CN112987691B - Soft landing closed-loop follow-up control test method for surface of extraterrestrial celestial body - Google Patents
Soft landing closed-loop follow-up control test method for surface of extraterrestrial celestial body Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
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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
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Abstract
The invention discloses a closed-loop follow-up control test method for soft landing of the surface of an extraterrestrial celestial body, which adopts a closed-loop follow-up control test system to replace a real engine to realize the function of an actuating mechanism, and equivalently verifies the soft landing process of the spacecraft extraterrestrial celestial body under the condition of not using the real ignition of the engine; the method comprises the following steps: connecting the closed loop follow-up control test system with a verifier; hoisting the verifier to an initial position and finishing initial position alignment; determining the displacement of the lifting rope according to the pose parameter of the next control period sent by the verifier in real time, and driving the verifier to move to a target position; and evaluating the follow-up control result of the verifier every time according to the real-time navigation of the verifier and the external measurement result of the test field, and moving the verifier to the final target landing point to complete the test verification. The invention solves the problem that the traditional open-loop control short plate of the ground verification platform for the soft landing task of the extraterrestrial celestial body avoids the insufficient verification of autonomous navigation, guidance and control strategies of the spacecraft.
Description
Technical Field
The invention belongs to the technical field of spacecrafts, and particularly relates to a soft landing closed-loop follow-up control test method for an underground spacecraft surface.
Background
The orbit changing control of the spacecraft in the orbit flying process is completed by the ground, namely, the orbit of the spacecraft is obtained by a ground measurement and control system, the speed increment required by the orbit changing is calculated according to the parameters of the spacecraft, the engine specific impulse, the target orbit and the like, the orbit changing attitude and the engine ignition time are generated on the ground and are injected to the spacecraft, finally, the orbit adjustment is completed through the multiple matching of the spacecraft and the ground, and the spacecraft is in an open-loop control mode in the process. However, for the spacecraft for executing the soft landing on the surface of the extraterrestrial spacecraft, because the distance is long and the time is short, the soft landing process cannot be supported by the ground, the spacecraft needs to autonomously measure flight parameters relative to the surface of the extraterrestrial spacecraft to autonomously complete guidance navigation and control, and the spacecraft is a continuous closed-loop control process, and the technical difficulty of the spacecraft is far greater than that of the conventional orbital transfer design.
Meanwhile, the soft landing of the surface of the extraterrestrial spacecraft is the basis for completing a detection task, the process is irreversible, the success or failure of the task is directly determined, and the process is always a key link of spacecraft design, so that the soft landing process needs to be actually tested and verified, and the main purpose of the test is to verify the autonomous closed-loop control performance of the spacecraft.
At present, a landing task comprehensive verification system successfully implemented at home and abroad can only simulate the control response performance of a spacecraft, needs to depend on the control of an astronaut on the spacecraft and the judgment and processing capacity of a landing process, does not really realize autonomous closed-loop control of the spacecraft, and meanwhile, the spacecraft which participates in ground test needs to be provided with an engine and actually ignites to execute control on the orbit and the attitude of the spacecraft.
However, because the atmosphere exists in the ground environment, the thrust output value of the engine is different from that of the real on-orbit environment, and the influence of the factors needs to be considered and comprehensively processed in the test result; in addition, guarantee conditions such as transportation, storage, filling, discharging, cleaning and the like of the propellant of the verifier need to be considered in the test implementation, and the influence on the environment needs to be considered. These factors increase the implementation difficulty and safety requirements, and also limit the number of ignition tests, affecting the test sufficiency.
Therefore, the closed-loop control performance of the extraterrestrial celestial body soft landing task can be effectively verified by establishing a follow-up system capable of realizing autonomous control under the condition of not adopting real engine ignition, so that the method is an effective way for improving the test result and saving the test cost, and is also an urgent verification method for the current ground test.
Disclosure of Invention
The technical problem of the invention is solved: the method overcomes the defects of the prior art, provides a closed-loop follow-up control test method for soft landing of the surface of an extraterrestrial celestial body, can not rely on the ignition of a real engine of a ground test verifier, only adopts a servo motor system, converts track and attitude control instructions sent by the verifier into execution parameters of a servo motor according to the control law design of the soft landing process on the basis that the verifier establishes communication with the servo control system, and drives the verifier to a target landing point, and in the process, the comprehensive verification of the autonomous navigation, obstacle avoidance, track and attitude control capability of the soft landing task and the design correctness of a guidance law is completed.
