CN108803376A - Liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation - Google Patents
Liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation Download PDFInfo
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- CN108803376A CN108803376A CN201810623235.4A CN201810623235A CN108803376A CN 108803376 A CN108803376 A CN 108803376A CN 201810623235 A CN201810623235 A CN 201810623235A CN 108803376 A CN108803376 A CN 108803376A
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- torque
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- liquid sloshing
- bearing table
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of torque simulation systems suitable for the experiment of three-axis air-bearing table full physical simulation, including：The gyro group being made of multiple single-gimbal control momentum gyros；The calculating communication module forwarded for Calculating Torque during Rotary and telemetry；The monitoring module noted in system mode monitoring and parameter and the power module for control-moment gyro group and calculating communication module power supply.The present invention relies solely on itself mating component can independent operating, other equipment independent of air floating table, using control-moment gyro as torque output mechanism, the torque that analog satellite storage tank liquid sloshing generates, it is equipped with down biography of the independent calculating communication equipment for the real-time calculating and telemetry of control moment on platform simultaneously, the slosh state of monitoring module real-time display simulation under platform, is further provided with large copacity power supply as the independent power supply of this system.
Description
Technical field
The present invention relates to control engineering fields, and in particular to a kind of liquid sloshing disturbance torque of three-axis air-bearing table experiment
Simulator.
Background technology
High rail satellite and survey of deep space satellite usually carry large-scale filling liquid tank, sometimes spaceborne fuel quantity and full star mass ratio
Up to 50%~60%, it is even higher.When Satellite Orbit Maneuver is motor-driven, tail-off machine and posture wide-angle variations can all swash
Play the Liquid sloshing or even large-amplitude sloshing of fuel in tank.This not only proposes sternness to the design of stability of control system and chooses
War can also influence to be directed toward control accuracy and full star attitude stability, its low frequency large-amplitude sloshing also results in full star control when serious
Unstability even structure is destroyed.Liquid sloshing characteristic influences only to carry out by theoretical modeling and mathematical simulation on whole star kinetic characteristics
Analysis is insufficient, and in current semi physical mostly or full physical simulation, due to requirement of real-time, slosh is still use
Mathematical model.Full physical simulation system is established based on three-axis air-bearing table, operation on orbit state can be more realistically approached and carry out entirely
Physical testing, fully to analyze influence of the various disturbance torques to posture.However stage body barycenter need to strictly be configured in gas in testing
Floating ball bearing centre, to ensure that gravity does not generate extra interference torque to stage body, thus can not be by true satellite fuel storing
Case is placed on stage body to simulate liquid sloshing.
Qu Guangji, Sun Guojiang exist《Spacecraft engineering》The article of 2nd phase volume 7 (in June, 1998)《The small size liquid of spacecraft
Shake the development and debugging of pilot system》A kind of storage tank liquid sloshing parameter survey formed using spring, trolley is described in detail
Device is measured, design scheme and test procedure are given.But this method is influenced by frictional ground force and gravity, is only applicable to storage tank liquid
Test under the conditions of body Liquid sloshing.
Chen Jian, Fan Qingyun exist《Shanghai space flight》The article of 3rd phase in 2004《That is shaken under propellant microgravity in storage tank has
The simulation of limit member and experiment》In describe a kind of liquid sloshing measurement method of parameters using high tower freely falling body, avoid gravity
Interference to whole system, the results showed that test data and emulation data are almost the same.But this method is only capable of realizing the survey of parameter
Amount, can not test satellite attitude control system and liquid sloshing coupled characteristic, and the testing time is limited, cannot be completely anti-
Reflect the characteristic after storage tank shakes for a long time.
Invention content
The full physical simulation that air floating table can not be participated in for liquid tank tests this defect, and it is suitable that the present invention provides one kind
For the liquid sloshing torque simulation system of three-axis air-bearing table full physical simulation, can be generated in ground simulation liquid sloshing dry
Torque is disturbed, the air floating table full physical simulation for Satellite Attitude Control System is tested.
