CN114030646A - Satellite-borne equipment support with pointing self-sensing capability - Google Patents
Satellite-borne equipment support with pointing self-sensing capability Download PDFInfo
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Abstract
The invention relates to a satellite-borne equipment support with pointing self-sensing capability, which comprises a supporting rod, a single-axis freedom degree release joint, a double-axis freedom degree release joint, an equipment supporting seat and a strain sensor, wherein the bottom of the supporting rod is connected with the single-axis freedom degree release joint, and the top of the supporting rod is connected with the double-axis freedom degree release joint to form a supporting rod assembly; the uniaxial freedom release joint is a uniaxial hinge or a unidirectional slotted spring; the biaxial freedom degree release joint is a ball hinge or a bidirectional slotted spring; and each supporting rod is provided with not less than 1 group of strain sensors for real-time measurement of the strain information of the supporting rod. According to the invention, strain measurement of the sensor on the support rod is realized, the support simplifies derivation of a mathematical model, and spatial pointing data of the equipment support seat can be obtained in real time, so that spatial pointing information is provided for the satellite-borne equipment, and the measurement precision of the satellite-borne equipment is improved.
Description
Technical Field
The invention relates to a satellite-borne equipment support with a pointing self-sensing capability, and belongs to the technical field of satellite-borne equipment.
Background
The device such as a posture sensor, an actuating mechanism, a camera, an antenna and the like which are arranged on the spacecraft and have the requirement of space pointing is generally used for realizing the required installation angle through a bracket, and the installation angle is measured and adjusted through a theodolite, a laser tracker and the like on the ground; after the satellite enters the orbit, the angular relationship between the device and the spacecraft cannot be known. When the spacecraft runs on the track, the external heat flow continuously changes; the support is deformed due to the change of the thermal environment, the angle relation between the equipment and the spacecraft is changed, the measurement precision, the execution precision or the pointing precision of the equipment is further influenced, and the performance of the spacecraft is influenced in severe cases.
If the deformation of the support can be sensed in orbit, so that the space directional relation of the equipment is obtained, data support can be provided for data compensation and correction of the equipment or the spacecraft, and the method is very beneficial.
Disclosure of Invention
The technical problem solved by the invention is as follows: the space-borne equipment support overcomes the defects of the prior art and has pointing self-perception capability, and the space pointing information of the equipment installation surface is obtained through real-time calculation by measuring the strain information on the support, so that the real-time space pointing information is provided for the equipment which is installed on the support and has pointing requirements.
The technical scheme of the invention is as follows:
a satellite-borne equipment support with pointing self-sensing capability comprises a support rod, a single-axis freedom degree release joint, a double-axis freedom degree release joint, an equipment support seat and a strain sensor,
the bottom of the supporting rod is connected with a single-shaft freedom degree release joint, and the top of the supporting rod is connected with a double-shaft freedom degree release joint to form a supporting rod assembly;
the uniaxial freedom release joint is a uniaxial hinge or a unidirectional slotted spring;
the biaxial freedom degree release joint is a ball hinge or a bidirectional slotted spring;
the bottom single-axis freedom degree release joints of the 3 support rods are connected to the spacecraft structure;
the top double-shaft freedom degree release joints of the 3 support rods are connected to the equipment support seat;
each supporting rod is provided with not less than 1 group of strain sensors for real-time measurement of the strain information of the supporting rod;
the supporting rod deforms due to temperature change, and the stress and the moment of the equipment supporting seat in the direction of X, Y, Z are kept balanced;
the inclination angle of the equipment supporting seat is obtained by determining the position change of the connecting point of the supporting rod and the equipment supporting seat.
Furthermore, the bottom single-axis freedom degree release joints of the 3 support rods are connected to the spacecraft structure through the support base.
Furthermore, 3 intersection points of the central lines of the 3 support rods and the base of the support frame determine a circle A, and the 3 intersection points are uniformly distributed on the circle A; a circle B is determined by the central lines of the 3 support rods and 3 intersection points of the support rods and the equipment support seat, and the 3 intersection points are uniformly distributed on the circle B; the circles A and B are concentric circles.
Furthermore, the single-axis freedom degree release joint and the double-axis freedom degree release joint are connected with the bracket base and the equipment supporting seat in a screw connection or an adhesive connection mode.
