked by free pedestal, to realize that kinematics is equivalent；It realizes that space microgravity movement environment reproduces using the gravitational compensation method that mixes that hang spring suspention compensation is combined with magnetic suspension, and then realizes that the ground of space tasks reproduces, complete the complete procedure verifying on space tasks ground.
Description
Technical field
The invention belongs to spacecraft Navigation, Guidance and Control system ground verification technique fields, and in particular to space tasks
Ground motion reproduces across scale verification platform.
Background technique
Can the development degree decision of aerospace engineering seize high-tech commanding elevation, be provided to the greatest extent using space
Source, China are just actively developing space technology research, in order to smoothly complete space mission in extremely severe space environment, it is necessary on ground
Face carries out sufficient experimental verification, and movement of the spacecraft in space is reproduced on ground, can sufficiently verify spacecraft in sky
Between task links, guarantee smoothly completing for space mission.Spacecraft is moved in space environment most distinct feature is that micro-
Track movement under gravity environment, and ground experiment room is to have gravity environment, in order to reproduce spacecraft space microgravity on ground
Real motion situation in environment, improve ground validation Navigation, Guidance and Control system experimentation confidence level, need be on ground
Spacecraft six-freedom motion establish one with space real conditions are similar without constraint microgravity environment and simulates its track fortune
It is dynamic.The existing means for realizing this target of microgravity have liquid float glass process, weight-loss method, gas floatation process, suspension method.Weight-loss method is common to be
Parabolic flight and freely falling body, the shortcomings that the method be that the time is short, the space occupied is big, the space that is capable of providing is limited and at
This height；The case where liquid float glass process damps big, maintenance cost height and is only suitable for low-speed motion, and the above method does not consider spacecraft
Track movement, gas floatation process and suspension method system structure are relatively easy, be easy to establish in laboratory without constrain microgravity environment, but
Gas floatation process can only generally realize that five degree of freedom moves, in the limitation of movement of vertical direction.The occupied space of suspension method is small, not by
Spatio-temporal constraint is the common method of gravity compensation and is easily achieved.Suspension method can be generally divided into active gravity compensation
It is lower with the compensation precision of passive gravity compensation, passive gravity compensation, there is larger impact to test effect；Active gravity compensation energy
Compensation precision is enough improved, but the gravitational compensation method of active at present is generally hung by single-point and provides three-degree-of-freedom motion space or more
Point suspension provides six-freedom motion space, and for this target of spacecraft motion reappearance is realized, three-degree-of-freedom motion space is aobvious
So not enough, Six-freedom-degree space provided by multi-point suspended can be since structure is complicated, system difficulty conduct causes test effect bad.And
The experimental system on land of existing clarifying space task is mostly unable to the track movement of Simulated Spacecraft: one kind is built upon fixation
On track, can not Simulated Spacecraft vehicle out-driving movement, another kind of consideration spacecraft relative track movement, ignore absolutely
Track movement.Therefore being badly in need of developing a kind of the movement of Simulated Spacecraft track and can simulate the space times of space microgravity environment
Business verifying system
Summary of the invention
Magnetic proposed by the present invention hang across the scale verifying device of the free pedestal space tasks of comprehensive compensation utilize across scale it is equivalent
The theoretical and theory of similarity at the desired similar movement of ground free radicals seat, further passes through the track motion transform of extraterrestrial target
Free pedestal accurately tracks desired similar movement, to realize that kinematics is equivalent；Utilize hang spring suspention compensation and magnetic suspension phase
In conjunction with mix gravitational compensation method realize space microgravity movement environment reproduce, and then realize space tasks ground reproduce,
Complete the complete procedure verifying on space tasks ground.
Technical solution of the present invention:
It includes free base systems, hang spring integrated machine that magnetic, which hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation,
Electronic compensating system, magnetic suspension system, experiment Space Vehicle System, coordinated control system, communication system and control centre.