A kind of liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation provided by the invention, only according to
By the comprising modules of itself can independent operating, including：
Composition 1：The gyro group being made of single-gimbal control momentum gyro；
Separate unit control-moment gyro angular momentum is not less than 50Nms, and separate unit control-moment gyro output torque is not less than
20Nms, frame rotating stability are better than 0.1 °/s, and frame corners speed control bandwidth is better than 2Hz.The liquid simulated as needed shakes
Kinetic moment size is mounted on using the gyro group of 4~6 composition pyramids, rectangular pyramid or pentagonal pyramid configuration on air floating table stage body；
Gyro group receives control and information exchange, the perturbed force that simulation storage tank liquid sloshing generates by the calculating communication module of this system
Square.
Composition 2：The calculating communication module with telemetry data transmission is resolved for liquid sloshing torque；
The calculating communication module is mounted on stage body, the disturbance torque for calculating liquid sloshing in real time, and will be calculated
Torque command be sent to gyro group execution, with realize need torque export.It is equipped with corresponding wireless communication attachment simultaneously, it will
Gyro group state telemeter on platform is to the monitoring module under platform.
Composition 3：The monitoring module noted in system status monitoring and parameter under platform；
The monitoring module is placed under air floating table platform, and telemetry is wirelessly sent on receiving platform, according to the torque of gyro group
Output, the liquid sloshing fluid change and torque numerical value of real-time display simulation.
Composition 4：The power module of liquid sloshing simulation system；
The power module is made of battery and power-supply controller of electric, and battery uses lithium ion battery, capacity to be not less than 240Ah,
By 27~30V of output voltage after power-supply controller of electric, permanent output is not less than 600W, and ripple is not when full power output state
More than 400mV.Power module is for control-moment gyro group during the experiment of three-axis air-bearing table full physical simulation and calculates communication
The power supply of module.
The present invention applies in the experiment of three-axis air-bearing table full physical simulation, and machine is exported using control-moment gyro as torque
Structure, can liquid sloshing generates in analog satellite storage tank disturbance torque characteristic.Compared with prior art, the present invention has following excellent
Point：
The present invention can independent operating, do not depend on the other equipment on air floating table；
The precision of torque simulation is high, can reach 0.01Nm, meet most of Propellant tank liquid sloshing simulation tests and want
It asks；
Equipment is built simple and practicable, it is only necessary to which air supporting stage body provides installation interface.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the group for the liquid sloshing torque simulation system that the embodiment of the present invention is suitable for three-axis air-bearing table full physical simulation
At schematic diagram.
Fig. 2 is the work for the liquid sloshing torque simulation system that the embodiment of the present invention is suitable for three-axis air-bearing table full physical simulation
Make flow chart.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection domain.
As shown in Figure 1, an embodiment of the present invention provides a kind of liquid sloshings suitable for three-axis air-bearing table full physical simulation
Torque simulation system using control-moment gyro group, calculates communication module, monitoring module and power module, forms independent power
Square calculate and output system, simulation liquid sloshing generate disturbance torque, for three-axis air-bearing table full physical simulation experiment with
Test.
Liquid sloshing torque simulation system provided by the invention includes：The gyro being made of single-gimbal control momentum gyro
Group；The calculating communication module forwarded for Calculating Torque during Rotary and telemetry；The monitoring noted on system status monitoring and parameter
Module and the power module powered for control-moment gyro group and calculating communication module.Specifically：
Composition 1：The gyro group being made of single-gimbal control momentum gyro, including：
Separate unit control-moment gyro angular momentum is not less than 50Nms, and separate unit control-moment gyro output torque is not less than
20Nms, frame rotating stability are better than 0.1 °/s, and frame corners speed control bandwidth is better than 2Hz.The liquid simulated as needed shakes
Kinetic moment size uses 4~6 composition pyramids, rectangular pyramid or pentagonal pyramid configuration, is mounted on air floating table stage body.Gyro group is only
Receive control by the communication equipment of this system, information exchange occurs for discord air floating table other systems equipment.Power supply used is only logical
The power module of this system outfit is crossed, not other power supplies in receiving station.
Composition 2：The calculating communication module with telemetry data transmission is resolved for liquid sloshing torque, including：
On stage body, the disturbance torque of liquid sloshing is calculated in real time, and the torque command calculated is sent to top
Spiral shell group executes, to realize that the torque needed exports.It is equipped with corresponding wireless communication attachment simultaneously, the gyro group state on platform is distant
Survey the monitoring module sent under platform.
