CN107665616B - A kind of nine-degree of freedom motion simulator relative motion equivalent method and system - Google Patents
A kind of nine-degree of freedom motion simulator relative motion equivalent method and system Download PDFInfo
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Abstract
A kind of nine-degree of freedom motion simulator relative motion equivalent method of the present invention and system, belong to space technology ground simulation test field, for solving the problems, such as that spacecraft relative motion simulator relative motion simulation context is insufficient, motion simulator is set to meet more test demands, spacecrafts rendezvous nine-degree of freedom motion simulator includes three freedom degree motion simulator and six freedom-degree motion simulator, nine-degree of freedom motion simulator is " three+six " configuration, shares nine freedom degrees.Nine-degree of freedom motion simulator can simulate the two aircraft physical process that respectively three axis relative positions move between three-axis attitude movement and two aircraft during two aircraft Close approachs are initially separated to docking contact or by docking completion status.The algorithm can greatly improved nine-degree of freedom motion simulator and laterally test for comprehensive verification to meet the test demand of two aircraft relative position motion range during spacecrafts rendezvous with the range of vertical relative motion simulation and provide guarantee.
Description
Technical field
A kind of nine-degree of freedom motion simulator relative motion equivalent method of the present invention and system, it is imitative to belong to space technology ground
True test field.
Background technique
During the Shenzhou spacecraft and the spacecrafts rendezvous of tiangong-1, the range of relative motion between two aircraft has sternly
The index request of lattice, only meets this index request, and two aircraft could complete normal spacecrafts rendezvous task.Simultaneously according to this
Index request, the normal range of operation for measuring sensor propose corresponding technical requirement.Therefore, as long as two flights
Range of relative motion between device meets corresponding index requirement, and under other no abnormal conditions, measurement sensor should just be located
In normal operating conditions, accurate, stable measurement data is provided for control computer, control computer is completed using measurement data
The resolving of spacecrafts rendezvous control algolithm, control aircraft complete spacecrafts rendezvous and meet corresponding index requirement.
Therefore, when ground experiment is tested, in order to sufficiently test efficient working range, the measurement number of confirmatory measurement sensor
According to accuracy and control computer control algorithm resolve correctness and validity, it should in two aircraft relative motion models
The experimental test for carrying out full working scope in the case where meeting corresponding index requirement is enclosed, and the test under boundary condition is even more important.
Spacecrafts rendezvous nine-degree of freedom motion simulator is the spacecrafts rendezvous scheme nine-degree of freedom semi-physical simulation such as Shenzhou spacecraft
The important tests equipment of verification test and measurement sensor single machine test test, mainly consists of two parts: one, being fixed on ground
Three-axis attitude turntable, moved for simulated target attitude for aerocraft, also known as three freedom degree motion simulator；Two, one
A three-axis attitude turntable that can do three-dimensional translating, also known as six freedom-degree motion simulator, three-axis attitude turntable are chased after for simulating
The movement of track attitude for aerocraft, three-dimensional translating is for simulating three axis relative positions movement between two aircraft.Spacecrafts rendezvous nine
Freedom degree motion simulator is " three+six " configuration, shares nine freedom degrees.Nine-degree of freedom motion simulator can simulate two flights
Two aircraft respectively transport by three-axis attitude during device Close approach is initially separated to docking contact or by docking completion status
The dynamic physical process that three axis relative positions move between two aircraft.
But it is limited by conditions such as equipment development feasibility and test sites, the transverse direction (y) of six freedom-degree motion simulator
Motion range and vertical (z) motion range are generally relatively small, and it is in the process laterally and perpendicular not to be able to satisfy two aircraft spacecrafts rendezvous
To range of relative motion index request.So merely with the transverse direction and vertical motion model of six freedom-degree motion simulator hardware itself
Enclose, can only covering part spacecrafts rendezvous plan-validation test and measurement sensor single machine test test content of the test, Wu Faman
The test demand of sufficient full working scope covering.
Summary of the invention
Technology of the invention solves the problems, such as: laterally and perpendicular for spacecrafts rendezvous nine-degree of freedom motion simulator hardware itself
, limitation of movement small to range of relative motion, the problem of l-G simulation test and the test of full working scope cannot be carried out, propose one kind nine from
By degree motion simulator relative motion equivalent algorithm and system, nine-degree of freedom motion simulator transverse direction and vertical phase greatly improved
To the simulation context of movement, to meet the test demand of two aircraft relative position motion range during spacecrafts rendezvous, it is
Comprehensive verification test provides guarantee.