In order to solve the technical problem, the invention discloses a soft landing closed-loop follow-up control test method for the surface of an extraterrestrial celestial body, which comprises the following steps:
step 4, when the closed loop follow-up control test system controls the verifier to finish the next control period delta t 1 After the movement, judging whether the position and the posture of the verifier meet the expected result or not according to the navigation; if not, returning to the step 2 for correction according to the position and the posture of the verifier at the moment, and regenerating the control instruction; if so, the steps 2 to 4 are carried outNext control period deltat 1 Generating a control instruction and judging the position and the posture;
step 5, iterating steps 2-4 until the verifier finishes from the initial position f 0 And (x, y, z) moving to a target position, thereby realizing the verification of the soft landing process under the condition that the engine does not ignite.
In the above method for testing the soft landing closed-loop follow-up control of the surface of the extraterrestrial celestial body, the method further comprises:
establishing a closed loop follow-up control test system;
determining a test coordinate system of the closed-loop follow-up control test system and determining a mechanical coordinate system of the verifier;
and calibrating the test coordinate system and the mechanical coordinate system to keep the test coordinate system consistent with the mechanical coordinate system.
In the above method for testing the closed-loop follow-up control of the soft landing on the surface of the extraterrestrial celestial body, the closed-loop follow-up control testing system comprises: the device comprises a test tower, an X-direction servo motor, a Y-direction servo motor, a Z-direction servo motor, an X-direction universal lifting appliance, a Y-direction universal lifting appliance, a Z-direction universal lifting appliance, a controller, a ground communication module and a lifting rope;
the test tower is composed of structures in the horizontal direction and the vertical height direction and used for providing a supporting effect and providing a motion space of the verifier;
the X-direction universal lifting appliance, the Y-direction universal lifting appliance and the Z-direction universal lifting appliance are respectively arranged on the test tower frame and can respectively move in the horizontal direction and the vertical direction;
the X-direction universal lifting appliance is connected with the X-direction servo motor, the X-direction servo motor is connected with the verifier, the Y-direction universal lifting appliance is connected with the Y-direction servo motor, the Y-direction servo motor is connected with the verifier, the Z-direction universal lifting appliance is connected with the Z-direction servo motor, and the Z-direction servo motor is connected with the verifier through lifting ropes; the universal lifting appliances in all directions move to different positions to drive the servo motors and the verifiers in all directions to move, so that different initial positions are provided for the verifiers;
the controller and the verifier perform data interaction through a ground communication module;
the controller drives the lifting rope to move by controlling the movement of the servo motors in all directions, so that the displacement of the controller is controlled.
In the above method for testing the soft landing closed-loop follow-up control of the surface of the extraterrestrial celestial body, the lifting rope comprises: the device comprises an X-direction main lifting rope, a Y-direction main lifting rope, a Z-direction main lifting rope and six attitude control lifting ropes;
one end of the X-direction lifting rope is connected with the X-direction servo motor, and the other end of the X-direction lifting rope is connected with the mass center of the verifier;
one end of the Y-direction lifting rope is connected with the Y-direction servo motor, and the other end of the Y-direction lifting rope is connected with the mass center of the verifier;
one end of the Z-direction lifting rope is connected with the Z-direction servo motor, and the other end of the Z-direction lifting rope is connected with the mass center of the verifier;
six attitude control lifting ropes are respectively connected to different instrument positions of the verifier, and the triaxial attitude angles of the verifier are controlled through adjustment of the contraction amounts of the attitude control lifting ropes.
In the above method for testing the soft landing closed-loop follow-up control on the surface of the extraterrestrial celestial body, the test coordinate system and the mechanical coordinate system are calibrated to keep the test coordinate system consistent with the mechanical coordinate system, which comprises:
if the coordinate system (X) is tested U ,Y E ,Z N ) And a mechanical coordinate system (X) M ,Y M ,Z M ) There are:
wherein θ, ψ and
the attitude euler angles represent a pitch angle, a roll angle, and a yaw angle, respectively.
In the method for the soft landing closed-loop follow-up control test of the surface of the extraterrestrial celestial body, the secondary-tertiary-motion control is adoptedRing servo control test system according to position f B (x, y, z) and attitude ρ B (alpha, beta, gamma) calculating the displacement variation of the lifting rope at each hanging point of the verifier, determining the displacement delta l of the lifting rope in each direction according to the displacement variation of the lifting rope, and further generating the next control period delta t 1 During the control command of (2), the position f is set B (x, y, z) and attitude ρ B (α, β, γ) according to the control period Δ t of the controller 2 Performing interpolation, wherein N.DELTA.t 2 ＝Δt 1 And N represents any constant.