Composition 3：The monitoring module noted in system status monitoring and parameter under platform, including：
It is placed under air floating table platform, telemetry is wirelessly sent on receiving platform, exported according to the torque of gyro group, it is aobvious in real time
Show the liquid sloshing fluid change and torque numerical value of simulation.
Composition 4：The power module of liquid sloshing simulation system, including：
It is made of battery and power-supply controller of electric, battery uses lithium ion battery, capacity to be not less than 240Ah, pass through power supply control
27~30V of output voltage after device processed, permanent output are not less than 600W, and ripple is not more than 400mV when full power output state.
Power supply of the power module for control-moment gyro group and calculating communication module during the experiment of three-axis air-bearing table full physical simulation.
As shown in Fig. 2, this specific implementation is in use, include the following steps：
(1) liquid sloshing parameter is set；
(2) liquid sloshing disturbance torque is calculated；
(3) control force gyro framing angular speed is calculated；
(4) angular speed instruction control-moment gyro group is sent to execute；
(5) terminate.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (7)
1. a kind of liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation, it is characterised in that：Including：By
The gyro group of multiple single-gimbal control momentum gyro compositions；The calculating communication module forwarded for Calculating Torque during Rotary and telemetry；
It monitors with the monitoring module noted in parameter for system mode and powers for control-moment gyro group and calculating communication module
Power module.
2. a kind of liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation as described in claim 1,
It is characterized in that：The gyro group of the multiple single-gimbal control momentum gyro composition pyramid, rectangular pyramid or pentagonal pyramid configuration, peace
On air floating table stage body, angular momentum exchange is carried out by calculating communication module and three-axis air-bearing table, simulation liquid sloshing is to defending
Star posture generates interference.
3. a kind of liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation as described in claim 1,
It is characterized in that：The calculating communication module is mounted on air floating table stage body, the disturbance torque for calculating liquid sloshing in real time,
And control instruction is sent to control-moment gyro group, and the telemetry of gyro group is wirelessly reached under platform down
Monitoring module.
4. a kind of liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation as described in claim 1,
It is characterized in that：The monitoring module is placed under air floating table platform, the telemetry sent on receiving platform, is for the simulation
The condition monitoring of system and the liquid level animation of liquid sloshing are shown.
5. a kind of liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation as described in claim 1,
It is characterized in that：The power module is mounted on air floating table stage body, has charge and discharge and control function of supplying power, in experiment process
In for moment gyro group in order to control and calculate the power supply of communication module.
6. a kind of liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation as described in claim 1,
It is characterized in that：Separate unit control-moment gyro angular momentum is not less than 50Nms, and separate unit control-moment gyro output torque is not less than
20Nms, frame rotating stability are better than 0.1 °/s, and frame corners speed control bandwidth is better than 2Hz.
7. a kind of liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation as described in claim 1,
It is characterized in that：The power module is made of battery and power-supply controller of electric, and battery uses lithium ion battery, capacity to be not less than
240Ah, by 27~30V of output voltage after power-supply controller of electric, permanent output is not less than 600W, when full power output state
Ripple is not more than 400mV.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810623235.4A CN108803376A (en) | 2018-06-15 | 2018-06-15 | Liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation |
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| CN201810623235.4A CN108803376A (en) | 2018-06-15 | 2018-06-15 | Liquid sloshing torque simulation system suitable for three-axis air-bearing table full physical simulation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873920A (en) * | 2018-06-15 | 2018-11-23 | 上海卫星工程研究所 | Filled Spacecraft attitude dynamics full physical simulation pilot system and method |
| CN116610044A (en) * | 2023-07-21 | 2023-08-18 | 哈尔滨工业大学 | Satellite full-physical simulation device and method based on gas-liquid suspension technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873920A (en) * | 2018-06-15 | 2018-11-23 | 上海卫星工程研究所 | Filled Spacecraft attitude dynamics full physical simulation pilot system and method |
| CN116610044A (en) * | 2023-07-21 | 2023-08-18 | 哈尔滨工业大学 | Satellite full-physical simulation device and method based on gas-liquid suspension technology |
| CN116610044B (en) * | 2023-07-21 | 2023-09-19 | 哈尔滨工业大学 | Satellite full-physical simulation device and method based on gas-liquid suspension technology |
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