CN107792393B - Master-slave non-contact embedded satellite ground verification system and verification method thereof - Google Patents
Master-slave non-contact embedded satellite ground verification system and verification method thereof Download PDFInfo
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- CN107792393B CN107792393B CN201710876461.9A CN201710876461A CN107792393B CN 107792393 B CN107792393 B CN 107792393B CN 201710876461 A CN201710876461 A CN 201710876461A CN 107792393 B CN107792393 B CN 107792393B
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- B64G1/00—Cosmonautic vehicles
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Abstract
The invention discloses a master-slave non-contact embedded satellite ground verification system and a verification method thereof, wherein the system comprises a double super satellite, a double super satellite high-precision attitude control system and a double super satellite ground principle verification system, the double super satellite comprises a load cabin and a platform cabin, the load cabin is provided with a payload, an optical fiber gyro, a magnetic suspension mechanism stator, a laser angular position sensor and an optical fiber gyro, the platform cabin is provided with a solar sailboard and a driving mechanism thereof, a flywheel, a thruster, a storage box, an antenna and a magnetic suspension mechanism rotor, and the load cabin and the platform cabin are isolated from each other by a non-contact magnetic suspension mechanism. The invention has the advantages of simple and easy operation, safety, reliability, high redundancy, small quality and low power consumption.
Description
Technical Field
The invention relates to a verification system and a verification method thereof, in particular to a master-slave non-contact embedded satellite ground verification system and a verification method thereof.
Background
Most of traditional satellites adopt a design method for fixedly connecting a load and a platform, the load direction and stability are realized by a platform control system, but the platform micro-vibration cannot be avoided, and the capabilities of the control system such as bandwidth and precision are limited, so that the fixedly connecting design method has the technical bottleneck of difficult micro-vibration measurement and difficult control, the load double-super index is difficult to realize, the structure is complex, the use is unsafe, the redundancy is low, the mass is large, and the power consumption is high.
Disclosure of Invention
The invention aims to solve the technical problem of providing a master-slave non-contact embedded satellite ground verification system and a verification method thereof, which are simple, feasible, safe and reliable, high in redundancy, small in quality and low in power consumption.
The invention solves the technical problems through the following technical scheme: a master-slave non-contact internal satellite ground verification system is characterized by comprising a double super satellite, a double super satellite high-precision attitude control system and a double super satellite ground principle verification system, wherein the double super satellite comprises a load cabin and a platform cabin, the load cabin is provided with a payload, an optical fiber gyroscope, a magnetic suspension mechanism stator, a laser angular position sensor and an optical fiber gyroscope, the platform cabin is provided with a solar sailboard and a driving mechanism thereof, a flywheel, a thruster, a storage box, an antenna and a magnetic suspension mechanism rotor, dynamic and static isolation is realized between the load cabin and the platform cabin through a non-contact magnetic suspension mechanism, and the double super satellite high-precision attitude control system mainly comprises three independent and organically combined control loops: a load attitude control loop, a two-cabin relative position control loop and a relative attitude control loop; the load attitude control loop comprises a load instruction, a load control unit, a load attitude control algorithm, a magnetic suspension mechanism, a star sensor and the like which are connected in sequence; the two-cabin relative position control loop comprises a load relative position operation instruction and a relative position control unit which are connected with each other; the relative attitude control loop comprises a load-pair attitude controller, a relative attitude control algorithm, a service cabin executing mechanism, a service cabin and a relative attitude sensor which are connected in a dependent manner; the double-super-satellite ground principle verification system comprises but is not limited to a laser angular position sensor, a fiber-optic gyroscope, a load cabin control unit, a solar panel driving mechanism and a platform cabin attitude control unit, wherein the laser angular position sensor and the load cabin control unit are all installed on a load cabin, and the fiber-optic gyroscope, the solar panel driving mechanism and the platform cabin attitude control unit are all installed on the platform cabin.
The invention also provides a verification method of the master-slave non-contact embedded satellite ground verification system, which is characterized by comprising the following steps:
the method comprises the following steps: simulating a weightlessness environment on the ground;
step two: the ground control principle prototype verification system is set up to verify the vibration isolation performance and the master-slave cooperative control principle of the non-contact magnetic suspension mechanism, and the double-super satellite control principle prototype comprises a structure, a counting tube, a measurement and control, a general circuit, control, propulsion and quality characteristic adjustment;
step three: the method comprises the following steps of building a ground matching system, wherein the ground matching system comprises ground comprehensive monitoring, plant matching equipment and the like, the ground comprehensive monitoring is used for monitoring the state of a principle prototype, and the plant matching comprises air supply, power supply, constant temperature, dehumidification and the like;
step four: verifying the operation of the system by a ground control principle prototype;
step five: the ground monitoring system receives the monitoring data of the measurement and control system, comprehensively displays, processes and evaluates the potential of the double three-degree-of-freedom attitude control performance, and can send a control instruction to the measurement and control system to control the ground control principle prototype verification system if necessary;
step six: and finishing the verification.