The technical solution of the invention is as follows: a kind of nine-degree of freedom motion simulator relative motion equivalent method, step is such as
Under:
(1) relative attitude relationship between desired three freedom degree motion simulator and six freedom-degree motion simulator known to
(θ1, θ2, θ3) and relative positional relationship (X, Y, Z)；
(2) according to step (1) desired three freedom degree motion simulator and six freedom-degree motion simulator relative attitude and
Station-keeping data calculates the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situationAnd Three Degree Of Freedom
Motion simulator coordinate systemBetween transformational relation；
(3) relative positional relationship between three freedom degree motion simulator and six freedom-degree motion simulator according to step (1)
(X, Y, Z) calculates the control amount of three freedom degree motion simulator under equivalent situation, according to three-degree-of-freedom motion mould under equivalent situation
The control amount of quasi- device, calculates three freedom degree motion simulator coordinate systemTransition matrix；
(4) according to the three freedom degree motion simulator coordinate system of step (3)Transition matrix and step (2) six
Freedom degree motion simulator coordinate systemWith three freedom degree motion simulator coordinate systemBetween transformational relation,
Calculate the control amount that six freedom-degree motion simulator is new under equivalent situation；
(5) according to the control amount of step (3) three freedom degree motion simulator and step (4) six freedom-degree motion simulator
Control amount determines the control amount of nine-degree of freedom motion simulator.
In the step (1), (θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemFreely relative to three
Spend motion simulator coordinate systemThe Eulerian angles of three reference axis.
In the step (1), (X, Y, Z) is six freedom-degree motion simulator coordinate systemOrigin OfFreely three
Spend motion simulator coordinate systemUnder coordinate.
The three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three freedom degree movement simulation
The intersection point of three shafts of device, three axis are directed toward along three rotor shaft directions, wherein XtAxis forward direction is to be horizontally away from six-freedom motion mould
Quasi- device direction, ZtAxis forward direction is to be perpendicularly oriented to the earth direction, YtAxis and XtAxis, ZtAxis constitutes right-handed coordinate system.
The six freedom-degree motion simulator coordinate systemCoordinate origin OfIt is simulated positioned at six-freedom motion
The intersection point of three shafts of device, three axis are directed toward along three rotor shaft directions, wherein XfAxis forward direction is to be horizontally directed to three-degree-of-freedom motion mould
Quasi- device direction, ZfAxis forward direction is perpendicularly oriented to the earth direction, YfAxis and XfAxis, ZfAxis constitutes right-handed coordinate system.
A kind of nine-degree of freedom motion simulator relative motion equivalent system, comprising: posture position obtains module, transformational relation
Determining module, transition matrix determining module, control amount determining module, equivalent modules；
Posture position obtains module and obtains opposite appearance between three freedom degree motion simulator and six freedom-degree motion simulator
State relationship (θ1, θ2, θ3) and relative positional relationship (X, Y, Z), it send to transformational relation determining module and transition matrix determining module；
Transformational relation determining module, according to the three freedom degree motion simulator sent and six freedom-degree motion simulator phase
To posture and station-keeping data, the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situation is calculatedWith
Three freedom degree motion simulator coordinate systemBetween transformational relation, send to control amount determining module；
Transition matrix determining module, according to position opposite between three freedom degree motion simulator and six freedom-degree motion simulator
It sets relationship (X, Y, Z), the control amount of three freedom degree motion simulator under equivalent situation is calculated, according to Three Degree Of Freedom under equivalent situation
The control amount of motion simulator is sent to equivalent modules, and three freedom degree motion simulator coordinate system is calculatedTransition matrix,
It send to control amount determining module；
Control amount determining module, the three freedom degree motion simulator coordinate system sent according to control amount determining moduleTransition matrix and the six freedom-degree motion simulator coordinate system sent of control amount determining moduleCertainly with three
By degree motion simulator coordinate systemBetween transformational relation, calculate equivalent situation under six freedom-degree motion simulator it is new
Control amount, send to equivalent modules；
Equivalent modules, according to the control amount and control amount of the three freedom degree motion simulator that transition matrix determining module is sent
The control amount for the six freedom-degree motion simulator that determining module is sent determines the control amount of nine-degree of freedom motion simulator.
