CN113148247A - Scientific test platform for simulating docking of space station - Google Patents
Scientific test platform for simulating docking of space station Download PDFInfo
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- CN113148247A CN113148247A CN202110449208.1A CN202110449208A CN113148247A CN 113148247 A CN113148247 A CN 113148247A CN 202110449208 A CN202110449208 A CN 202110449208A CN 113148247 A CN113148247 A CN 113148247A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/52—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of an outer space vehicle
Abstract
The invention discloses a scientific test platform for simulating docking of a space station, which comprises guide rails, wherein two pairs of sliding table suspension assemblies are connected in two guide rails in a matching manner, a horizontal rotating ring is rotatably arranged between each pair of sliding table suspension assemblies, and a horizontal motor capable of driving the horizontal rotating ring to rotate along an axis vertical to the guide rails is arranged in each sliding table suspension assembly; a vertical rotating ring is rotatably arranged in the horizontal rotating ring, and a vertical motor capable of driving the vertical rotating ring to rotate along the vertical diameter of the horizontal rotating ring is arranged in the horizontal rotating ring; and translation adjusting assemblies are fixed in the vertical rotating rings, the translation adjusting assemblies are connected with the butt joint models, and the butt joint models connected with the translation adjusting assemblies in the two pairs of sliding table suspension assemblies are oppositely arranged. Compared with the prior art, the invention can carry out an efficient dynamic whole-course docking simulation test on the docking model so as to verify the feasibility and reliability of the docking structure.
Description
Technical Field
The invention relates to the technical field of test platforms, in particular to a scientific test platform for simulating docking of a space station.
Background
The construction of the large space station is complex, the large space station can be built without one-time launching, and the large space station is required to launch the structural members for multiple times and then be assembled in space in a butt joint mode. The two spacecrafts need not to be butted easily, the operation orbit of the spacecrafts needs to be accurately controlled, and complex technologies such as guidance, tracking, course correction and the like are involved.
After the spacecraft control system is designed, a flight test can not be directly carried out generally, a simulation test is required to be carried out to verify the performance of the system, and the simulation test is divided into mathematical simulation and semi-physical simulation. The hardware object of the control system is added to the maximum extent in the semi-object simulation test, so that the system performance can be verified more accurately than mathematical simulation.
In the prior art, a butt joint structure model is controlled to carry out a butt joint test by a mechanical arm clamping mode and the like so as to verify the performance of a butt joint structure, in order to facilitate system design by using a mature method, a small-angle assumption and coefficient freezing method and other simplification methods are usually adopted in engineering, an original equation set is converted into a single-channel constant-coefficient linear differential equation set at a timing point, pitching, yawing and rolling channels can be independently analyzed and designed, and therefore a mechanical arm is controlled to carry out displacement so as to realize a simulation butt joint test.
However, the kinetic equation moving around the center of mass is a nonlinear time-varying differential equation set, the linear method is adopted for design, the linear model is difficult to describe the nonlinear nature of the system, the nonlinear phenomenon cannot be comprehensively explained, and an accurate motion rule and a mathematical model cannot be established.
Therefore, there is a need to provide a scientific testing platform for simulating docking of space stations, so as to solve the problems in the background art.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: a scientific test platform for simulating docking of a space station comprises guide rails, wherein two pairs of sliding table suspension assemblies are connected in two guide rails in a matched mode, a horizontal rotating ring is rotatably arranged between each pair of sliding table suspension assemblies, and a horizontal motor capable of driving the horizontal rotating ring to rotate along an axis perpendicular to the guide rails is arranged in each sliding table suspension assembly;
a vertical rotating ring is rotatably arranged in the horizontal rotating ring, and a vertical motor capable of driving the vertical rotating ring to rotate along the vertical diameter of the horizontal rotating ring is arranged in the horizontal rotating ring;
and translation adjusting assemblies are fixed in the vertical rotating rings, the translation adjusting assemblies are connected with the butt joint models, and the butt joint models connected with the translation adjusting assemblies in the two pairs of sliding table suspension assemblies are oppositely arranged.