In the above method for testing the soft landing closed-loop follow-up control on the surface of the extraterrestrial celestial body, the displacement Δ l of the lifting rope comprises: displacement variation Δ X in three directions M 、ΔY M 、ΔZ M And, roll angle variation Δ α, pitch angle variation Δ β, and yaw angle variation Δ γ;
wherein L is X1 、L Y1 And L Z1 Respectively representing the lengths of the main lifting ropes in three directions, L, when the validator is at position 1 X2 、L Y2 And L Z2 Respectively representing the lengths of the main hoisting ropes in three directions when the validator is at the current position 2.
In the method for the soft landing closed-loop follow-up control test of the surface of the extraterrestrial celestial body, the verifier consists of a navigation sensor, a data processor, an inertial navigation module, a communication module and a data transceiver module.
The invention has the following advantages:
the invention solves the problem that the traditional open-loop control short plate of the ground verification platform for the soft landing task of the extraterrestrial celestial body avoids the insufficient verification of autonomous navigation, guidance and control strategies of the spacecraft; according to the task requirement that ground test verification is required to be realized in the soft landing process of the surface of the extraterrestrial celestial body, the closed-loop follow-up control test system of the test tower is adopted to replace the ignition of a real engine, so that the closed-loop control performance of the soft landing task of the extraterrestrial body is effectively and fully verified, the problem that the test result has deviation due to the difference between the ground thrust output and the real on-orbit thrust output of the test engine is avoided, meanwhile, the problems of propellant transportation, storage, filling, discharging, cleaning, environmental influence and the like in real ignition are solved, the reliability of the test result is improved, and the test cost is greatly saved.
Drawings
FIG. 1 is a flowchart illustrating steps of a method for testing soft landing closed-loop follow-up control of an extraterrestrial celestial surface in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a closed loop servo control test system in an embodiment of the present invention;
FIG. 3 is a simulated attitude control map of a test procedure in an embodiment of the present invention;
FIG. 4 is a schematic diagram comparing X-axis position measurements according to an embodiment of the present invention;
FIG. 5 is a comparison of Y-axis position measurements in accordance with an embodiment of the present invention;
FIG. 6 is a comparison of Z-axis position measurements in accordance with an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, the method for testing the soft landing closed-loop follow-up control on the surface of the extraterrestrial celestial body includes:
In this embodiment, before step 1 is executed, the method further includes:
(1) And establishing a closed loop follow-up control test system.
In this embodiment, as shown in fig. 2, the closed-loop follow-up control test system includes: the device comprises a test tower, an X-direction servo motor, a Y-direction servo motor, a Z-direction servo motor, an X-direction universal lifting appliance, a Y-direction universal lifting appliance, a Z-direction universal lifting appliance, a controller, a ground communication module and a lifting rope. The test tower is composed of horizontal and vertical height structures and used for providing a supporting effect and providing a motion space of the verifier; the X-direction universal lifting appliance, the Y-direction universal lifting appliance and the Z-direction universal lifting appliance are respectively arranged on the test tower frame and can respectively move in the horizontal direction and the vertical direction; the space between the X-direction universal lifting appliance and the X-direction servo motor, the space between the X-direction servo motor and the verifier, the space between the Y-direction universal lifting appliance and the Y-direction servo motor, the space between the Y-direction servo motor and the verifier, the space between the Z-direction universal lifting appliance and the Z-direction servo motor, and the space between the Z-direction servo motor and the verifier are all connected through lifting ropes; the universal lifting appliance in each direction moves to different positions to drive the servo motor and the verifier in each direction to move, so that different initial positions are provided for the verifier; the controller and the verifier carry out data interaction through a ground communication module; the controller drives the lifting rope to move by controlling the movement of the servo motors in all directions, so that the displacement of the controller is controlled.