The free base systems include Base body, omni-directional wheel and driving motor, camera, laser range finder, distance
Sensor, multiple target task communication module and data acquisition and control module.The two sides of Base body are respectively equipped with one group of omni-directional wheel
And driving motor, laser range finder are mounted on the ipsilateral of Base body with camera, range sensor is distributed in Base body
Surrounding, data acquisition and control module handle the obtained information of sensor in free base systems, position to free pedestal
And issue control information.Acquisition control module, the hang spring integrated machine electronic compensating of free base systems are fixed with inside Base body
The acquisition control module of system, the signal generator of magnetic suspension system, acquisition control module and the data for testing Space Vehicle System
Communication module, data acquisition and control module and coordinating control module.
The hang spring integrated machine electronic compensating system includes that inverted L shape support frame, X are watched to servo motor, horizontal X to mechanism, Y-direction
It takes motor, horizontal Y-direction mechanism, vertical direction cylinder mechanism, hang spring, incline without constraint suspension mechanism, S type tension sensor, two dimension
Angle transducer and data acquisition and control module.Hang spring integrated machine electronic compensating system is mounted in free base systems, inverted L shape support
Remaining structure of hang spring integrated machine electronic compensating system is installed on frame, horizontal X to mechanism therewith directly contact and with X to servo motor
It is connected, under the drive of the motor, can be moved along horizontal X direction；Horizontal Y-direction mechanism is mounted on horizontal X in mechanism and watches with Y-direction
It takes motor to be connected, can be moved under the drive of the motor along horizontal Y-direction；Vertical direction cylinder mechanism is mounted in horizontal Y-direction mechanism,
Its lower end is connected with no constraint suspension mechanism by hang spring and sets, and the piston rod of cylinder transposition can be along perpendicular under the control of cylinder air pressure
Histogram to movement, thus drive be mounted on its lower end without constraint suspension mechanism kinematic；Two-dimension tilt angle sensor is mounted on hang spring
On, S type tension sensor is mounted between hang spring and piston rod.
The magnetic suspension system includes coil, coil fixed block, multilayer circuit board, permanent magnet array, signal generator, magnetic field
Measuring instrument and data acquisition and control module.Coil fixed block is mounted in free base systems, is used for fixed coil and multilayer wire
Road plate, built-in permanent magnet array are mounted on the inside of spacecraft ontology.
The experiment aerospace system includes spacecraft ontology, spacecraft pose measurement module, data communication module and data
Acquire memory module.
The coordinated control system includes coordinating control module, realizes free pedestal, hang spring integrated machine electronic compensating and magnetcisuspension
The coordination and optimization of floating three system multi objective control tasks.
Communication system described in shown communication system includes data communication module, to free base systems, hang spring integrated machine
Electronic compensating system and magnetic suspension system and coordinated control system measurement information and control information be in communication with each other and each system quantities
The transmitting of the information of measurement information and monitoring center.
The control centre includes the monitoring modular of each system, platform emergency stop module and multiple target task expansion module.
According to above-mentioned mechanical construction and control system, magnetic proposed by the present invention hangs the free pedestal space tasks of comprehensive compensation
The working principle of across scale verifying device be spacecraft be fixed on integrated machine electronic compensating system without in constraint suspension mechanism, hang spring
The two-dimension tilt angle sensor of integrated machine electronic compensating system and the motion information of tension sensor real-time measurement hitch point, acquisition control
Molding root tuber realizes hitch point three-dimensional space according to the cylinder on the motor and vertical direction on the motion information controlled level direction
Follow movement, compensate object major part gravity.Residual gravity is compensated by magnetic suspension system, to realize microgravity movement environment
It reproduces.Permanent magnet array has been built inside spacecraft, controls it by magnetic force.Spacecraft pose measurement module is believed by multisensor
Breath fusion provides the posture information of spacecraft in real time, and the posture information and magnetic field strength metrical information are as magnetic suspension controller
Input, by control magnetic suspension system electric current, driving spacecraft around mass center Three Degree Of Freedom rotate and relative free-radical seat
Three Degree Of Freedom translation, to realize the pose motion reappearance of spacecraft.Free pedestal data acquisition and control module is melted by filtering
The information for closing image information, the information of laser range finder and range sensor that camera acquires provides real-time position for free pedestal
Confidence breath, while data acquisition and control module calculates desired track by the motion dynamics equations based on extraterrestrial target in real time
Position is calculated the desired locations of ground free radicals seat using across the scale principle of equal effects and the theory of similarity, is believed by the desired locations
The actual position information that breath is obtained with measurement processing calculates expectation input, and free pedestal is driven to realize desired similar movement, from
And realize the track motion reappearance of spacecraft.Test aerospace system coordination control main control module by integral data communication module with
The information reconciliation of data memory module controls free base systems, hang spring integrated machine electronic compensating system, magnetic suspension system and experiment
The work of aerospace system, to reproduce the whole process that spacecraft executes space tasks comprehensively.