Further, preferably, the sliding table suspension assembly comprises side plates, the bottoms of the two symmetrical side plates are fixedly connected through a connecting block, a movable plate is arranged on the inner side of each side plate in a vertically sliding manner, and the two movable plates are fixedly connected through a top cover;
a vertical guide shaft is arranged in the center of the top cover in a vertically sliding manner, and the bottom of the vertical guide shaft is fixedly connected with a connecting block;
a supporting spring is sleeved on the periphery of the vertical guide shaft between the top cover and the connecting block, and two ends of the supporting spring are fixedly connected with the top cover and the connecting block respectively;
the movable plate is rotatably connected with the horizontal rotating ring.
Further, preferably, lateral guide shafts are symmetrically fixed on two sides of the connecting block respectively, side covers are slidably sleeved in the lateral guide shafts, and extension springs are symmetrically sleeved on the peripheries of the lateral guide shafts between the connecting block and the side covers on the two sides respectively;
the horizontal guide shaft and the vertical guide shaft are mutually vertical;
two side cover top is articulated symmetrically respectively to have balanced connecting rod, the other end and the top cap hinge of balanced connecting rod.
Further, as a preferred option, a side plate in the sliding table suspension assembly is slidably connected with the guide rail through a pulley, and a motor capable of driving the pulley is arranged in each sliding table suspension assembly.
Further, preferably, the translation adjusting assembly comprises a bottom plate, the bottom plate is a circular plate and is fixedly connected with the vertical rotating ring, a plurality of cams are uniformly distributed on the circumference of one surface of the bottom plate, and the center of a base circle of each cam is rotatably connected with the bottom plate;
the bottom plate is fixed with a limiting ring in the circumference of the cam array, the limiting ring is concentric with the bottom plate, a translation ring is arranged in the limiting ring, and the translation ring is fixedly connected with the butt joint model.
Further, preferably, a plurality of fixing columns distributed circumferentially are fixed in the limiting ring, and the fixing columns respectively correspond to each cam and are on the same diameter;
each fixed column is rotatably connected with a rocking handle, the other end of the rocking handle is connected with one end, far away from the base circle, of the cam corresponding to the rocking handle through an adjusting connecting rod, and the adjusting connecting rod is hinged with the rocking handle and the cam.
Furthermore, preferably, an insertion rod extending towards the translation ring is fixed at one end of the rocking handle connected with the fixed column, the insertion rod is slidably sleeved with adjustment rotating blocks, each adjustment rotating block is uniformly distributed on the translation ring, and the center of each adjustment rotating block is rotatably connected with the translation ring;
and the inserted bar is vertical to the rocking handle.
Further, preferably, a connection port is fixed to the translation ring at a position between the adjustment rotating blocks, and the translation ring is connected to the butt model by a bolt through the connection port.
Further, as the preferred, the inserted bar is provided with a spring in the periphery in a sleeved mode, the spring is arranged between the inner side of the limiting ring and the outer side of the translation ring, and two ends of the spring are fixedly connected with the limiting ring and the translation ring respectively.
Preferably, a servo motor is fixed on the bottom plate at a position corresponding to the back of each cam on the surface far away from the cam, and an output shaft of the servo motor is fixedly connected with the corresponding cam.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, through controlling the rotation angle of each cam, the plane displacement generated by each air jet in the corresponding attitude control system on the space station can be simulated, and through the rotation of the horizontal rotation and the vertical rotation, the corresponding angular motion of the attitude control system can be simulated in a matching manner, and the propulsion motion of the propulsion system is simulated through the sliding between the sliding table suspension assembly and the guide rail, so that the butt joint model can be subjected to an efficient dynamic whole-course butt joint simulation test, and the feasibility and the reliability of the butt joint structure can be verified.