Preferably, as shown in fig. 2 and 3, the lifting rope may specifically include: the device comprises an X-direction main lifting rope, a Y-direction main lifting rope, a Z-direction main lifting rope and six attitude control lifting ropes. One end of the X-direction lifting rope is connected with the X-direction servo motor, and the other end of the X-direction lifting rope is connected with the mass center of the verifier; one end of the Y-direction lifting rope is connected with the Y-direction servo motor, and the other end of the Y-direction lifting rope is connected with the mass center of the verifier; one end of the Z-direction lifting rope is connected with the Z-direction servo motor, and the other end of the Z-direction lifting rope is connected with the mass center of the verifier; six attitude control lifting ropes are respectively connected to different instrument positions of the verifier, and the triaxial attitude angles of the verifier are controlled through adjustment of the contraction amounts of the attitude control lifting ropes. Therefore, in the embodiment, after receiving the pose parameters sent by the verifier, the controller can generate control instructions according to the pose parameters, and further control the movement of the servo motor to adjust the lengths of the lifting ropes, so as to simulate the flight parameters of the verifier.
(2) Determining a test coordinate system of the closed-loop follow-up control test system, and determining a mechanical coordinate system of the verifier.
In the present embodiment, the test coordinate system is generally a coordinate system established in the northeast direction of the local sky, that is, the local sky direction is the X direction, the true north direction of the local geography is the Y direction, and the true east direction of the local geography is the Z direction. The position of the verifier can be measured by the navigation sensor and can be converted into a coordinate in a test coordinate system, and the position of the verifier in a test can be automatically judged by the closed-loop follow-up control test system through advanced calibration.
(3) And calibrating the test coordinate system and the mechanical coordinate system to keep the test coordinate system consistent with the mechanical coordinate system.
In the present embodiment, in the initial attitude (initial position f) of the experiment 0 (x, y, z) and initial attitude ρ 0 And (alpha, beta, gamma)) after the determination, calibrating the initial pose by adopting high-precision measuring equipment, and reducing the relative measurement error of the closed-loop follow-up control system to the pose of the verifier to a negligible degree (the position error is less than 10 < -2 > m, and the attitude error is less than 0.1 degree). The closed loop follow-up control test system takes the initial zero position as the initial zero position. Wherein α, β, and γ respectively represent a roll angle, a pitch angle, and a yaw angle.
Suppose, the test coordinate system is represented as (X) U ,Y E ,Z N ) The mechanical coordinate system is expressed as (X) M ,Y M ,Z M ) If the coordinate system (X) is tested U ,Y E ,Z N ) And a mechanical coordinate system (X) M ,Y M ,Z M ) There are:
then there are:
that is, the mechanical coordinate system is coincided with the local northeast coordinate system during the test. Wherein θ, ψ and
the attitude euler angles represent a pitch angle, a roll angle, and a yaw angle, respectively.
In this embodiment, the closed-loop follow-up control system generates a corresponding control instruction according to the pose parameter generated by the verifier, so as to control the servo motor and adjust the length of each lifting rope, so as to drive the verifier to move, and adjust the position and the posture of the verifier. The position and posture adjustment of the verifier to the verifier is discrete and within a control period delta t 1 The motion state (position acceleration and attitude angular acceleration) of the inner validator remains unchanged. In order to simultaneously ensure the accuracy of the simulation of the position, attitude, speed and angular speed parameters in the next control period of the verifier, the control period delta t of the controller is required 2 Control period delta t of comparator-verifier 1 The position and pose parameters are interpolated by a closed loop follow-up control system by one order of magnitude smaller, and the position and pose parameters are processed according to a control period delta t 2 Performing average decomposition to ensure that the temperature is delta t 1 The operation stability in time and the equivalent simulation of flight parameters of the verifier. I.e. by closed loop servo control of the test system according to position f B (x, y, z) and attitude ρ B (alpha, beta, gamma) calculating the lifting rope displacement at each lifting point of the verifierThe variation quantity is determined, the displacement quantity delta l of the lifting rope in each direction is determined according to the lifting rope displacement variation quantity, and then the next control period delta t is generated 1 During the control command of (2), the position f is set B (x, y, z) and attitude ρ B (α, β, γ) according to the control period Δ t of the controller 2 Performing interpolation, wherein N.DELTA.t 2 ＝Δt 1 And N represents any constant.
Preferably, the displacement Δ l of the hoist rope may specifically include: displacement variation Δ X in three directions M 、ΔY M 、ΔZ M And, roll angle variation Δ α, pitch angle variation Δ β, and yaw angle variation Δ γ;
wherein L is X1 、L Y1 And L Z1 Respectively, the lengths of the main ropes in three directions, L, when the validator is at position 1 X2 、L Y2 And L Z2 Respectively representing the lengths of the main hoisting ropes in three directions when the validator is at the current position 2.