(the θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree movement simulation
Device coordinate systemThe Eulerian angles of three reference axis.
(X, Y, the Z) is six freedom-degree motion simulator coordinate systemOrigin OfIn three freedom degree movement simulation
Device coordinate systemUnder coordinate.
The three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three freedom degree movement simulation
The intersection point of three shafts of device, three axis are directed toward along three rotor shaft directions, wherein XtAxis forward direction is to be horizontally away from six-freedom motion mould
Quasi- device direction, ZtAxis forward direction is to be perpendicularly oriented to the earth direction, YtAxis and XtAxis, ZtAxis constitutes right-handed coordinate system.
The six freedom-degree motion simulator coordinate systemCoordinate origin OfIt is simulated positioned at six-freedom motion
The intersection point of three shafts of device, three axis are directed toward along three rotor shaft directions, wherein XfAxis forward direction is to be horizontally directed to three-degree-of-freedom motion mould
Quasi- device direction, ZfAxis forward direction is perpendicularly oriented to the earth direction, YfAxis and XfAxis, ZfAxis constitutes right-handed coordinate system.
The beneficial effect of the present invention compared with prior art is:
(1) it is laterally and vertical opposite to have well solved spacecrafts rendezvous nine-degree of freedom motion simulator hardware itself by the present invention
The problem of motion range is small, limitation of movement, cannot carry out l-G simulation test and the test of full working scope；
(2) equivalent method proposed by the present invention, algorithm stability is good, can be used not only for STATIC SIMULATION test, also can be used
In continuous Dynamic Simulating Test, and simulation process is steady；
It (3), can the reduction pair when nine-degree of freedom motion simulator is developed due to using equivalent method proposed by the present invention
The lateral requirement with vertical range of relative motion of simulator, while the requirement to test site can also be reduced, therefore can be big
It is big to save development and experimentation cost.
(4) equivalent method proposed by the present invention can easily be generalized to the motion simulator of other configurations, therefore answer
It is wide with range.
(5) method of the invention is that the roll angle based on three freedom degree motion simulator remains unchanged, and passes through Three Degree Of Freedom
The laterally simulation with vertical relative motion is realized in the pitching movement and yawing rotation of motion simulator.
(6) method of the invention is that the roll angle based on three freedom degree motion simulator remains unchanged.If necessary,
The roll angle of three freedom degree motion simulator can be allowed to also assist in movement equivalent simulation, to realize that more complicated movement is equivalent.
(7) method of the invention is that the nine-degree of freedom relative motion simulator based on " three+six " configuration is conducted a research and tested
Work is demonstrate,proved, but the core concept of this algorithm is the nine-degree of freedom motion simulator that can extend to other configurations, such as " five+
Four " configurations.
Detailed description of the invention
Fig. 1 is equivalent algorithm schematic diagram proposed by the present invention.
Fig. 2 is that nine-degree of freedom motion simulator coordinate system of the present invention defines schematic diagram.
Fig. 3 is equivalent algorithm positional diagram proposed by the present invention.
Fig. 4 is equivalent algorithm flow chart proposed by the present invention；
Fig. 5 is the nine-degree of freedom motion simulator direction of motion of the present invention definition figure.
Specific embodiment
The invention proposes a kind of nine-degree of freedom motion simulator relative motion equivalent methods, and it is imitative to belong to space technology ground
True test field, for solving the problems, such as that spacecraft relative motion simulator relative motion simulation context is insufficient, to make
Motion simulator meets more test demands.
A kind of nine-degree of freedom motion simulator relative motion equivalent method of the present invention and system, it is imitative to belong to space technology ground
True test field makes to move for solving the problems, such as that spacecraft relative motion simulator relative motion simulation context is insufficient
Simulator meets more test demands, spacecrafts rendezvous nine-degree of freedom motion simulator include three freedom degree motion simulator and six from
By degree motion simulator, nine-degree of freedom motion simulator is " three+six " configuration, shares nine freedom degrees.Nine-degree of freedom moves mould
Quasi- device can simulate two aircraft Close approachs to docking contact or during being initially separated by docking completion status and two fly
The row device physical process that respectively three axis relative positions move between three-axis attitude movement and two aircraft.The algorithm can greatly improve
Nine-degree of freedom motion simulator laterally and the range of vertical relative motion simulation, flies to meet during spacecrafts rendezvous two
The test demand of row device relative position motion range provides guarantee for comprehensive verification test.