Furthermore, the uniaxial freedom degree release joint can rotate around the tangential direction of the circle A, namely the rotation freedom degree of the uniaxial freedom degree release joint around the tangential line of the circle A is released.
Furthermore, the biaxial freedom degree release joint can rotate around the tangent direction and the radial direction of the circle B, namely the rotational freedom degrees of the tangent direction and the diameter direction of the biaxial freedom degree release joint are released.
Further, if the strain sensor on each support rod is larger than 1 group, the strain information of the support rod is the average value of the multiple groups of sensors.
Furthermore, the included angle formed by the plane formed by the equipment supporting seat and the X axis is alpha, the included angle formed by the plane formed by the equipment supporting seat and the Y axis is beta, and the included angle formed by the plane formed by the equipment supporting seat and the Z axis is gamma, then
Wherein A, B, C is the position of the connecting point of the support bar and the equipment support seat.
Further, in the above-mentioned case,
wherein x isa'、ya'、za'，xb'、yb'、zb'，xc'、yc'、zc'is the spatial position coordinates of A', B 'and C'.
Further, three side lengths of the support rod after deformation are:
wherein, xa'、ya'、za'，xb'、yb'、zb'，xc'、yc'、zc'is the spatial position coordinates of A', B 'and C'.
Further, the length of the three support rods after deformation is changed into:
A、B、C、A0、B0、C0A, B, C moves to A ', B ' and C ' after the temperature changes for six positions at the connecting point of the supporting rod and the equipment supporting seat; rod A0A、B0B and C0C original length is S, and strain of each rod is respectively set as epsilon1,ε2,ε3。
Further, the relationship between the stress and the temperature change of the three rods is as follows:
F1＝EA(μΔT1-ε1)
F2＝EA(μΔT2-ε2)
F3＝EA(μΔT3-ε3)
where μ denotes the coefficient of thermal expansion, EA is the tensile stiffness of the rods, and the strain of each rod is respectively ε1,ε2,ε3。
Further, the equipment bearing seat is stressed in a direction X, Y, Z and is balanced, and the equipment bearing seat comprises:
A、B、C、A0、B0、C0A, B, C moves to spatial position coordinates of A ', B ' and C ' after the temperature changes for six positions at the connecting point of the supporting rod and the equipment supporting seat; delta A0B0C0And Δ A ' B ' C ' are all equilateral triangles with respective side lengths L0And L; rod A0A、B0B and C0The original length of C is S, the height from the bottom of the original support platform is H, and the strain of each rod is respectively set as epsilon1,ε2,ε3And EA is the tensile stiffness of the rod.
Further, the equipment supporting seat is in moment balance in the direction X, Y, Z, and the following components are provided:
A、B、C、A0、B0、C0A, B, C moves to spatial position coordinates of A ', B ' and C ' after the temperature changes for six positions at the connecting point of the supporting rod and the equipment supporting seat; delta A0B0C0And Δ A ' B ' C ' are all equilateral triangles with respective side lengths L0And L; rod A0A、B0B and C0The original length of C is S, the height from the bottom of the original support platform is H, and the strain of each rod is respectively set as epsilon1,ε2,ε3And EA is the tensile stiffness of the rod.
Compared with the prior art, the invention has the beneficial effects that:
(1) the support has space pointing self-sensing capability, strain of the support is measured in real time through the strain sensor, space pointing information of the equipment support seat is obtained through real-time calculation and fed back to equipment installed on the support seat; the equipment can perform space angle compensation according to real-time space pointing information, so that the measurement precision and the space pointing precision of the equipment are improved;
(2) the support can be used for spacecrafts, and can also be used for equipment with pointing requirements on the ground, such as various sensors and actuators with high-precision pointing.
Drawings
FIG. 1 is a schematic diagram showing the components of a satellite-borne device support with high-precision pointing self-sensing capability according to the present invention;
FIG. 2 is a simplified mathematical model of the satellite-borne equipment support of the present invention;
FIG. 3 is a front view of a space-borne device support with high precision pointing self-sensing capability;
fig. 4 shows the relationship between the deformation of the support bar and the temperature.
Detailed Description
The invention is further illustrated by the following examples.