The present invention compares prior art method and has the following characteristics that
1, free base systems, using omni-directional wheel, maneuverability, and can be with pivot turn and in Fast marching process
Middle steady turn, real-time autonomous positioning.
2, multiple target task communication module is installed in free base systems, single goal task can be extended, while not
Change platform structure, platform not only has versatility to single goal task, equally has versatility to multiple target task.
3, hang spring integrated machine electronic compensating system cost is low, manufacture difficulty is lower and can undertake heavy load.
4, magnetic suspension system uses Halbach array, reduces the complexity of magnetic suspension structure, simplifies control,
And it is able to achieve the high-precision control of target six-freedom motion.
5, the method combined using hang spring with magnetic suspension compensates the gravity of spacecraft, both can be to avoid in magnetic suspension
The excessive bring system overheat problem of system power, and the compensation precision of platform can be improved.
6, Space Vehicle System is tested, the motion state of real-time monitoring spacecraft provides feedforward for the next step movement of platform
Information substantially reduces influence of the time lag of platform to plan-validation confidence level.
7, the present invention can complete reproduction space task process, it may be verified that the executive condition of each link of scheme, very greatly
The confidence level that space tasks ground reproduces is improved in degree.
8, versatility, the present invention can be verified for the different schemes of same task, can also be carried out for different task
Verifying, is applicable not only to single goal, is also suitble to the verifying of multiple target task, has very strong versatility.
Detailed description of the invention
Fig. 1 is overall diagram of the invention:
Fig. 2 is front view of the invention:
Figure label:
1: hang spring integrated machine electronic compensating system；2: experiment Space Vehicle System；3: magnetic suspension system；4: free base systems.
Fig. 3 is free base systems overall diagram of the invention.
Figure label:
1: range sensor；2: laser range finder；3: omni-directional wheel and driving motor；4: Base body；5: multiple target task
Communication module；6: camera.
Fig. 4 is integrated machine electronic compensating system overall diagram of the invention.
Figure label:
1: inverted L shape support frame；2: without constraint suspension mechanism；3:Y is to servo motor；4: horizontal X is to mechanism；5:X is to servo
Motor；6: vertical direction cylinder mechanism；7: horizontal Y-direction mechanism.
Fig. 5 is integrated machine electronic compensating system front view of the invention.
Figure label
8: two-dimension tilt angle sensor；9:S type tension sensor；10: hang spring.
Fig. 6 is the overall diagram of magnetic suspension system and experiment aerospace system of the invention.
Figure label:
1: multilayer circuit board；2: coil fixed block；3: coil；4: permanent magnet array；5: spacecraft ontology；6: magnetic-field measurement
Instrument；7: spacecraft pose measurement module.
Fig. 7 is the operation principle schematic diagram of magnetic suspension system of the invention.
Fig. 8 is work flow diagram of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing: magnetic proposed by the present invention hangs the free susceptor space of comprehensive compensation
Across the scale verifying device of task realizes the track motion reappearance of spacecraft by data fusion and processing, is mounted on free pedestal system
Hang spring integrated machine electronic compensating system on system cooperates with magnetic suspension system realizes that microgravity environment reproduces, and magnetic suspension system passes through control
The Halbach array that spacecraft body interior processed is built, controls it by magnetic force, to drive spacecraft ontology around mass center three
Freedom degree rotation and the translation of relative free-radical seat Three Degree Of Freedom, realize the pose motion reappearance of spacecraft, reproduce space flight comprehensively
The whole process of device execution space tasks.