Step 4, when the closed loop follow-up control test system controls the verifier to finish the next control period delta t 1 After the movement, judging whether the position and the posture of the verifier meet the expected result or not according to the navigation; if not, returning to the step 2 for correction according to the position and the posture of the verifier at the moment, and regenerating the control instruction; if yes, the next control period delta t is carried out according to the mode of the steps 2 to 4 1 And (4) generation of control commands and determination of positions and postures.
Step 5, iterating the steps 2-4 until the verifier finishes from the initial position f 0 The (x, y, z) moves to the target position, and in the process, parameters such as the attitude, the flying speed and the like of the verifier are equal to those of the target positionAnd the on-orbit states are consistent, so that the soft landing process is verified under the condition that the engine does not ignite.
The verifier may be composed of a navigation sensor, a data processor, an inertial navigation module, a communication module, and a data transceiver module.
In the embodiment of the invention, the method for testing the soft landing closed-loop follow-up control of the surface of the extraterrestrial celestial body is verified, and the verification result is shown in fig. 4-6. Therefore, the closed-loop follow-up control test method for the soft landing of the surface of the extraterrestrial celestial body adopts the closed-loop follow-up control test system to replace a real engine to realize the function of an actuating mechanism, and equivalently verifies the soft landing process of the spacecraft extraterrestrial celestial body under the condition of not using the real ignition of the engine; the method comprises the following steps: connecting the closed loop follow-up control test system with a verifier; hoisting the verifier to an initial position and finishing initial position alignment; determining the displacement of the lifting rope according to the pose parameter of the next control period sent by the verifier in real time, and driving the verifier to move to a target position; and evaluating the follow-up control result of the verifier every time according to the real-time navigation of the verifier and the external measurement result of the test field, and moving the verifier to the final target landing point to finish test verification. Therefore, the method solves the problem that the open-loop control of the traditional ground verification platform for the soft landing task of the extraterrestrial celestial body is short, and avoids the problem of insufficient verification of autonomous navigation, guidance and control strategies of the spacecraft; according to the task requirement that ground test verification is required to be realized in the soft landing process of the surface of the extraterrestrial celestial body, the closed-loop follow-up control test system of the test tower is adopted to replace real engine ignition, the closed-loop control performance of the soft landing task of the extraterrestrial body is effectively and fully verified, the problem that the test result has deviation due to the difference between the ground thrust output and the real on-orbit thrust output of the test engine is avoided, meanwhile, the problems of propellant transportation, storage, filling, discharging, cleaning, environmental influence and the like in real ignition are solved, the reliability of the test result is improved, and the test cost is greatly saved.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (5)
1. A soft landing closed-loop follow-up control test method for the surface of an extraterrestrial celestial body is characterized by comprising the following steps:
step 1, installing a verifier in a closed-loop follow-up control test system through a lifting rope, and determining an initial position f of the verifier in the closed-loop follow-up control test system 0 (x, y, z) and initial attitude ρ 0 (α, β, γ); then the test was started;
step 2, in the test process, the verifier operates the navigation and sensor measurement correction mode according to the initial position to calculate and obtain the position f of the verifier at any time t in the test process A (x, y, z) and attitude ρ A (α, β, γ); and the verifier calculates the delta t of the verifier in the next control period according to the guidance law of the soft landing flight 1 Position f after time B (x, y, z) and attitude ρ B (α, β, γ), converting position f B (x, y, z) and attitude ρ B The (alpha, beta, gamma) is sent to a closed loop follow-up control test system; the test system is controlled by closed loop follow-up according to the position f B (x, y, z) and attitude ρ B (alpha, beta, gamma) calculating the displacement variation of the lifting rope at each hanging point of the verifier, determining the displacement delta l of the lifting rope in each direction according to the displacement variation of the lifting rope, and further generating the next control period delta t 1 The control instruction of (2);
step 3, the closed loop follow-up control test system controls the period delta t according to the next control 1 The control instructions drive the verifier to move to the next control period delta t by controlling the servo motor and adjusting the length of each lifting rope 1 Run at the corresponding target positionMoving;
step 4, when the closed loop follow-up control test system controls the verifier to finish the next control period delta t 1 After the movement, judging whether the position and the posture of the verifier meet the expected result or not according to the navigation; if not, returning to the step 2 for correction according to the position and the posture of the verifier at the moment, and regenerating the control instruction; if yes, the next control period delta t is carried out according to the mode of the steps 2 to 4 1 Generating a control instruction and judging the position and the posture;