The equipment with pointing requirement on the spacecraft measures the installation accuracy and adjusts the installation accuracy to the required range in the ground final assembly stage. After the equipment is installed, the spacecraft is subjected to general assembly and large-scale tests such as mechanical tests, thermal tests and the like on the ground, is subjected to mechanical environmental conditions of an emission section, and undergoes micro-deformation in an equipment installation support or structure after being in orbit compared with the environment in which the ground is subjected to weightlessness and space irradiation. During the rail, the equipment mounting bracket or structure experiences a hot environment of alternating cold and hot, which can thermally deform with temperature changes, resulting in slow spatial orientation of the equipment. The spatial orientation of the device is changed, which affects the use performance of the device. For example, the star sensor support undergoes thermal environment change, the temperature field change of the support leads to thermal deformation change, and therefore the pointing direction of the star sensor changes slowly along with cold and hot alternation, the measurement precision of the star sensor is affected, and the measurement precision of the spacecraft is reduced.
According to the satellite-borne equipment support with the pointing self-sensing capability, strain measurement of the sensors on the supporting rods is realized through uniform and reasonable arrangement of the freedom degree release devices, derivation of a mathematical model of the support is simplified, and spatial pointing data of the equipment supporting seat can be obtained in real time, so that spatial pointing information is provided for satellite-borne equipment, and the measurement accuracy of the satellite-borne equipment is improved.
By measuring the strain information on the bracket, the spatial orientation information of the equipment installation surface is calculated in real time, so that the real-time spatial orientation information is provided for the equipment which is installed on the bracket and has the orientation requirement.
Bracket assembly
Comprises a supporting rod 1, a single-axis freedom degree release joint 2, a double-axis freedom degree release joint 3, an equipment supporting seat 4 and a strain sensor 5,
the bottom of the support rod 1 is connected with a single-shaft freedom degree release joint 2, and the top of the support rod 1 is connected with a double-shaft freedom degree release joint 3 to form a support rod assembly;
the uniaxial freedom release joint 2 is a uniaxial hinge or a unidirectional slotted spring;
the biaxial freedom degree release joint 3 is a ball hinge or a bidirectional slotted spring;
the bottom single-axis freedom degree release joints 2 of the 3 support rods 1 are connected to a spacecraft structure;
the top double-shaft freedom degree release joints 3 of the 3 support rods 1 are connected to an equipment support seat 4;
each supporting rod 1 is provided with not less than 1 group of strain sensors 5 for real-time measurement of the strain information of the supporting rods; if the strain sensor 5 on each support rod 1 is more than 1 group, the strain information of the support rod is the average value of the multiple groups of sensors.
The supporting rod deforms due to temperature change, and the stress and the moment of the equipment supporting seat in the direction of X, Y, Z are kept balanced;
the inclination angle of the equipment supporting seat is obtained by determining the position change of the connecting point of the supporting rod and the equipment supporting seat.
The bottom single-axis freedom degree release joint 2 of the 3 support rods 1 is connected to the spacecraft structure through a support base 6.
3 intersection points of the central lines of the 3 support rods 1 and the support base 6 determine a circle A, and the 3 intersection points are uniformly distributed on the circle A; the central lines of the 3 support rods 1 and 3 intersection points of the support rods and the equipment support seat 4 determine a circle B, and the 3 intersection points are uniformly distributed on the circle B; the circles A and B are concentric circles.
The single-axis freedom degree release joint 2 and the double-axis freedom degree release joint 3 are connected with the bracket base 6 and the equipment supporting seat 4 in a screw connection or an adhesive connection mode.
The uniaxial freedom degree release joint 2 can rotate around the tangential direction of the circle A, namely the uniaxial freedom degree release joint 2 is released around the rotational freedom degree of the tangential line of the circle A.
The biaxial freedom degree release joint 3 can rotate around the tangential direction and the radial direction of the circle B, namely the rotational freedom degrees of the tangential direction and the diameter direction of the biaxial freedom degree release joint 3 are released.
The sensor may be, but is not limited to, a fiber optic strain sensor; the installation form of the sensor can be but is not limited to gluing or pre-buried in the bracing piece.
The uniaxial freedom degree releasing joint 2 and the biaxial freedom degree releasing joint 3 may be made of, but not limited to, steel materials.
The support rod 1 can be but is not limited to be made of aluminum alloy, titanium alloy, carbon fiber and other materials;
the equipment supporting seat 4 and the bracket base 6 can be, but are not limited to, made of low-thermal-conductivity high-rigidity materials such as invar steel or carbon fiber.