Specifically, in conjunction with Fig. 1 and Fig. 2, magnetic of the present invention hangs across the scale verifying dress of the free pedestal space tasks of comprehensive compensation
Set the hang spring integrated machine electronic compensating system 1 that can be divided into, experiment Space Vehicle System 2, magnetic suspension system 3 and free base systems 4.It hangs
Silk integrated machine electronic compensating system 1 is mounted in free base systems 4 with magnetic suspension system 3, under the drive of free base systems 4
Track movement is done, experiment Space Vehicle System 2 is fixed in hang spring integrated machine electronic compensating system 1.
In conjunction with Fig. 3, range sensor 1 is distributed in around Base body 4, for measuring the distance auxiliary of surrounding objects
Positioning, laser range finder 2 is mounted on the two sides of Base body 2, for the distance of accurate measurement to surrounding objects, and is mounted on base
The camera 6 and range sensor 1 of 4 front end of seat main body constitute pedestal Global localization unit together.
In conjunction with Fig. 4 and Fig. 5, inverted L shape support frame 1 and free base systems are connected, and support hang spring integrated machine electronic compensating system
Remaining structure, in order to guarantee that its stability is equipped with gusset, X is connected to servo motor 5 and horizontal X to mechanism 4, can drive water
Flat X is moved to mechanism 4 along horizontal X direction, and horizontal Y-direction mechanism 7 is mounted on horizontal X in mechanism 4, can be therewith in horizontal X direction
Upper movement, Y-direction servo motor 3 are connect with horizontal Y-direction mechanism 7, and the horizontal Y-direction mechanism 7 of drive is moved along horizontal Y-direction, vertical side
It is mounted in horizontal Y-direction mechanism 7 to cylinder mechanism 6, and is moved therewith in horizontal Y-direction, vertical direction cylinder mechanism 6 can be perpendicular
Histogram is to movement, and lower end is connected with hang spring 10, and 10 lower end of hang spring is connected with S type tension sensor 9, and installs on hang spring 10
There is two-dimension tilt angle sensor 8.S type tension sensor 9 and two-dimension tilt angle sensor 8 constitute hang spring and are displaced tonometry unit.When
Serve Motor Control its corresponding horizontal X, Y-direction dress when the information of two-dimension tilt angle sensor 8 changes, on X, Y-direction
Movement is set, so that hang spring 10 is maintained at vertical direction, when 9 information of S type tension sensor changes, vertical direction cylinder dress
6 and magnetic suspension system collective effect are set, so that the numerical value of S type tension sensor 9 does not change, thus compensation experiment spacecraft
The gravity that system is subject to.
In conjunction with Fig. 6 and Fig. 7, multilayer circuit board 1 and coil 3 are fixed on coil fixed block 2, and permanent magnet array 4 is according to Haier
Array arrangement in Bake is built in spacecraft ontology 5, to utilize magnetic suspension system control spacecraft ontology six-freedom degree
Movement, magnetic field measuring apparatus 6 are mounted on inside spacecraft ontology 5 as magnetic field strength measuring unit, the peace of spacecraft pose measurement module 7
It is spacecraft pose measurement unit, the status information of real-time measurement spacecraft on spacecraft ontology 5.
In conjunction with Fig. 8,
Work step of the invention are as follows:
(1) the spacecraft body interior that built-in permanent magnetism block array is fixed；
(2) by test spacecraft be fixed on integrated machine electronic compensating system without on constraint suspension device；
(3) vertical direction air cylinder device the plan-validation time is adjusted to according to the specific requirement of validation task scheme to continue
Time longest position；
(4) by horizontal X to mechanism and horizontal Y-direction institutional adjustment to duration plan-validation time longest position；
(5) the comprehensive gravity compensation system electrification of hang spring, records the numerical value of S type tension sensor at this time, remaining is to platform
System powers on；
(6) the verifying work begun a task with, the data acquisition and control module of magnetic suspension system according to the needs of task and
Spacecraft pose measurement module obtains the current pose information of space flight, determines the pose amount of adjusting of spacecraft ontology, while foundation
The pose that magnetic field measuring apparatus is fed back with spacecraft adjusts in real time, meets the needs of task, the pose movement of reproduction experiments spacecraft；
(7) synchronous with (6) to carry out, when the position of spacecraft changes, the horizontal X of integrated machine electronic compensating system is to machine
Structure, horizontal Y-direction mechanism and vertical cylinder device follow the variation of spacecraft in real time, guarantee that hang spring is in a vertical state, and S type
The value of tension sensor keeps preset value constant；
(8) synchronous with (6), (7) to carry out, free base systems calculate ground using across the scale principle of equal effects and the theory of similarity
It is defeated to calculate expectation by the actual position information that the desired locations information and measurement processing obtain for the desired locations of the free pedestal in face
Enter, drives free pedestal to realize desired similar movement, to realize the track motion reappearance of spacecraft；
(9) after the completion of task scheme test, platform power is closed, spacecraft is unloaded, record is measured according to task in the process
Information, the feasibility of analysis task scheme.