step 5, iterating steps 2-4 until the verifier finishes from the initial position f 0 (x, y, z) moving to a target position, thereby realizing the verification of the soft landing process under the condition that the engine does not ignite;
wherein the content of the first and second substances,
closed loop follow-up control test system includes: the device comprises a test tower, an X-direction servo motor, a Y-direction servo motor, a Z-direction servo motor, an X-direction universal lifting appliance, a Y-direction universal lifting appliance, a Z-direction universal lifting appliance, a controller, a ground communication module and a lifting rope; the test tower is composed of horizontal and vertical height structures and used for providing a supporting effect and providing a motion space of the verifier; the X-direction universal lifting appliance, the Y-direction universal lifting appliance and the Z-direction universal lifting appliance are respectively arranged on the test tower frame and can respectively move in the horizontal direction and the vertical direction; the space between the X-direction universal lifting appliance and the X-direction servo motor, the space between the X-direction servo motor and the verifier, the space between the Y-direction universal lifting appliance and the Y-direction servo motor, the space between the Y-direction servo motor and the verifier, the space between the Z-direction universal lifting appliance and the Z-direction servo motor, and the space between the Z-direction servo motor and the verifier are all connected through lifting ropes; the universal lifting appliance in each direction moves to different positions to drive the servo motor and the verifier in each direction to move, so that different initial positions are provided for the verifier; the controller and the verifier perform data interaction through a ground communication module; the controller drives the lifting rope to move by controlling the movement of the servo motors in all directions, so that the displacement of the controller is controlled;
the lifting rope includes: the device comprises an X-direction main lifting rope, a Y-direction main lifting rope, a Z-direction main lifting rope and six attitude control lifting ropes; one end of the X-direction lifting rope is connected with the X-direction servo motor, and the other end of the X-direction lifting rope is connected with the mass center of the verifier; one end of the Y-direction lifting rope is connected with the Y-direction servo motor, and the other end of the Y-direction lifting rope is connected with the mass center of the verifier; one end of the Z-direction lifting rope is connected with the Z-direction servo motor, and the other end of the Z-direction lifting rope is connected with the mass center of the verifier; the six attitude control lifting ropes are respectively connected to different instrument positions of the verifier, and the three-axis attitude angle of the verifier is controlled through adjustment of the contraction amount of the attitude control lifting ropes;
the displacement amount Deltal of the lifting rope comprises: displacement variation Δ X in three directions M 、ΔY M 、ΔZ M And, roll angle variation Δ α, pitch angle variation Δ β, and yaw angle variation Δ γ;
wherein L is X1 、L Y1 And L Z1 Respectively representing the lengths of the main lifting ropes in three directions, L, when the validator is at position 1 X2 、L Y2 And L Z2 Representing the lengths of the main hoisting ropes in three directions, respectively, when the validator is at the current position 2.
2. The method for testing the soft landing closed-loop follow-up control on the surface of the extraterrestrial celestial body according to claim 1, further comprising:
establishing a closed loop follow-up control test system;
determining a test coordinate system of the closed-loop follow-up control test system and determining a mechanical coordinate system of the verifier;
and calibrating the test coordinate system and the mechanical coordinate system to keep the test coordinate system consistent with the mechanical coordinate system.
3. The method for testing the soft landing closed-loop follow-up control on the surface of the extraterrestrial celestial body according to claim 2, wherein calibrating the test coordinate system and the mechanical coordinate system to keep the test coordinate system consistent with the mechanical coordinate system comprises:
if the coordinate system (X) is tested U ,Y E ,Z N ) And a mechanical coordinate system (X) M ,Y M ,Z M ) There are:
wherein θ, ψ and
the attitude euler angles represent a pitch angle, a roll angle, and a yaw angle, respectively.
4. The method of claim 2, wherein the closed-loop follow-up control test system is controlled according to the position f B (x, y, z) and attitude ρ B (alpha, beta, gamma) calculating the displacement variation of the lifting rope at each hanging point of the verifier, determining the displacement delta l of the lifting rope in each direction according to the displacement variation of the lifting rope, and further generating the next control period delta t 1 During the control command of (2), the position f is set B (x, y, z) and attitude ρ B (α, β, γ) according to the control period Δ t of the controller 2 Performing interpolation, wherein N.DELTA.t 2 ＝Δt 1 And N represents any constant.
5. The method for the soft landing closed-loop follow-up control test of the surface of the extraterrestrial celestial body according to claim 1, wherein the verifier comprises a navigation sensor, a data processor, an inertial navigation module, a communication module and a data transceiver module.
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| CN112987691B true CN112987691B (en) | 2023-02-03 |
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