(II) support simplified mathematical model establishment
Determining the inclined angle of the equipment supporting seat:
the support is simplified as shown in figure 2. Wherein, A, B, C, A0、B0、C0A, B, C moves to spatial position coordinates of A ', B ' and C ' after the temperature changes for six positions at the connecting point of the supporting rod and the equipment supporting seat; delta A0B0C0And Δ A ' B ' C ' are all equilateral triangles with respective side lengths L0And L; rod A0A、B0B and C0The original length of C is S, the height from the bottom of the original support platform is H, and the strain of each rod is respectively set as epsilon1,ε2,ε3And EA is the tensile stiffness of the rod.
Setting the origin O as the geometric center of Δ ABC, OB as the X axis, and the point passing O perpendicular to OB as the Y axis, the coordinates of each point are as follows:
A'(xa',ya',za')B'(xb',yb',zb')C'(xc',yc',zc')
the inclination angle of the equipment supporting seat can be obtained only by solving the coordinates of A ', B ' and C '.
(III) method for obtaining supporting seat corner through support rod strain calculation
Firstly, the deformed Δ a ' B ' C ' is still an equilateral triangle, the side length is still L, because the positions of the three hinges are fixed, there are:
|A'B'|＝|B'C'|＝|C'A'|＝L
namely: the three sides of the strut after deformation are:
then, the length after deformation can be obtained by calculation according to the data collected by the strain gauge, and the expression of the length change of the three support rods
And substituting the coordinates of each point into the following formula:
finally, the equipment support seat is in static balance after deformation, so that the equipment support seat is in stress balance in the direction X, Y, Z. After the temperature rises, the length of the rod becomes longer, but the temperature stress is generated on the rod due to the coordinated deformation of the three rods, which is equivalent to applying pressure on the two ends of the rod, as shown in fig. 4.
The relationship between the force applied to the three rods and the rod temperature is:
where μ represents the coefficient of thermal expansion and EA is the tensile stiffness of the rod;
the stress of the three rods is as follows:
the equipment bearing seat is in stress balance in the direction of X, Y, Z, and has the following components:
the equipment bearing seat is in moment balance in the direction X, Y, Z, and comprises:
will epsilon1,ε2,ε3(three bar strains) as input and the angles alpha, beta, gamma between the top surface and the x, y, z axes as output. The coordinates of A ', B ', C ' and the temperature of the respective rods are varied by Delta T1、ΔT2、ΔT3Set to 12 unknownsThe coordinates are obtained by using the above constraints (1), (3), (8) and (9). And (4) determining the plane of the equipment supporting seat at the moment by using three points.
Wherein:
therefore, the plane formed by the equipment supporting seat forms an included angle alpha with the X axis, an included angle beta with the Y axis and an included angle gamma with the Z axis. The formula is as follows
Examples
As shown in fig. 3, a satellite-borne device support with pointing self-sensing capability includes a support rod 3, a single-axis hinge 3, a ball hinge 3, a device support seat, a strain sensor, and a support base.
The support rod is connected with the single-shaft hinge and the ball hinge by epoxy glue in a gluing mode.
The single-shaft hinge is connected with the bracket base and the ball hinge is connected with the equipment supporting seat through screws.
The single-shaft hinge and the ball hinge are made of stainless steel materials; the support rod is made of a T300 carbon fiber material; the support base and the equipment supporting seat are made of invar steel materials with good thermal stability.
As shown in figure 3, 6 strain sensors are uniformly stuck on 3 support rods of a satellite-borne equipment support with the pointing self-sensing capability.
A simplified mathematical model of the stent is created as shown in figure 2.
A0(-60，103.92,-350)
B0(120，0,-350)
C0(60，103.92,-350)
A(-11.25，19.48,0)
B(22.5,0,0)
C(-11.25,-19.48,0)
Averaging the measured values of 6 strain sensors on each rod to obtain strain of the support rods at 3 positions, wherein the strain is epsilon1,ε2,ε3。
And substituting the strain input into the formulas (1), (3), (8) and (9) to obtain a 12-element nonlinear equation set, solving the equation by an iterative method, and solving specific numerical values of the point coordinates A ', B' and C 'after change, and further substituting the specific numerical values of the point coordinates A', B 'and C' after change into the formula (12), so that specific numerical values of an included angle formed by a plane formed by the equipment supporting seat and an X axis, an included angle formed by the plane formed by the equipment supporting seat and a Y axis and an included angle formed by the plane formed by the equipment supporting seat and the Z axis are obtained, wherein the included angle is alpha.