Claims (3)
1. magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation, it is characterized in that: verifying device includes free radical
Base system, hang spring integrated machine electronic compensating system, magnetic suspension system, experiment Space Vehicle System, coordinated control system, communication system with
Control centre；
The experiment aerospace system includes that spacecraft ontology, spacecraft pose measurement module, data communication module and data acquire
Memory module；
Device is using across scale equivalent theory and the theory of similarity by the track motion transform of extraterrestrial target at the ground free radicals seat phase
The similar movement of prestige further accurately tracks desired similar movement by free pedestal, to realize that kinematics is equivalent；It utilizes
What hang spring suspention compensation was combined with magnetic suspension mixes gravitational compensation method realization space microgravity movement environment reproduction, Jin Ershi
The ground of existing space tasks reproduces, and completes the complete procedure verifying on space tasks ground；
The free base systems include Base body, omni-directional wheel and driving motor, camera, laser range finder, Distance-sensing
Device, multiple target task communication module and data acquisition and control module；The two sides of Base body are respectively equipped with one group of omni-directional wheel and drive
Dynamic motor, laser range finder are mounted on the ipsilateral of Base body with camera, and range sensor is distributed in the surrounding of Base body,
The obtained information of sensor in the free base systems of data acquisition and control module processing, is positioned and is issued to free pedestal
Control information；The acquisition control modules of free base systems, hang spring integrated machine electronic compensating system are fixed with inside Base body
Acquisition control module, the signal generator of magnetic suspension system, acquisition control module and the data communication mould for testing Space Vehicle System
Block, data acquisition and control module and coordinating control module；
The hang spring integrated machine electronic compensating system includes inverted L shape support frame, X to servo motor, horizontal X to mechanism, Y-direction servo electricity
Machine, vertical direction cylinder mechanism, hang spring, is passed without constraint suspension mechanism, S type tension sensor, two-dimentional inclination angle horizontal Y-direction mechanism
Sensor and data acquisition and control module；Hang spring integrated machine electronic compensating system is mounted in free base systems, on inverted L shape support frame
Remaining structure of hang spring integrated machine electronic compensating system is installed, horizontal X to mechanism therewith directly contact and with X to servo motor phase
Even, it under the drive of the motor, can be moved along horizontal X direction；Horizontal Y-direction mechanism be mounted on horizontal X in mechanism and with Y-direction servo
Motor is connected, and can move under the drive of the motor along horizontal Y-direction；Vertical direction cylinder mechanism is mounted in horizontal Y-direction mechanism,
Lower end is connected with no constraint suspension mechanism by hang spring and sets, and the piston rod of cylinder transposition can be along vertical under the control of cylinder air pressure
Direction movement, thus drive be mounted on its lower end without constraint suspension mechanism kinematic；Two-dimension tilt angle sensor is mounted on hang spring,
S type tension sensor is mounted between hang spring and piston rod.