As shown in figure 4, a kind of nine-degree of freedom motion simulator relative motion equivalent method of the present invention, steps are as follows:
(1) relative attitude relationship between desired three freedom degree motion simulator and six freedom-degree motion simulator known to
(θ1, θ2, θ3) and relative positional relationship (X, Y, Z)；Wherein, (θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree motion simulator coordinate systemThe Eulerian angles of three reference axis, (X, Y, Z) be six from
By degree motion simulator coordinate systemOrigin OfIn three freedom degree motion simulator coordinate systemUnder coordinate.
(2) according to step (1) desired three freedom degree motion simulator and six freedom-degree motion simulator relative attitude and
Station-keeping data calculates the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situationAnd Three Degree Of Freedom
Motion simulator coordinate systemBetween transformational relation；Wherein, three freedom degree motion simulator coordinate systemIt sits
Mark system origin OtPositioned at the intersection point of three shafts of three freedom degree motion simulator, three axis are directed toward along three rotor shaft directions, wherein XtAxis
Forward direction is to be horizontally away from six freedom-degree motion simulator direction, ZtAxis forward direction is to be perpendicularly oriented to the earth direction, YtAxis and XtAxis, Zt
Axis constitutes right-handed coordinate system.Six freedom-degree motion simulator coordinate systemCoordinate origin OfPositioned at six-freedom motion
The intersection point of three shafts of simulator, three axis are directed toward along three rotor shaft directions, wherein XfAxis forward direction is to be horizontally directed to Three Degree Of Freedom fortune
Dynamic simulator direction, ZfAxis forward direction is perpendicularly oriented to the earth direction, YfAxis and XfAxis, ZfAxis constitutes right-handed coordinate system.
(3) relative positional relationship between three freedom degree motion simulator and six freedom-degree motion simulator according to step (1)
(X, Y, Z) calculates the control amount of three freedom degree motion simulator under equivalent situation, according to three-degree-of-freedom motion mould under equivalent situation
The control amount of quasi- device, calculates three freedom degree motion simulator coordinate systemTransition matrix；
(4) according to the three freedom degree motion simulator coordinate system of step (3)Transition matrix and step (2) six
Freedom degree motion simulator coordinate systemWith three freedom degree motion simulator coordinate systemBetween transformational relation,
Calculate the control amount that six freedom-degree motion simulator is new under equivalent situation；
(5) according to the control amount of step (3) three freedom degree motion simulator and step (4) six freedom-degree motion simulator
Control amount determines the control amount of nine-degree of freedom motion simulator.
A kind of nine-degree of freedom motion simulator relative motion equivalent system of the present invention, comprising: posture position obtains module, turns
Change relationship determination module, transition matrix determining module, control amount determining module, equivalent modules；
Posture position obtains module and obtains opposite appearance between three freedom degree motion simulator and six freedom-degree motion simulator
State relationship (θ1, θ2, θ3) and relative positional relationship (X, Y, Z), it send to transformational relation determining module and transition matrix determining module；
Wherein, (θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree motion simulator coordinate systemThe Eulerian angles of three reference axis.(X, Y, Z) is six freedom-degree motion simulator coordinate systemOrigin OfThree
Freedom degree motion simulator coordinate systemUnder coordinate.
Transformational relation determining module, according to the three freedom degree motion simulator sent and six freedom-degree motion simulator phase
To posture and station-keeping data, the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situation is calculatedWith
Three freedom degree motion simulator coordinate systemBetween transformational relation, send to control amount determining module；
Transition matrix determining module, according to position opposite between three freedom degree motion simulator and six freedom-degree motion simulator
It sets relationship (X, Y, Z), the control amount of three freedom degree motion simulator under equivalent situation is calculated, according to Three Degree Of Freedom under equivalent situation
The control amount of motion simulator is sent to equivalent modules, and three freedom degree motion simulator coordinate system is calculatedTransition matrix,
It send to control amount determining module；
Control amount determining module, the three freedom degree motion simulator coordinate system sent according to control amount determining moduleTransition matrix and the six freedom-degree motion simulator coordinate system sent of control amount determining moduleCertainly with three
By degree motion simulator coordinate systemBetween transformational relation, calculate equivalent situation under six freedom-degree motion simulator it is new
Control amount, send to equivalent modules；
Equivalent modules, according to the control amount and control amount of the three freedom degree motion simulator that transition matrix determining module is sent
The control amount for the six freedom-degree motion simulator that determining module is sent determines the control amount of nine-degree of freedom motion simulator.