Drawings
FIG. 1 is a schematic structural diagram of a scientific test platform for simulating docking of a space station;
FIG. 2 is a schematic structural diagram of a sliding table suspension assembly of a scientific test platform for simulating docking of a space station;
FIG. 3 is a schematic structural diagram of a translational adjustment assembly of a scientific test platform for simulating docking of a space station;
FIG. 4 is a schematic diagram of a planar structure of a translational adjustment assembly of a scientific test platform for simulating docking of a space station;
in the figure: 1. a guide rail; 2. a slipway suspension assembly; 3. horizontally rotating; 4. a horizontal motor; 5. vertically rotating; 6. a translation adjustment assembly; 7. a vertical motor; 8. docking the model; 21. a side plate; 22. a movable plate; 23. a support spring; 24. a top cover; 25. a vertical guide shaft; 26. a balance link; 27. an extension spring; 28. a side cover; 29. a transverse guide shaft; 210. connecting blocks; 61. a base plate; 62. a limiting ring; 63. a translation ring; 64. a cam; 65. adjusting the connecting rod; 66. a rocking handle; 67. fixing a column; 68. inserting a rod; 69. adjusting the rotating block; 610. and (7) connecting ports.
Detailed Description
Referring to fig. 1, in the embodiment of the present invention, a scientific test platform for simulating docking of a space station includes guide rails 1, two pairs of sliding table suspension assemblies 2 are cooperatively connected in the two guide rails 1, a horizontal swivel 3 is rotatably disposed between each pair of sliding table suspension assemblies 2, and a horizontal motor 4 capable of driving the horizontal swivel 3 to rotate along an axis perpendicular to the guide rails 1 is disposed in the sliding table suspension assemblies 2;
a vertical rotating ring 5 is rotatably arranged in the horizontal rotating ring 3, and a vertical motor 7 capable of driving the vertical rotating ring 5 to rotate along the vertical diameter of the horizontal rotating ring 3 is arranged in the horizontal rotating ring 3;
the vertical swivel 5 is internally fixed with a translation adjusting component 6, the translation adjusting component 6 is connected with a butt joint model 8, and the butt joint models 8 connected with the translation adjusting components 6 in the two pairs of sliding table suspension components 2 are oppositely arranged.
Referring to fig. 2, in the present embodiment, the sliding table suspension assembly 2 includes side plates 21, the bottoms of two symmetrical side plates 21 are fixedly connected through a connecting block 210, a movable plate 22 is slidably disposed on the inner side of each side plate 21 up and down, and the two movable plates 22 are fixedly connected through a top cover 24;
a vertical guide shaft 25 is arranged at the center of the top cover 24 in a manner of sliding up and down, and the bottom of the vertical guide shaft 25 is fixedly connected with a connecting block 210;
a supporting spring 23 is sleeved on the periphery of the vertical guide shaft 25 between the top cover 24 and the connecting block 210, and two ends of the supporting spring 23 are respectively fixedly connected with the top cover 24 and the connecting block 210;
the movable plate 22 is rotatably connected with the horizontal swivel 3.
In this embodiment, the two sides of the connecting block 210 are respectively and symmetrically fixed with a horizontal guide shaft 29, the horizontal guide shaft 29 is slidably sleeved with a side cover 28, and the peripheries of the horizontal guide shafts 29 between the connecting block 210 and the side covers 28 on the two sides are respectively and symmetrically sleeved with extension springs 27;
the horizontal guide shaft 29 is perpendicular to the vertical guide shaft 25;
and balance connecting rods 26 are symmetrically hinged above the two side covers 28 respectively, and the other ends of the balance connecting rods 26 are hinged with the top cover 24.