Preferably, the step one comprises the steps of:
step one, eleven: selecting a weightless environment simulation approach, adopting an air floatation mode in order to overcome the influence of gravity on the ground, and depending on an air film formed between an air foot and a marble platform by compressed air to enable a simulation platform body to float, thereby realizing a relative motion condition approximate to zero friction so as to simulate a mechanical environment with small interference moment of a satellite in an outer space, and not only simulating required attitude motion, but also simulating satellite attitude coupling dynamics;
step one and twelve: selecting verification freedom degrees, considering the existence of interference such as ground gravity, air floatation damping, atmospheric damping, ground vibration and the like in ground verification, the verification of the ultra-precision ultra-stability performance of all freedom degrees of the load cabin cannot be realized, and the ground test mainly verifies the principle of double-supersatellite master-slave cooperative control and the evaluation of the ultra-precision ultra-stability performance of a single shaft of the load cabin;
step one and thirteen: the double three-degree-of-freedom air floating system is built, active air floating systems of a load cabin and a platform cabin are similar to each other and are respectively independent of the air floating of the load cabin and the platform cabin to form the double three-degree-of-freedom air floating system, a single active air floating system is provided with an air cylinder, a control valve, a plane bearing and the like, the cabin body is floated by means of an air film formed by compressed air between the air floating bearing and a bearing seat, so that approximate friction-free relative motion conditions are realized, a mechanical environment with small interference moment on the cabin body in an outer layer space is simulated, the platform cabin is floated by adopting four plane air feet, the translation in the direction of X, Y can be realized by the air floating of the load cabin and the platform cabin through respective air feet, and the small-angle.
Preferably, the step two comprises the steps of:
twenty one: a structural system is configured, and a principle prototype structure consists of a service platform and a payload cabin;
step twenty-two: configuring a number management system, wherein the number management subsystem consists of a number management computer and number management subsystem software, and the number management computer hardware consists of a fanless industrial personal computer and a corresponding I/O board card together, so as to realize data access with each single machine and the subsystem;
twenty-three steps: configuring a measurement and control system, wherein the measurement and control subsystem consists of a measurement and control computer and measurement and control subsystem software, the measurement and control computer consists of a fanless industrial personal computer, an angular position information acquisition card and wireless communication equipment, and the measurement and control subsystem software is developed based on an xPC real-time operating system to realize the functions of angular position information uploading, a digital management subsystem and a ground comprehensive monitoring subsystem information data forwarding;
twenty-four steps: configuring a total circuit system, wherein the total circuit subsystem comprises 28V, 24V, 12V and 5V discharge regulators, a lithium ion storage battery pack, a battery charge-discharge controller, a distributor, a low-frequency cable network and the like, and is mainly responsible for supplying and distributing power to test measurement and control equipment for testing and stand-by test of each subsystem and electrically connecting single machines and parts;
twenty-five steps: configuring an attitude control system, wherein the attitude control subsystem is mainly used for carrying out principle verification on ultra-precise ultra-stable control of a load cabin of a double-supersatellite principle prototype, driven control of a platform cabin and cooperative decoupling control of the two cabins, and investigating attitude control functions and performances of an initial unlocking anti-collision mode, a stable double-supermode and a maneuvering mode of the principle prototype, wherein the load cabin is provided with a load cabin attitude control computer, a fiber-optic gyroscope, a laser angular position simulator and other measuring elements, a magnetic suspension mechanism and other executing mechanisms, the platform cabin is provided with a platform cabin attitude control computer, a non-contact position sensor, a gyroscope and other measuring elements, a flywheel, an air jet and other executing mechanisms;
twenty-six, configuring a propulsion system, assisting the propulsion subsystem to complete the establishment of an initial balance attitude, providing torque for the momentum unloading of a flywheel, preventing the collision of two cabins, providing thrust for the horizontal motion control of a platform, simulating track control, adopting the flywheel to push a cold air thruster, setting the initial pressure of two high-pressure gas cylinders to be 20MPa, preliminarily estimating the volume of the high-pressure gas cylinders to be 3L, and maintaining the continuous working time of 4 thrusters with 40mN for 1 min;
twenty-seven steps: the mass center adjustment is carried out, when ground test principle verification is carried out, firstly, the mass characteristic adjustment is carried out on a double-super satellite principle prototype, so that the adjustment precision of the mass center in the horizontal direction reaches 0.1gf cm, and the specific implementation process comprises mass center pre-adjustment, manual coarse adjustment and automatic fine leveling, wherein the manual coarse adjustment utilizes standard mass blocks with different specifications, and the automatic fine leveling is realized by adopting a high-precision positioning table with the measurement precision of 1 mu m.