Three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three freedom degree motion simulator three
The intersection point of a shaft, three axis are directed toward along three rotor shaft directions, wherein XtAxis forward direction is to be horizontally away from six freedom-degree motion simulator
Direction, ZtAxis forward direction is to be perpendicularly oriented to the earth direction, YtAxis and XtAxis, ZtAxis constitutes right-handed coordinate system.Six-freedom motion simulation
Device coordinate systemCoordinate origin OfPositioned at the intersection point of three shafts of six freedom-degree motion simulator, three axis are directed toward along three
A rotor shaft direction, wherein XfAxis forward direction is to be horizontally directed to three freedom degree motion simulator direction, ZfAxis forward direction is perpendicularly oriented to big place
To YfAxis and XfAxis, ZfAxis constitutes right-handed coordinate system.
Relative position movement simulation is realized using large-scale angular movement.
As shown in Figure 1, the two-dimentional schematic diagram of equivalent algorithm proposed by the present invention is given, middle conductor A and the center line segment B
Distance be ρ, and the angle between the line of centres and horizontal line is Φ, and the distance between center line segment B to horizontal line is L.It is existing
It is done as follows:
Line segment B is rotated around the center of line segment A, rotates clockwise Φ, so that the two line segment lines of centres are overlapped with horizontal line,
Line segment B becomes B '；
Line segment B ' is rotated around center, rotates clockwise Φ, obtains line segment B1；
Line segment A is rotated around center, rotates clockwise Φ, obtains line segment A1.
In this way, the relativeness and line segment A between line segment A1 and line segment B1 are consistent with the relativeness of line segment B.A1 and B1
A and B moving on vertical water horizontal line direction are realized by the rotation of center moving on horizontal line and two line segments.
As shown in Figure 2 and Figure 5, coordinate system is defined as follows:
Three freedom degree motion simulator coordinate systemCoordinate origin OtPositioned at three freedom degree motion simulator three
The intersection point of a shaft, three axis are directed toward along three rotor shaft directions, wherein XtAxis forward direction is to be horizontally away from six freedom-degree motion simulator
Direction, ZtAxis forward direction is to be perpendicularly oriented to the earth direction, YtAxis and XtAxis, ZtAxis constitutes right-handed coordinate system.
Six freedom-degree motion simulator coordinate systemCoordinate origin OfPositioned at six freedom-degree motion simulator three
The intersection point of a shaft, three axis are directed toward along three rotor shaft directions, wherein XfAxis forward direction is to be horizontally directed to three freedom degree motion simulator
Direction, ZfAxis forward direction is perpendicularly oriented to the earth direction, YfAxis and XfAxis, ZfAxis constitutes right-handed coordinate system.
In the Shenzhou spacecraft and tiangong-1 spacecrafts rendezvous scheme nine-degree of freedom semi physical verification test and measurement sensor list
In machine testing experiment, realize that process is as follows:
1) relative attitude relationship and relative positional relationship between desired two motion simulator known to；
2) when not considering equivalent algorithm, according to desired relative attitude and station-keeping data calculate two coordinate systems it
Between transformational relation；
3) three-degree-of-freedom motion under equivalent situation is calculated according to relative positional relationship (X, Y, Z) between two motion simulators
The control amount of simulator；
Calculate the control amount of the six freedom-degree motion simulator under equivalent situation.