The support spring 23 moves vertically under the action of the balance link 26 and the vertical guide shaft 25 on both sides thereof:
the length of the balance link 26 is a;
the rigidity of the extension spring 27 is k1, and the original length is L;
the distances of the hinged points of the top cover 24 and the balance connecting rods 26 on the two sides are L';
the stiffness of the supporting spring 23 is k2；
In the initial state, the initial compression amount of the support spring 23 is δ0When the distance from the top cover 24 to the extension spring 27 is Y, the mass of the top cover 24 and the load thereon is m, and the stress is:
when L-2L' is 0, 2k1＝k2When F is equal to k2δ0-mg；
It can be seen that the initial compression amount of the support spring 23 is δ0The requirement can be satisfied such that F is 0. That is, when the original length of the extension spring 27 is equal to the distance between the hinge points of the top cover 24 and the balance links 26 at two sides, and the stiffness of the support spring 23 is twice that of the extension spring 27, the gravity borne by the top cover 24 and the load thereon and the support force provided by the system are exactly offset with each other, so that the resultant force borne by the mass block is zero or very small, and thus the top cover 24 and the load thereon are in a "suspended" state, thereby realizing the simulation of the space microgravity environment.
In this embodiment, the side plate 21 of the sliding table suspension assembly 2 is slidably connected to the guide rail 1 via a pulley, and a motor capable of driving the pulley is provided in each sliding table suspension assembly 2.
In this embodiment, the translation adjusting assembly 6 includes a bottom plate 61, the bottom plate 61 is a circular plate and is fixedly connected to the vertical rotating ring 5, a plurality of cams 64 are uniformly distributed on the circumference of one surface of the bottom plate 61, and the center of a base circle of each cam 64 is rotatably connected to the bottom plate 61;
the bottom plate 61 is fixed with a limiting ring 62 in the circumference of the cam 64 arrangement, the limiting ring 62 is concentric with the bottom plate 61, a translation ring 63 is arranged in the limiting ring 62, and the translation ring 63 is fixedly connected with the butt joint model 8.
Referring to fig. 3, in the present embodiment, a plurality of fixing posts 67 distributed circumferentially are fixed in the limiting ring 62, and the fixing posts 67 respectively correspond to each cam 64 and have the same diameter;
a rocking handle 66 is rotatably connected in each fixed column 67, the other end of the rocking handle 66 is connected with one end, far away from the base circle, of the cam 64 corresponding to the rocking handle through an adjusting connecting rod 65, and the adjusting connecting rod 65 is hinged with the two connecting rods.
In this embodiment, an insertion rod 68 extending toward the translation ring 63 is fixed at one end of the rocking handle 66 connected to the fixed column 67, the insertion rod 68 is slidably sleeved with adjustment rotating blocks 69, each adjustment rotating block 69 is uniformly distributed on the translation ring 63, and the center of the adjustment rotating block 69 is rotatably connected to the translation ring 63;
and, the plunger 68 is perpendicular to the rocker 66.
In this embodiment, a connection port 610 is fixed to the translation ring 63 at a position between the adjustment knobs 69, and the translation ring 63 is bolted to the mating mold 8 through the connection port 610.
In this embodiment, a spring is sleeved in the periphery of the insert rod 68, the spring is disposed between the inner side of the limiting ring 62 and the outer side of the translation ring 63, and two ends of the spring are respectively fixedly connected with the two.
In this embodiment, a servo motor is fixed to a surface of the base plate 61 away from the cams 64 at a position corresponding to the back of each cam 64, and an output shaft of the servo motor is fixedly connected to the corresponding cam 64.
The motion of the space station in the space can be divided into linear motion and angular motion, the attitude control system realizes the motion around the mass center of the carrier rocket carrying the space station, and the motion kinetic equation of the space station is a nonlinear time-varying differential equation set;
while the relative position coordinates of the translation ring 63 in the limiting ring 62 in the embodiment correspond to the unique rotation angle of each cam 64, preferably, the distribution number of the cams 64 in the embodiment is consistent with the distribution number of the simulated air nozzles of the attitude control system, and the plane displacement generated by the space station can be simulated corresponding to each air nozzle in the attitude control system by controlling the rotation angle of each cam 64;
and through the rotation of horizontal swivel 3 and vertical swivel 5, can cooperate the corresponding angular motion of simulation attitude control system to through the slip simulation propulsion system's that slides between slip table suspension subassembly 2 and guide rail 1 propulsion motion, thereby can make butt joint model 8 carry out efficient developments whole journey butt joint analogue test, with feasibility and the reliability of verifying the butt joint structure.