Preferably, the fourth step comprises the following steps:
step forty one: starting air floatation of the load cabin and the platform cabin;
step forty-two: starting a load cabin overall circuit power supply, and operating a load cabin attitude control system;
step forty-three: starting a platform cabin overall circuit power supply, and operating a platform cabin attitude control system;
fourteen steps: the counting system collects information such as attitude angles and attitude angular velocities of the load cabin, attitude angles and attitude angular velocities of the platform cabin, relative positions of the two cabins, output currents of the magnetic suspension mechanism, rotating speeds of the flywheel, air injection states and the like, and sends the information to the measurement and control system;
step forty-five: the measurement and control system receives data of the digital system and sends the data to the ground monitoring system through wireless communication; meanwhile, a control instruction sent by the ground monitoring system is received, and the control instruction is sent to the control computer.
Preferably, the step forty-two comprises the following steps:
step four hundred twenty one: starting a load cabin attitude control computer;
step four hundred twenty-two: measuring elements such as a load cabin fiber optic gyroscope, a laser angular position simulator and the like measure the attitude angle and the attitude angular velocity of the load cabin;
step four hundred twenty three: the load cabin attitude control computer calculates a load cabin attitude control command according to the measured load cabin attitude angle and attitude angular velocity, and sends the load cabin attitude control command to the magnetic suspension mechanism;
step four hundred twenty four: and the magnetic suspension mechanism outputs corresponding control force according to the control instruction, so that the attitude control of the load cabin is realized.
Preferably, the step forty-three comprises the steps of:
step four hundred and thirty one: starting a platform cabin attitude control computer;
step four hundred and thirty-two: measuring and resolving the relative attitude and the relative displacement of the platform cabin relative to the load cabin by measuring elements such as a platform cabin gyroscope, a relative position sensor and the like;
step four hundred and thirty three hundred: the load cabin attitude control computer calculates a relative position control command of the two cabins according to the relative displacement of the platform cabin relative to the load cabin and sends the relative position control command to the magnetic suspension mechanism, and the magnetic suspension mechanism outputs corresponding control force according to the control command to control the relative position of the two cabins;
step four hundred and thirty four: the magnetic suspension mechanism outputs corresponding control force according to the control instruction, so that the attitude control of the load cabin is realized;
step four hundred and thirty-five: the platform cabin attitude control computer calculates relative attitude control instructions of the two cabins according to the relative attitude of the platform cabin relative to the load cabin, and sends the relative attitude control instructions to flywheel/jet air and other actuating mechanisms;
step four hundred and thirty six: the actuating mechanism rotates to the required rotating speed according to the control instruction, the air injection time required by air injection is long, and corresponding control torque is output, so that the attitude control of the platform cabin relative to the load cabin is realized.
Preferably, the step six comprises the following steps: sixty-one steps: closing a load cabin attitude control computer and a platform cabin computer of the ground control principle prototype;
sixty-two steps: turning off the power supply of the overall circuit;
sixty-three steps: and closing the air flotation between the load cabin and the platform cabin.
The positive progress effects of the invention are as follows: the invention relates to a master-slave non-contact embedded double-super satellite platform with double super performances, which is used for dynamic and static separation in spaceThe method adopts complete pose decoupling configuration and sliding mode layer control concept, and adopts high-precision and high-bandwidth non-contact magnetic suspension mechanism to realize satellite pose pointing precision superior to 5 × 10-4The degree and the posture stability of the product are better than 5 × 10-6Degree/second's super high accuracy thoroughly solves two super technical bottlenecks, has realized the complete measurable controllable of load gesture, full frequency band vibration isolation: two cabins of two super satellite platforms of principal and subordinate mode non-contact pass through magnetism and float mechanism non-contact and connect, realize sound isolation, directly cut off platform cabin activity and flexible component to the micro vibration transmission in load cabin, the super smart super steady operating condition of effective guarantee load to reach the effect of full frequency band vibration isolation, greatly reduced the bandwidth demand to the control system product, keep apart platform heat altered shape: compared with the traditional fixed connection design, the two-cabin space isolation of the master-slave non-contact embedded type double-super satellite platform effectively avoids the influence of the platform thermal deformation on the load direction, and in addition, the double-super satellite has the advantages of simplicity, practicability, safety, reliability, high redundancy, small quality, low power consumption and the like.
Drawings
FIG. 1 is a schematic diagram of a dual supersatellite architecture of the present invention.
FIG. 2 is a schematic structural diagram of a dual-supersatellite high-precision attitude control system according to the present invention.
Fig. 3 is a schematic structural diagram of a dual-super-satellite ground principle verification system of the present invention.