Spacecrafts rendezvous nine-degree of freedom motion simulator is Technique in Rendezvous and Docking scheme nine-degree of freedom semi-physical simulation verifying examination
The important tests equipment for testing and measuring the test of sensor single machine test, mainly consists of two parts: one, being fixed on three axis on ground
Attitude spin table, for the in-orbit three-axis attitude movement of simulated target aircraft, also known as three freedom degree motion simulator；Two, one
The three-axis attitude turntable of three-dimensional translating, also known as six freedom-degree motion simulator can be done, three-axis attitude turntable is for simulating tracking
Attitude for aerocraft movement, three-dimensional translating is for simulating three axis relative positions movement between two aircraft.Spacecrafts rendezvous nine is certainly
It is " three+six " configuration by degree motion simulator, shares nine freedom degrees.Nine-degree of freedom motion simulator can simulate two aircraft
Respectively three-axis attitude moves two aircraft during Close approach is initially separated to docking contact or by docking completion status
And two the movement of three axis relative positions between aircraft physical process.
But it is limited by conditions such as equipment development feasibility and test sites, the transverse direction (y) of six freedom-degree motion simulator
Motion range and vertical (z) motion range are generally relatively small, and it is in the process laterally and perpendicular not to be able to satisfy two aircraft spacecrafts rendezvous
To range of relative motion index request.So using the transverse direction and vertical motion range of six freedom-degree motion simulator itself, only
The content of the test of the test of energy covering part spacecrafts rendezvous plan-validation and measurement sensor single machine test test, is unable to satisfy full work
The test demand of condition covering.
Based on the demand, a kind of nine-degree of freedom motion simulator relative motion equivalent algorithm is proposed, which can be big
Width improves range of the nine-degree of freedom motion simulator laterally with vertical relative motion simulation, to meet spacecrafts rendezvous process
In two aircraft relative position motion range test demand, for comprehensive verification test provide guarantee.
Embodiment 1
The specific implementation steps are as follows:
1) relative attitude relationship (θ between desired two motion simulator known to1, θ2, θ3) and relative positional relationship (X, Y,
Z)。(θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree motion simulator coordinate systemThe Eulerian angles of three reference axis, (X, Y, Z) are six freedom-degree motion simulator coordinate systemsOrigin OfThree
Freedom degree motion simulator coordinate systemUnder coordinate.
2) when not considering equivalent algorithm, according to desired relative attitude and station-keeping data calculate two coordinate systems it
Between transformational relation.
Under normal conditions, relative attitude relationship passes through the appearance of three freedom degree motion simulator and six freedom-degree motion simulator
State movement is common to be completed, and relative positional relationship is completed by the three-dimensional translating of six freedom-degree motion simulator.If Three Degree Of Freedom
The posture of motion simulator remains unchanged, then the attitude motion that relative attitude relationship only passes through six freedom-degree motion simulator is complete
At.
Six freedom-degree motion simulator coordinate systemWith three freedom degree motion simulator coordinate systemBetween
Transformational relation can be acquired by relative attitude and relative position.
Enable coordinate systemWithBetween transition matrix beAnd (root is converted according to 321 turns of sequences
Also can choose according to the structure of turntable and other turn sequence),
So
Enable coordinate systemOrigin is in coordinate systemIn be expressed as A1, then
A1=[X, Y, Z]T
So the transformational relation between Two coordinate system are as follows:
3) three-degree-of-freedom motion under equivalent situation is calculated according to relative positional relationship (X, Y, Z) between two motion simulators
The control amount of simulator.
As shown in figure 3, setting nine-degree of freedom motion simulator is in a certain state, from three freedom degree motion simulator coordinate systemObserve six freedom-degree motion simulator coordinate systemSix freedom-degree motion simulator coordinate system can be found out
Origin OfIn three freedom degree motion simulator coordinate systemUnder expression.
Known OfIn three freedom degree motion simulator coordinate systemUnder coordinate be (X, Y, Z), then the elevation angleWith
AzimuthShown in relationship such as formula (2) with (X, Y, Z).