In specific implementation, a pair of butt joint models 8 are oppositely fixed in the translation rings 63 of the two sets of sliding table suspension assemblies 2, and the support springs 23 and the extension springs 27 are selected to enable the sliding tables to be 2k1＝k2And k2δ0Mg, so that the docking model 8 is in a "floating" state simulating a space microgravity environment;
the two groups of sliding table suspension assemblies 2 are driven to approach each other, and the motion speed of the butt joint model 8 needs to be negligible;
in the process, the rotation angle of each cam 64 is controlled, so that the plane displacement generated by each air jet in the attitude control system to the space station can be corresponding to the butt joint model 8, and the horizontal rotating ring 3 and the vertical rotating ring 5 are driven to rotate to be matched with the corresponding angular motion of the simulated attitude control system, so that dynamic whole-course butt joint simulation tests of various different combination positions and angles are tested, and the feasibility and the reliability of a butt joint structure are verified.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (10)
1. A scientific test platform for simulating docking of a space station comprises guide rails (1), and is characterized in that two pairs of sliding table suspension assemblies (2) are connected in the two guide rails (1) in a matched manner, a horizontal rotating ring (3) is rotatably arranged between each pair of sliding table suspension assemblies (2), and a horizontal motor (4) capable of driving the horizontal rotating ring (3) to rotate along an axis perpendicular to the guide rails (1) is arranged in each sliding table suspension assembly (2);
a vertical rotating ring (5) is rotatably arranged in the horizontal rotating ring (3), and a vertical motor (7) capable of driving the vertical rotating ring (5) to rotate along the vertical diameter of the horizontal rotating ring (3) is arranged in the horizontal rotating ring (3);
the vertical swivel (5) internal fixation has translation adjustment subassembly (6), translation adjustment subassembly (6) are connected with butt joint model (8), and butt joint model (8) that translation adjustment subassembly (6) in two pairs of slip table suspension subassemblies (2) are connected set up in opposite directions.
2. The scientific test platform for simulating docking of a space station as claimed in claim 1, wherein the sliding table suspension assembly (2) comprises side plates (21), the bottoms of the two symmetrical side plates (21) are fixedly connected through a connecting block (210) in the middle, a movable plate (22) is arranged on the inner side of each side plate (21) in a vertically sliding manner, and the two movable plates (22) are fixedly connected through a top cover (24);
a vertical guide shaft (25) is arranged in the center of the top cover (24) in a vertically sliding manner, and the bottom of the vertical guide shaft (25) is fixedly connected with a connecting block (210);
a supporting spring (23) is sleeved on the periphery of a vertical guide shaft (25) between the top cover (24) and the connecting block (210), and two ends of the supporting spring (23) are respectively fixedly connected with the top cover (24) and the connecting block (210);
the movable plate (22) is rotatably connected with the horizontal rotating ring (3).
3. The scientific test platform for simulating docking of space stations as claimed in claim 2, wherein lateral guide shafts (29) are symmetrically fixed on two sides of the connecting block (210), the lateral guide shafts (29) are slidably sleeved with the side covers (28), and extension springs (27) are symmetrically sleeved on the peripheries of the lateral guide shafts (29) between the connecting block (210) and the side covers (28) on two sides;
the transverse guide shaft (29) is vertical to the vertical guide shaft (25);
balance connecting rods (26) are symmetrically hinged above the two side covers (28), and the other ends of the balance connecting rods (26) are hinged with the top cover (24).
4. The scientific test platform for simulating docking of a space station as claimed in claim 1, wherein the side plates (21) in the sliding table suspension assemblies (2) are slidably connected with the guide rails (1) through pulleys, and a motor capable of driving the pulleys is arranged in each sliding table suspension assembly (2).