2. magnetic according to claim 1 hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation, it is characterized in that:
The magnetic suspension system include coil, coil fixed block, multilayer circuit board, permanent magnet array, signal generator, magnetic field measuring apparatus with
Data acquisition and control module；Coil fixed block is mounted in free base systems, is used for fixed coil and multilayer circuit board, built-in
Permanent magnet array is mounted on the inside of spacecraft ontology；
The coordinated control system includes coordinating control module, realizes free pedestal, hang spring integrated machine electronic compensating and magnetic suspension three
The coordination and optimization of a system multi objective control task；
Communication system described in shown communication system includes data communication module, to free base systems, the comprehensive electromechanical benefit of hang spring
Repay system and magnetic suspension system and coordinated control system measurement information with control information be in communication with each other and each system measurements believe
The information of breath and monitoring center is transmitted；
The control centre includes the monitoring modular of each system, platform emergency stop module and multiple target task expansion module；
Spacecraft be fixed on integrated machine electronic compensating system without in constraint suspension mechanism, the two dimension of hang spring integrated machine electronic compensating system
The motion information of obliquity sensor and tension sensor real-time measurement hitch point, acquisition control module is according to the motion information control
Cylinder on motor and vertical direction in horizontal direction processed realizes the movement that follows of hitch point three-dimensional space, compensates the big portion of object
Divide gravity；Residual gravity is compensated by magnetic suspension system, to realize that microgravity movement environment reproduces；It has been built forever inside spacecraft
Magnetic array, controls it by magnetic force；Spacecraft pose measurement module provides spacecraft by multi-sensor information fusion in real time
Posture information, the posture information and input of the magnetic field strength metrical information as magnetic suspension controller, by controlling magnetic suspension system
The electric current of system, driving spacecraft is rotated around mass center Three Degree Of Freedom and the translation of relative free-radical seat Three Degree Of Freedom, to realize boat
The pose motion reappearance of its device；Free pedestal data acquisition and control module by filtering fusion camera acquisition image information,
The information of laser range finder and the information of range sensor provide real-time position information, while data acquisition control for free pedestal
Module calculates desired orbital position by the motion dynamics equations based on extraterrestrial target in real time, utilizes across the scale principle of equal effects
The desired locations that ground free radicals seat is calculated with the theory of similarity, the actual bit obtained by the desired locations information and measurement processing
Confidence breath calculates expectation input, and free pedestal is driven to realize desired similar movement, to realize the track movement of spacecraft again
It is existing；The coordination control main control module for testing aerospace system passes through the information reconciliation control of integral data communication module and data memory module
The work of free base systems, hang spring integrated machine electronic compensating system, magnetic suspension system and experiment aerospace system is made, thus comprehensively again
Existing spacecraft executes the whole process of space tasks.
3. magnetic according to claim 2 hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation, it is characterized in that:
Work step are as follows:
(1) the spacecraft body interior that built-in permanent magnetism block array is fixed；
(2) by test spacecraft be fixed on integrated machine electronic compensating system without on constraint suspension device；
(3) vertical direction air cylinder device is adjusted to by duration plan-validation time according to the specific requirement of validation task scheme
Longest position；
(4) by horizontal X to mechanism and horizontal Y-direction institutional adjustment to duration plan-validation time longest position；
(5) the comprehensive gravity compensation system electrification of hang spring, records the numerical value of S type tension sensor at this time, in remaining system of platform
Electricity；
(6) the verifying work begun a task with, needs and space flight of the data acquisition and control module of magnetic suspension system according to task
Device pose measurement module obtains the current pose information of space flight, determines the pose amount of adjusting of spacecraft ontology, while according to magnetic field
The pose that measuring instrument is fed back with spacecraft adjusts in real time, meets the needs of task, the pose movement of reproduction experiments spacecraft；
(7) synchronous with (6) to carry out, when the position of spacecraft changes, the horizontal X of integrated machine electronic compensating system to mechanism,
Horizontal Y-direction mechanism and vertical cylinder device follow the variation of spacecraft in real time, guarantee that hang spring is in a vertical state, and S type
The value of force snesor keeps preset value constant；