So the elevation angle is realized in the pitching movement and yawing rotation by three freedom degree motion simulatorThe azimuth and's
Movement, the roll angle of three freedom degree motion simulator remain unchanged, three freedom degree motion simulator control amount (γt, αt, βt) are as follows:
Three freedom degree motion simulator coordinate system is calculated according to 321 sequence that turnsTransition matrix are as follows:
So Ct=Ct1Ct2Ct3。
4) the new control amount of six freedom-degree motion simulator under equivalent situation is calculated
By CtIt is multiplied, obtains at left and right sides of formula (1):
It enablesControl amount (the γ of three Shaft angle of six freedom-degree motion simulator is calculated according to 321 turns of sequencesf, αf,
βf) are as follows:
Enable A=CtA1, so the control amount (X of six freedom-degree motion simulator three-dimensional translatingf, Yf, Zf) are as follows:
So under equivalent situation, the control amount of nine-degree of freedom motion simulator are as follows:
Embodiment 2
In the algorithm of example 1, realized by the pitching movement and yawing rotation of three freedom degree motion simulator laterally and perpendicular
To the simulation of relative motion, and the roll angle of three freedom degree motion simulator remains unchanged.If necessary, can allow three from
Movement equivalent simulation is also assisted in by the roll angle of degree motion simulator, to realize that more complicated movement is equivalent.
Embodiment 3
The algorithm of example 1 is that the nine-degree of freedom relative motion simulator based on " three+six " configuration conducts a research and verify work
Make, but the core concept of this algorithm can be readily extended to the nine-degree of freedom motion simulator of other configurations, such as " five
+ four " configuration.
By experimental verification and emulation, the present invention has well solved spacecrafts rendezvous nine-degree of freedom motion simulator hardware sheet
The problem of body is laterally and vertical range of relative motion is small, limitation of movement, cannot carry out l-G simulation test and the test of full working scope；This hair
Bright method stability is good, can be used not only for STATIC SIMULATION test, it may also be used for continuous Dynamic Simulating Test, and simulation process
Steadily；Due to using equivalent algorithm proposed by the present invention, can reduce when nine-degree of freedom motion simulator is developed to simulator
The requirement of lateral and vertical range of relative motion, while the requirement to test site can also be reduced, therefore can greatly save
Development and experimentation cost, can easily be generalized to the motion simulator of other configurations, therefore have a wide range of application.And this hair
The bright roll angle based on three freedom degree motion simulator remains unchanged, by the pitching movement of three freedom degree motion simulator and partially
Shipping is dynamic to realize the laterally simulation with vertical relative motion.
The present invention is that the nine-degree of freedom relative motion simulator based on " three+six " configuration conducts a research and verify work,
But the core concept of this algorithm is the nine-degree of freedom motion simulator that can extend to other configurations, such as " five+four " configuration, and
And method of the invention is that the roll angle based on three freedom degree motion simulator remains unchanged.If necessary, three can be allowed
The roll angle of freedom degree motion simulator also assists in movement equivalent simulation, to realize that more complicated movement is equivalent.
Claims (2)
1. a kind of nine-degree of freedom motion simulator relative motion equivalent method, it is characterised in that steps are as follows:
(1) relative attitude relationship (θ between desired three freedom degree motion simulator and six freedom-degree motion simulator known to1, θ2,
θ3) and relative positional relationship (X, Y, Z)；
(2) according to step (1) desired three freedom degree motion simulator and six freedom-degree motion simulator relative attitude and relatively
Position data calculates the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situationAnd three-degree-of-freedom motion
Simulator coordinate systemBetween transformational relation；
(3) according to step (1) relative positional relationship between three freedom degree motion simulator and six freedom-degree motion simulator (X, Y,
Z), the control amount for calculating three freedom degree motion simulator under equivalent situation, according to three freedom degree motion simulator under equivalent situation
Control amount, calculate three freedom degree motion simulator coordinate systemTransition matrix；
(4) according to the three freedom degree motion simulator coordinate system of step (3)Transition matrix and step (2) six freely
Spend motion simulator coordinate systemWith three freedom degree motion simulator coordinate systemBetween transformational relation, calculate
The new control amount of six freedom-degree motion simulator under equivalent situation；
(5) according to the control of the control amount of step (3) three freedom degree motion simulator and step (4) six freedom-degree motion simulator
Amount, determines the control amount of nine-degree of freedom motion simulator；
In the step (1), relative attitude is closed between desired three freedom degree motion simulator and six freedom-degree motion simulator
System is denoted as (θ1, θ2, θ3), (θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three-degree-of-freedom motion
Simulator coordinate systemThe Eulerian angles of three reference axis；
In the step (1), relative position is closed between desired three freedom degree motion simulator and six freedom-degree motion simulator
System is denoted as (X, Y, Z), and (X, Y, Z) is six freedom-degree motion simulator coordinate systemOrigin OfIn three-degree-of-freedom motion mould
Quasi- device coordinate systemUnder coordinate；
The three freedom degree motion simulator coordinate system is denoted asCoordinate origin OtPositioned at three freedom degree motion simulator
The intersection point of three shafts, three axis are directed toward along three rotor shaft directions, wherein XtAxis forward direction is to be horizontally away from six-freedom motion simulation
Device direction, ZtAxis forward direction is to be perpendicularly oriented to the earth direction, YtAxis and XtAxis, ZtAxis constitutes right-handed coordinate system；
The six freedom-degree motion simulator coordinate system is denoted asCoordinate origin OfPositioned at six freedom-degree motion simulator
The intersection point of three shafts, three axis are directed toward along three rotor shaft directions, wherein XfAxis forward direction is to be horizontally directed to three freedom degree movement simulation
Device direction, ZfAxis forward direction is perpendicularly oriented to the earth direction, YfAxis and XfAxis, ZfAxis constitutes right-handed coordinate system.