Detailed Description
The following provides a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1 to 3, the master-slave non-contact embedded satellite ground verification system of the present invention includes a double super satellite, a double super satellite high-precision attitude control system, and a double super satellite ground principle verification system, wherein the double super satellite includes a load cabin 1 and a platform cabin 2, the load cabin 1 is provided with a payload 3, an optical fiber gyro 9, a magnetic levitation mechanism stator 5b, a laser angular position sensor 12, an optical fiber gyro 13, and other quiet components, the platform cabin 2 is provided with a solar sailboard 10 and a driving mechanism thereof, a flywheel 6, a thruster 14, a storage tank 4, an antenna, a magnetic levitation mechanism mover 5a, and other moving components, the load cabin 1 and the platform cabin 2 are isolated by a non-contact magnetic levitation mechanism 5, and the double super satellite high-precision attitude control system mainly includes three independent and organically combined control loops: a load attitude control loop 100, a two-cabin relative position control loop 200 and a relative attitude control loop 300; the load attitude control loop 100 comprises a load instruction 101, a load control unit 102, a load attitude control algorithm 103, a magnetic suspension mechanism 104, a star sensor 105 and the like which are connected in sequence; the two-cabin relative position control loop 200 comprises a relative position operation instruction 201 and a relative position control unit 202 which are connected with each other; the relative attitude control loop 300 comprises a load-pair attitude controller 301, a relative attitude control algorithm 302, a service bay actuator 303, a service bay 304 and a relative attitude sensor 305 which are connected in sequence; the double-super-satellite ground principle verification system comprises but is not limited to a laser angular position sensor 18, a fiber-optic gyroscope 7, a load cabin control unit 8, a solar panel driving mechanism 10 and a platform cabin attitude control unit 11, wherein the laser angular position sensor 18 and the load cabin control unit 8 are all installed on a load cabin 1, and the fiber-optic gyroscope 7, the solar panel driving mechanism 10 and the platform cabin attitude control unit 11 are all installed on a platform cabin 2.
The working principle of the invention is as follows: load compartment attitude control loop: the attitude sensors such as the laser angular position sensor and the optical fiber gyroscope 7 provide information such as an attitude angle, an attitude angular velocity and the like of the load cabin, feed back the information to the attitude control unit of the load cabin to generate a corresponding action command according to the attitude information of the load cabin, and feed the corresponding current value of a coil of the magnetic suspension mechanism into the attitude control unit to drive the magnetic suspension mechanism to generate a control torque, so that the load cabin is controlled to achieve the expected attitude pointing accuracy and stability, and the platform cabin is controlled to be in a relative attitude control loop: the distance measuring device on the magnetic levitation mechanism detects the relative position and the relative speed of the two cabins, the relative attitude angle and the relative attitude angular speed information of the two cabins are solved, the control unit which feeds back to the platform cabin calculates the attitude control command according to the relative attitude information of the two cabins and drives the external executing mechanism and the like to generate the attitude control torque, the attitude of the control platform cabin follows the movement of the load cabin in the preset precision, and the platform cabin relative position control loop: the distance measuring device on the magnetic suspension mechanism detects the relative position and relative speed information of the two cabins, and feeds back the information to the control unit of the platform cabin, the position control instruction is solved and the magnetic suspension mechanism is driven to generate the position control force, the relative position of the platform cabin and the load cabin is controlled to be kept within a preset threshold value, the permanent magnet end and the coil end of the magnetic suspension mechanism utilize but not limited to an electromagnetic force or an electrostatic force mode, and the relative position and the relative posture between the load cabin and the platform cabin are adjusted through the current change of the coil in the control, so that the collision between the load cabin and the platform cabin is prevented.