(8) synchronous with (6), (7) to carry out, free base systems using across the scale principle of equal effects and the theory of similarity calculate ground from
By the desired locations of pedestal, expectation input is calculated by the actual position information that the desired locations information and measurement processing obtain, is driven
Free pedestal is set to realize desired similar movement, to realize the track motion reappearance of spacecraft；
(9) after the completion of task scheme test, platform power is closed, spacecraft is unloaded, according to the letter for measuring record during task
Breath, the feasibility of analysis task scheme.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421847.0A CN107244430B (en) | 2017-06-07 | 2017-06-07 | Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421847.0A CN107244430B (en) | 2017-06-07 | 2017-06-07 | Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107244430A CN107244430A (en) | 2017-10-13 |
| CN107244430B true CN107244430B (en) | 2019-04-30 |
Family
ID=60017952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710421847.0A Active CN107244430B (en) | 2017-06-07 | 2017-06-07 | Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107244430B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806734B (en) * | 2020-07-02 | 2022-06-07 | 中国人民解放军国防科技大学 | Gravity compensation system, spacecraft relative motion ground suspension experiment system and method |
| CN113044785B (en) * | 2021-03-25 | 2022-08-26 | 上海英华实业有限公司 | System for positioning, filling and conveying medicine bottles by utilizing magnetic suspension |
| CN114464070B (en) * | 2022-01-21 | 2022-09-30 | 燕山大学 | Parallel posture adjustment based magnetic suspension gravity compensation experimental platform for planet vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5379657A (en) * | 1992-06-22 | 1995-01-10 | Timothy K. Hasselman | Microgravity suspension system for simulating a weightless environment |
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
| 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 |
| CN106516182A (en) * | 2016-11-23 | 2017-03-22 | 上海卫星工程研究所 | Double five-degrees-of-freedom air bearing and master-slave non-contact double-super satellite ground principle verification system |
-
2017
- 2017-06-07 CN CN201710421847.0A patent/CN107244430B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5379657A (en) * | 1992-06-22 | 1995-01-10 | Timothy K. Hasselman | Microgravity suspension system for simulating a weightless environment |
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
| 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 |
| CN106516182A (en) * | 2016-11-23 | 2017-03-22 | 上海卫星工程研究所 | Double five-degrees-of-freedom air bearing and master-slave non-contact double-super satellite ground principle verification system |
Non-Patent Citations (1)
| Title |
|---|
| 微重力环境的要素构成与跨尺度微重力补偿的数学计算;贾英民;《国家科技报告》;20131226;第56页-第57页 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107244430A (en) | 2017-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107244430B (en) | Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation | |
| CN103482089B (en) | Unrestricted suspension type initiative gravity compensation system | |
| CN107161360B (en) | Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks | |
| 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 | |
| CN107933980B (en) | Active and passive combined suspension zero-gravity simulation system and simulation method | |
| CN107244431B (en) | Space tasks ground motion reproduces across scale verification platform | |
| CN102802867A (en) | Device for spatially orienting at least two subgroup components and method | |
| CN106494653B (en) | Planetary landing sport simulated system and method based on air floating table | |
| Nakka et al. | A six degree-of-freedom spacecraft dynamics simulator for formation control research | |
| JP7248361B1 (en) | Planetary rover magnetic levitation gravity compensation experimental platform based on parallel-connected attitude adjustment | |
| CN110361829A (en) | A kind of telescope Pointing Calibration method and telescope | |
| CN103018066A (en) | Spontaneous global navigation chart (GNC) semi-physical simulation experimental system for deep space exploration of small object attachment process | |
| CN107458630B (en) | Suspension point cross-scale tracking method for suspension type active gravity compensation system | |
| CN101719792A (en) | Platform for simulating link satellite photo-communication terminal-to-terminal relative sighting angle movement | |
| CN103655102B (en) | The adaptive equalization control system of motor-driven operation technique support means and method | |
| CN116767519B (en) | Magnetic gravity balance spaceflight simulator docking test device | |
| CN111537000A (en) | Ground verification system and method for deep space small celestial body landing segment optical navigation algorithm | |
| Xie et al. | Position estimation and control for quadrotor using optical flow and GPS sensors | |
| CN113883333B (en) | Underwater pipeline inspection robot | |
| CN104678781B (en) | Imitative gecko robot for space attitude regulation and control and landing experimental system and method | |
| CN114435635A (en) | Suspension air floatation combined three-dimensional microgravity simulation device and method | |
| KR101543642B1 (en) | underwater imaging device with multi-axes controlling and imaging module system using it | |
| Wei et al. | Novel ground microgravity experiment system for a spacecraft-manipulator system based on suspension and air-bearing | |
| Sun et al. | An air floating suspension microgravity simulator for multi specification of spaceborne SAR |
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 |