5. The scientific test platform for simulating docking of a space station as claimed in claim 1, wherein the translational adjustment assembly (6) comprises a bottom plate (61), the bottom plate (61) is a circular plate and is fixedly connected with the vertical rotating ring (5), a plurality of cams (64) are uniformly distributed on the circumference of one surface of the bottom plate (61), and the center of a base circle of each cam (64) is rotatably connected with the bottom plate (61);
the bottom plate (61) is fixed with a limiting ring (62) in the circumference where the cams (64) are arranged, the limiting ring (62) is concentric with the bottom plate (61), a translation ring (63) is arranged in the limiting ring (62), and the translation ring (63) is fixedly connected with the butt joint model (8).
6. The scientific test platform for simulating docking of a space station as claimed in claim 5, wherein a plurality of circumferentially distributed fixing columns (67) are fixed in the limiting ring (62), and the fixing columns (67) correspond to each cam (64) respectively and are on the same diameter;
each fixing column (67) is rotatably connected with a rocking handle (66), the other end of each rocking handle (66) is connected with one end, far away from the base circle, of the corresponding cam (64) through an adjusting connecting rod (65), and the adjusting connecting rods (65) are hinged with the adjusting connecting rods (65).
7. The scientific test platform for simulating docking of a space station as claimed in claim 6, wherein an insertion rod (68) extending towards the translation ring (63) is fixed at one end of the rocking handle (66) connected with the fixed column (67), the insertion rod (68) is slidably sleeved with the adjusting rotary blocks (69), each adjusting rotary block (69) is uniformly distributed on the translation ring (63), and the center of each adjusting rotary block (69) is rotatably connected with the translation ring (63);
the inserted rod (68) is perpendicular to the rocking handle (66).
8. The scientific test platform for simulating docking of space stations as claimed in claim 5, characterized in that the translation ring (63) has a connection port (610) fixed in a position between the adjustment rotating blocks (69), and the translation ring (63) is bolted to the docking model (8) through the connection port (610).
9. The scientific test platform for simulating docking of a space station as claimed in claim 7, wherein a spring is sleeved in the periphery of the inserted rod (68), the spring is arranged between the inner side of the limit ring (62) and the outer side of the translation ring (63), and two ends of the spring are respectively fixedly connected with the limit ring and the translation ring.
10. The scientific test platform for simulating docking of a space station as claimed in claim 6, wherein a servo motor is fixed on the surface of the bottom plate (61) far away from the cams (64) at a position corresponding to the back of each cam (64), and an output shaft of the servo motor is fixedly connected with the corresponding cam (64).
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6045094A (en) * | 1996-11-04 | 2000-04-04 | Rivera; Ramon L. | Gyroscopic space ship/station with docking mechanism |
| US20040144288A1 (en) * | 2002-07-23 | 2004-07-29 | Johnson Chiang | Hex-axis horizontal movement dynamic simulator |
| CN104925276A (en) * | 2015-05-11 | 2015-09-23 | 上海宇航系统工程研究所 | 12-degree-of-freedom docking and separation testing device simulating weightlessness motion |
| CN106742091A (en) * | 2016-12-27 | 2017-05-31 | 哈尔滨工业大学 | One class has the zero of zero-frequency vibration isolation feature（It is micro-）Levitation method and device |
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2021
- 2021-04-25 CN CN202110449208.1A patent/CN113148247B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6045094A (en) * | 1996-11-04 | 2000-04-04 | Rivera; Ramon L. | Gyroscopic space ship/station with docking mechanism |
| US20040144288A1 (en) * | 2002-07-23 | 2004-07-29 | Johnson Chiang | Hex-axis horizontal movement dynamic simulator |
| CN104925276A (en) * | 2015-05-11 | 2015-09-23 | 上海宇航系统工程研究所 | 12-degree-of-freedom docking and separation testing device simulating weightlessness motion |
| CN106742091A (en) * | 2016-12-27 | 2017-05-31 | 哈尔滨工业大学 | One class has the zero of zero-frequency vibration isolation feature（It is micro-）Levitation method and device |
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| Title |
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| 张广玉等: "10自由度全物理对接动力学仿真器", 《宇航学报》 * |
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