The verification method of the master-slave non-contact embedded satellite ground verification system comprises the following steps:
the method comprises the following steps: simulating a weightlessness environment on the ground;
step one, eleven: selecting a weightless environment simulation approach, adopting an air floatation mode in order to overcome the influence of gravity on the ground, and depending on an air film formed between an air foot and a marble platform by compressed air to enable a simulation platform body to float, thereby realizing a relative motion condition approximate to zero friction so as to simulate a mechanical environment with small interference moment of a satellite in an outer space, and not only simulating required attitude motion, but also simulating satellite attitude coupling dynamics;
step one and twelve: selecting verification freedom degrees, considering the existence of interference such as ground gravity, air floatation damping, atmospheric damping, ground vibration and the like in ground verification, the verification of the ultra-precision ultra-stability performance of all freedom degrees of the load cabin cannot be realized, and the ground test mainly verifies the principle of double-supersatellite master-slave cooperative control and the evaluation of the ultra-precision ultra-stability performance of a single shaft of the load cabin;
step one and thirteen: the method comprises the following steps of constructing a double three-degree-of-freedom air floatation system, wherein active air floatation systems of a load cabin and a platform cabin are similar and are respectively independent of air floatation of the load cabin and the platform cabin to form the double three-degree-of-freedom air floatation system, a single active air floatation system is provided with an air cylinder, a control valve, a plane bearing and the like, and the cabin body is floated by means of an air film formed by compressed air between the air floatation bearing and a bearing seat, so that a relative motion condition which is approximate to zero friction is realized, a mechanical environment with small interference moment on the cabin body in an outer layer space is simulated, the platform cabin is floated by adopting four plane air feet, the load cabin and the platform cabin are respectively floated by the respective air feet, translation in the direction of X, Y can be realized;
step two: the ground control principle prototype verification system is set up to verify the vibration isolation performance and the master-slave cooperative control principle of the non-contact magnetic suspension mechanism, and the double-super satellite control principle prototype comprises a structure, a counting tube, a measurement and control, a general circuit, control, propulsion, quality characteristic adjustment and the like;
twenty one: a structural system is configured, and a principle prototype structure consists of a service platform and a payload cabin;
step twenty-two: configuring a number management system, wherein the number management subsystem consists of a number management computer and number management subsystem software, and the number management computer hardware consists of a fanless industrial personal computer and a corresponding I/O board card together, so as to realize data access with each single machine and the subsystem;
twenty-three steps: configuring a measurement and control system, wherein the measurement and control subsystem consists of a measurement and control computer and measurement and control subsystem software, the measurement and control computer consists of a fanless industrial personal computer, an angular position information acquisition card and wireless communication equipment, and the measurement and control subsystem software is developed based on an xPC real-time operating system to realize the functions of angular position information uploading, a digital management subsystem and a ground comprehensive monitoring subsystem information data forwarding;
twenty-four steps: configuring a total circuit system, wherein the total circuit subsystem comprises 28V, 24V, 12V and 5V discharge regulators, a lithium ion storage battery pack, a battery charge-discharge controller, a distributor, a low-frequency cable network and the like, and is mainly responsible for supplying and distributing power to test measurement and control equipment for testing and stand-by test of each subsystem and electrically connecting single machines and parts;
twenty-five steps: configuring an attitude control system, wherein the attitude control subsystem is mainly used for carrying out principle verification on ultra-precise ultra-stable control of a load cabin of a double-supersatellite principle prototype, driven control of a platform cabin and cooperative decoupling control of the two cabins, and investigating attitude control functions and performances of an initial unlocking anti-collision mode, a stable double-supermode and a maneuvering mode of the principle prototype, wherein the load cabin is provided with a load cabin attitude control computer, a fiber-optic gyroscope, a laser angular position simulator and other measuring elements, a magnetic suspension mechanism and other executing mechanisms, the platform cabin is provided with a platform cabin attitude control computer, a non-contact position sensor, a gyroscope and other measuring elements, a flywheel, an air jet and other executing mechanisms;
twenty-six, configuring a propulsion system, assisting the propulsion subsystem to complete the establishment of an initial balance attitude, providing torque for the momentum unloading of a flywheel, preventing the collision of two cabins, providing thrust for the horizontal motion control of a platform, simulating track control, adopting the flywheel to push a cold air thruster, setting the initial pressure of two high-pressure gas cylinders to be 20MPa, preliminarily estimating the volume of the high-pressure gas cylinders to be 3L, and maintaining the continuous working time of 4 thrusters with 40mN for 1 min;
twenty-seven steps: mass center adjustment, when ground test principle verification is carried out, firstly, mass characteristic adjustment is carried out on a double-super satellite principle prototype, so that the adjustment precision of the mass center in the horizontal direction reaches 0.1gf cm, and the specific implementation process comprises mass center pre-adjustment, manual coarse adjustment and automatic fine leveling, wherein the manual coarse adjustment utilizes standard mass blocks with different specifications, and the automatic fine leveling is realized by adopting a high-precision positioning table with the measurement precision of 1 mu m;
step three: the method comprises the following steps of building a ground matching system, wherein the ground matching system comprises ground comprehensive monitoring, plant matching equipment and the like, the ground comprehensive monitoring is used for monitoring the state of a principle prototype, and the plant matching comprises air supply, power supply, constant temperature, dehumidification and the like;
step four: verifying the operation of the system by a ground control principle prototype;
step forty one: starting air floatation of the load cabin and the platform cabin;
step forty-two: starting a load cabin overall circuit power supply, and operating a load cabin attitude control system;