2. a kind of nine-degree of freedom motion simulator relative motion equivalent system, characterized by comprising: posture position acquisition module,
Transformational relation determining module, transition matrix determining module, control amount determining module, equivalent modules；
Posture position obtains module and obtains relative attitude pass between three freedom degree motion simulator and six freedom-degree motion simulator
It is (θ1, θ2, θ3) and relative positional relationship (X, Y, Z), it send to transformational relation determining module and transition matrix determining module；
Transformational relation determining module, according to the three freedom degree motion simulator and six freedom-degree motion simulator relative attitude sent
And station-keeping data, calculate the six freedom-degree motion simulator coordinate system in the case where not considering equivalent situationFreely with three
Spend motion simulator coordinate systemBetween transformational relation, send to control amount determining module；
Transition matrix determining module is closed according to relative position between three freedom degree motion simulator and six freedom-degree motion simulator
It is (X, Y, Z) control amount of three freedom degree motion simulator under equivalent situation to be calculated, by three-degree-of-freedom motion mould under equivalent situation
The control amount of quasi- device is sent to equivalent modules, and three freedom degree motion simulator coordinate system is calculatedTransition matrix, send to control
Amount determining module processed；
Control amount determining module, the three freedom degree motion simulator coordinate system sent according to transition matrix determining module
Transition matrix and the six freedom-degree motion simulator coordinate system sent of transformational relation determining moduleIt is transported with Three Degree Of Freedom
Dynamic simulator coordinate systemBetween transformational relation, calculate the new control of six freedom-degree motion simulator under equivalent situation
Amount, send to equivalent modules；
Equivalent modules, the control amount and control amount for the three freedom degree motion simulator sent according to transition matrix determining module determine
The control amount for the six freedom-degree motion simulator that module is sent determines the control amount of nine-degree of freedom motion simulator；
Relative attitude relationship is denoted as (θ between the three freedom degree motion simulator and six freedom-degree motion simulator1, θ2, θ3),
(θ1, θ2, θ3) it is six freedom-degree motion simulator coordinate systemRelative to three freedom degree motion simulator coordinate systemThe Eulerian angles of three reference axis；
Relative positional relationship is denoted as (X, Y, Z) between three freedom degree motion simulator and six freedom-degree motion simulator, (X, Y, Z)
It is six freedom-degree motion simulator coordinate systemOrigin OfIn three freedom degree motion simulator coordinate systemUnder
Coordinate；
The three freedom degree motion simulator coordinate system is denoted asCoordinate origin OtPositioned at three freedom degree motion simulator
The intersection point of three shafts, three axis are directed toward along three rotor shaft directions, wherein XtAxis forward direction is to be horizontally away from six-freedom motion simulation
Device direction, ZtAxis forward direction is to be perpendicularly oriented to the earth direction, YtAxis and XtAxis, ZtAxis constitutes right-handed coordinate system；
The six freedom-degree motion simulator coordinate system is denoted asCoordinate origin OfIt is simulated positioned at six-freedom motion
The intersection point of three shafts of device, three axis are directed toward along three rotor shaft directions, wherein XfAxis forward direction is to be horizontally directed to three-degree-of-freedom motion mould
Quasi- device direction, ZfAxis forward direction is perpendicularly oriented to the earth direction, YfAxis and XfAxis, ZfAxis constitutes right-handed coordinate system.
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