step four hundred twenty one: starting a load cabin attitude control computer;
step four hundred twenty-two: measuring elements such as a load cabin fiber optic gyroscope, a laser angular position simulator and the like measure the attitude angle and the attitude angular velocity of the load cabin;
step four hundred twenty three: the load cabin attitude control computer calculates a load cabin attitude control command according to the measured load cabin attitude angle and attitude angular velocity, and sends the load cabin attitude control command to the magnetic suspension mechanism;
step four hundred twenty four: the magnetic suspension mechanism outputs corresponding control force according to the control instruction, so that the attitude control of the load cabin is realized;
step forty-three: starting a platform cabin overall circuit power supply, and operating a platform cabin attitude control system;
step four hundred and thirty one: starting a platform cabin attitude control computer;
step four hundred and thirty-two: measuring and resolving the relative attitude and the relative displacement of the platform cabin relative to the load cabin by measuring elements such as a platform cabin gyroscope, a relative position sensor and the like;
step four hundred and thirty three hundred: the load cabin attitude control computer calculates a relative position control command of the two cabins according to the relative displacement of the platform cabin relative to the load cabin and sends the relative position control command to the magnetic suspension mechanism, and the magnetic suspension mechanism outputs corresponding control force according to the control command to control the relative position of the two cabins;
step four hundred and thirty four: the magnetic suspension mechanism outputs corresponding control force according to the control instruction, so that the attitude control of the load cabin is realized;
step four hundred and thirty-five: the platform cabin attitude control computer calculates relative attitude control instructions of the two cabins according to the relative attitude of the platform cabin relative to the load cabin, and sends the relative attitude control instructions to flywheel/jet air and other actuating mechanisms;
step four hundred and thirty six: the actuating mechanism rotates the flywheel to the required rotating speed according to the control instruction, and outputs corresponding control torque when the air injection time is required by air injection, so that the attitude control of the platform cabin relative to the load cabin is realized;
fourteen steps: the counting system collects information such as attitude angles and attitude angular velocities of the load cabin, attitude angles and attitude angular velocities of the platform cabin, relative positions of the two cabins, output currents of the magnetic suspension mechanism, rotating speeds of the flywheel, air injection states and the like, and sends the information to the measurement and control system;
step forty-five: the measurement and control system receives data of the digital system and sends the data to the ground monitoring system through wireless communication; meanwhile, receiving a control instruction sent by the ground monitoring system, and sending the control instruction to a control computer;
step five: the ground monitoring system receives the monitoring data of the measurement and control system, comprehensively displays, processes and evaluates the potential of the double three-degree-of-freedom attitude control performance, and can send a control instruction to the measurement and control system to control the ground control principle prototype verification system if necessary;
step six: finishing the verification;
sixty-one steps: closing a load cabin attitude control computer and a platform cabin computer of the ground control principle prototype;
sixty-two steps: turning off the power supply of the overall circuit;
sixty-three steps: and closing the air flotation between the load cabin and the platform cabin.
The twenty-first structural system adopts main components of a honeycomb sandwich plate and a bracket;
and the twenty-two-pipe subsystem software is developed based on an xPC real-time operating system, so that the functions of collecting, managing and distributing data information of the principle prototype are realized.
In conclusion, the invention is simple and easy to implement, safe and reliable, high in redundancy, low in quality and low in power consumption. The invention has the following characteristics: firstly, the design concept of a double super satellite with dynamic and static isolation, non-contact, master-slave cooperation and high precision is met; secondly, the method is simple and easy to implement, active air floatation is simultaneously carried out on the load cabin and the platform cabin respectively, and dynamic and static isolation and non-contact are realized through a magnetic levitation mechanism; the load cabin is a master, and the platform cabin is controlled by following the slave of the load cabin, so that master-slave cooperation high-precision control is realized.
The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A master-slave non-contact internal satellite ground verification system is characterized by comprising a double super satellite, a double super satellite high-precision attitude control system and a double super satellite ground principle verification system, wherein the double super satellite comprises a load cabin and a platform cabin, the load cabin is provided with a payload, an optical fiber gyroscope, a magnetic suspension mechanism stator, a laser angular position sensor and an optical fiber gyroscope, the platform cabin is provided with a solar sailboard and a driving mechanism thereof, a flywheel, a thruster, a storage box, an antenna and a magnetic suspension mechanism rotor, dynamic and static isolation is realized between the load cabin and the platform cabin through a non-contact magnetic suspension mechanism, and the double super satellite high-precision attitude control system mainly comprises three independent and organically combined control loops: a load attitude control loop, a two-cabin relative position control loop and a relative attitude control loop; the load attitude control loop comprises a load instruction, a load control unit, a load attitude control algorithm, a magnetic suspension mechanism and a star sensor which are connected in sequence; the two-cabin relative position control loop comprises a load relative position operation instruction and a relative position control unit which are connected with each other; the relative attitude control loop comprises a load-pair attitude controller, a relative attitude control algorithm, a service cabin executing mechanism, a service cabin and a relative attitude sensor which are connected in a dependent manner; the double-super-satellite ground principle verification system comprises a laser angular position sensor, a fiber-optic gyroscope, a load cabin control unit, a solar panel driving mechanism and a platform cabin attitude control unit, wherein the laser angular position sensor and the load cabin control unit are all installed on a load cabin, and the fiber-optic gyroscope, the solar panel driving mechanism and the platform cabin attitude control unit are all installed on the platform cabin.
2. A verification method of a master-slave non-contact embedded satellite ground verification system is characterized by comprising the following steps:
the method comprises the following steps: simulating a weightlessness environment on the ground;
step two: the ground control principle prototype verification system is set up to verify the vibration isolation performance and the master-slave cooperative control principle of the non-contact magnetic suspension mechanism, and the double-super satellite control principle prototype comprises a structure, a counting tube, a measurement and control, a general circuit, control, propulsion and quality characteristic adjustment;
step three: the ground matching system is built and comprises ground comprehensive monitoring and plant matching equipment, wherein the ground comprehensive monitoring is used for monitoring the state of a principle prototype machine, and the plant matching comprises air supply, power supply, constant temperature and dehumidification equipment;
step four: verifying the operation of the system by a ground control principle prototype;
step five: the ground monitoring system receives the monitoring data of the measurement and control system, comprehensively displays, processes and evaluates the potential of the double three-degree-of-freedom attitude control performance, and can send a control instruction to the measurement and control system to control the ground control principle prototype verification system if necessary;
step six: and finishing the verification.
3. The method for authenticating a master-slave contactless embedded satellite ground authentication system according to claim 2, wherein the first step comprises the steps of:
step one, eleven: selecting a weightless environment simulation approach, adopting an air floatation mode in order to overcome the influence of gravity on the ground, and depending on an air film formed between an air foot and a marble platform by compressed air to enable a simulation platform body to float, thereby realizing a relative motion condition approximate to zero friction so as to simulate a mechanical environment with small interference moment of a satellite in an outer space, and not only simulating required attitude motion, but also simulating satellite attitude coupling dynamics;
step one and twelve: selecting verification freedom degrees, considering the existence of ground gravity, air floatation damping, atmospheric damping and ground vibration interference during ground verification, and failing to realize the verification of the ultra-precision ultra-stability performance of all freedom degrees of the load cabin, wherein the ground test mainly verifies the principle of double-supersatellite master-slave cooperative control and the evaluation of the ultra-precision ultra-stability performance of a single shaft of the load cabin;
step one and thirteen: the double three-degree-of-freedom air floating system is built, active air floating systems of a load cabin and a platform cabin are similar to each other and are respectively independent of the air floating of the load cabin and the platform cabin to form the double three-degree-of-freedom air floating system, a single active air floating system is provided with an air cylinder, a control valve and a plane bearing, the cabin body floats by means of an air film formed between the air floating bearing and a bearing seat by means of compressed air, so that the relative motion condition approximately free of friction is realized, the mechanical environment with small interference moment on the cabin body in an outer layer space is simulated, the platform cabin floats by adopting four plane air feet, the translation in the direction of X, Y can be realized by the air floating of the load cabin and the platform cabin through respective air feet, and the small-angle rotation.
4. The method for authenticating a master-slave contactless embedded satellite ground authentication system according to claim 2, wherein the second step comprises the steps of:
twenty one: a structural system is configured, and a principle prototype structure consists of a service platform and a payload cabin;
step twenty-two: configuring a number management system, wherein the number management subsystem consists of a number management computer and number management subsystem software, and the number management computer hardware consists of a fanless industrial personal computer and a corresponding I/O board card together, so as to realize data access with each single machine and the subsystem;
twenty-three steps: configuring a measurement and control system, wherein the measurement and control subsystem consists of a measurement and control computer and measurement and control subsystem software, the measurement and control computer consists of a fanless industrial personal computer, an angular position information acquisition card and wireless communication equipment, and the measurement and control subsystem software is developed based on an xPC real-time operating system to realize the functions of angular position information uploading, a digital management subsystem and a ground comprehensive monitoring subsystem information data forwarding;
twenty-four steps: configuring a total circuit system, wherein the total circuit subsystem consists of 28V, 24V, 12V and 5V discharge regulators, a lithium ion storage battery pack, a battery charge-discharge controller, a distributor and a low-frequency cable network and is mainly responsible for supplying and distributing power to test measurement and control equipment and stand-by test sub-systems and electrically connecting single machines and parts;
twenty-five steps: an attitude control system is configured, wherein the attitude control subsystem is mainly used for carrying out principle verification on ultra-precise ultra-stable control of a load cabin of a double-supersatellite principle prototype, driven control of a platform cabin and cooperative decoupling control of the two cabins, and observing attitude control functions and performances of an initial unlocking anti-collision mode, a stable double-supermode and a maneuvering mode of the principle prototype, wherein the load cabin is configured with a load cabin attitude control computer, an optical fiber gyroscope, a laser angular position simulator measuring element, a magnetic suspension mechanism executing mechanism, the platform cabin is configured with a platform cabin attitude control computer, a non-contact position sensor, a gyroscope measuring element, a flywheel and an air injection executing mechanism;
twenty-six, configuring a propulsion system, assisting the propulsion subsystem to complete the establishment of an initial balance attitude, providing torque for the momentum unloading of a flywheel, preventing the collision of two cabins, providing thrust for the horizontal motion control of a platform, simulating track control, adopting the flywheel to push a cold air thruster, setting the initial pressure of two high-pressure gas cylinders to be 20MPa, preliminarily estimating the volume of the high-pressure gas cylinders to be 3L, and maintaining the continuous working time of 4 thrusters with 40mN for 1 min;
twenty-seven steps: the mass center adjustment is carried out, when ground test principle verification is carried out, firstly, the mass characteristic adjustment is carried out on a double-super satellite principle prototype, so that the adjustment precision of the mass center in the horizontal direction reaches 0.1gf cm, and the specific implementation process comprises mass center pre-adjustment, manual coarse adjustment and automatic fine leveling, wherein the manual coarse adjustment utilizes standard mass blocks with different specifications, and the automatic fine leveling is realized by adopting a high-precision positioning table with the measurement precision of 1 mu m.
5. The method for authenticating a master-slave contactless embedded satellite ground authentication system according to claim 2, wherein the fourth step comprises the steps of:
step forty one: starting air floatation of the load cabin and the platform cabin;
step forty-two: starting a load cabin overall circuit power supply, and operating a load cabin attitude control system;
step forty-three: starting a platform cabin overall circuit power supply, and operating a platform cabin attitude control system;
fourteen steps: the counting system collects attitude angles and attitude angular velocities of the load cabin, attitude angles and attitude angular velocities of the platform cabin, relative positions of the two cabins, output currents of the magnetic suspension mechanism, rotating speeds of the flywheel and air injection state information and sends the information to the measurement and control system;
step forty-five: the measurement and control system receives data of the digital system and sends the data to the ground monitoring system through wireless communication; meanwhile, a control instruction sent by the ground monitoring system is received, and the control instruction is sent to the control computer.
6. An authentication method of a master-slave non-contact embedded satellite ground authentication system according to claim 5, wherein the step forty-two comprises the following steps:
step four hundred twenty one: starting a load cabin attitude control computer;
step four hundred twenty-two: the load cabin fiber optic gyroscope and the laser angular position simulator measuring element measure the attitude angle and the attitude angular velocity of the load cabin;
step four hundred twenty three: the load cabin attitude control computer calculates a load cabin attitude control command according to the measured load cabin attitude angle and attitude angular velocity, and sends the load cabin attitude control command to the magnetic suspension mechanism;
step four hundred twenty four: and the magnetic suspension mechanism outputs corresponding control force according to the control instruction, so that the attitude control of the load cabin is realized.
7. An authentication method of a master-slave non-contact embedded satellite ground authentication system according to claim 5, wherein the step forty-three comprises the steps of:
step four hundred and thirty one: starting a platform cabin attitude control computer;
step four hundred and thirty-two: the platform cabin gyroscope and the relative position sensor measuring element measure and calculate the relative attitude and the relative displacement of the platform cabin relative to the load cabin;
step four hundred and thirty three hundred: the load cabin attitude control computer calculates a relative position control command of the two cabins according to the relative displacement of the platform cabin relative to the load cabin and sends the relative position control command to the magnetic suspension mechanism, and the magnetic suspension mechanism outputs corresponding control force according to the control command to control the relative position of the two cabins;
step four hundred and thirty four: the magnetic suspension mechanism outputs corresponding control force according to the control instruction, so that the attitude control of the load cabin is realized;
step four hundred and thirty-five: the platform cabin attitude control computer calculates relative attitude control instructions of the two cabins according to the relative attitude of the platform cabin relative to the load cabin, and sends the relative attitude control instructions to the flywheel/jet executing mechanism flywheel/jet;
step four hundred and thirty six: the actuating mechanism rotates to the required rotating speed according to the control instruction, the air injection time required by air injection is long, and corresponding control torque is output, so that the attitude control of the platform cabin relative to the load cabin is realized.
8. The method for authenticating a master-slave contactless embedded satellite ground authentication system according to claim 2, wherein the sixth step comprises the steps of: sixty-one steps: closing a load cabin attitude control computer and a platform cabin computer of the ground control principle prototype;
sixty-two steps: turning off the power supply of the overall circuit;
sixty-three steps: and closing the air flotation between the load cabin and the platform cabin.
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