Setting the rods AA0 and BB at the time of T0 when the ambient temperature is 20 DEG C0、CC0The upper strains are all 0 mu epsilon;
at the time of T1, bars AA0, BB0、CC0The upper strain is 0 mu epsilon, 10 mu epsilon and 0 mu epsilon respectively
At the time of T2, bars AA0, BB0、CC0The upper strain is 0 mu epsilon, 50 mu epsilon and 0 mu epsilon respectively
The angles of rotation of the top support seat with respect to the original position at three times T0, T1 and T2 are shown in the following table.
TABLE 1 Strain measurement information corresponding to different times and normal direction of the supporting seat
| T0 | T1 | T2 | |
| ε1 | 0με | 0με | 0με |
| ε2 | 0με | 10με | 50με |
| ε3 | 0με | 0με | 0με |
| α | 0.00” | -21.95” | -110.60” |
| β | 0.00” | 0.00” | 0.00” |
| γ | 0.00” | 0.00” | 0.00” |
The space-borne device support solves the problem of space-directional real-time sensing of space-directional requirement devices on a spacecraft, and can feed back the space direction of the devices in real time, so that the measurement accuracy of the devices is improved.
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.
Claims (14)
1. A satellite-borne equipment support with pointing self-perception capability is characterized by comprising a supporting rod (1), a single-axis freedom degree release joint (2), a double-axis freedom degree release joint (3), an equipment supporting seat (4) and a strain sensor (5),
the bottom of the support rod (1) is connected with a single-axis freedom degree release joint (2), and the top of the support rod (1) is connected with a double-axis freedom degree release joint (3) to form a support rod assembly;
the uniaxial freedom release joint (2) is a uniaxial hinge or a unidirectional slotted spring;
the biaxial freedom degree release joint (3) is a ball hinge or a bidirectional slotted spring;
the bottom single-axis freedom degree release joints (2) of the 3 support rods (1) are connected to a spacecraft structure;
the top double-shaft freedom degree release joints (3) of the 3 support rods (1) are connected to the equipment support base (4);
each supporting rod (1) is provided with not less than 1 group of strain sensors (5) for real-time measurement of the strain information of the supporting rods;
the supporting rod deforms due to temperature change, and the stress and the moment of the equipment supporting seat in the direction of X, Y, Z are kept balanced;
the inclination angle of the equipment supporting seat is obtained by determining the position change of the connecting point of the supporting rod and the equipment supporting seat.
2. A space-borne equipment support with directional self-awareness according to claim 1, characterized in that the bottom uniaxial degree-of-freedom releasing joints (2) of the 3 support rods (1) are connected to the spacecraft structure through the support base (6).
3. The satellite-borne equipment support with the pointing self-sensing capability according to claim 2, wherein 3 intersection points of the central line of 3 support rods (1) and the support base (6) determine a circle A, and the 3 intersection points are uniformly distributed on the circle A; the center lines of the 3 support rods (1) and 3 intersection points of the support rods and the equipment support seat (4) determine a circle B, and the 3 intersection points are uniformly distributed on the circle B; the circles A and B are concentric circles.
4. The satellite equipment support with the pointing self-perception capability according to claim 3, wherein the single-axis freedom degree release joint (2) and the double-axis freedom degree release joint (3) are connected with the support base (6) and the equipment supporting seat (4) in a screw connection or an adhesive connection mode.
5. A space-borne equipment support with self-pointing awareness according to claim 3, wherein the single-axis freedom releasing joint (2) is rotatable around the tangent of circle A, i.e. the rotational freedom of the single-axis freedom releasing joint (2) around the tangent of circle A is released.
6. A satellite borne equipment support with pointing self-sensing capability according to claim 3 is characterized by that the biaxial freedom degree release joint (3) can rotate around the tangent direction and radial direction of the circle B, i.e. the rotational freedom degree of the biaxial freedom degree release joint (3) in the tangent and diameter directions is released.
7. The spaceborne equipment bracket with pointing self-sensing capability as claimed in claim 1 is characterized in that if the strain sensor (5) on each supporting rod (1) is more than 1 group, the strain information of the supporting rod is the average value of the multiple groups of sensors.
8. The satellite borne equipment support with pointing self-sensing capability as claimed in claim 1, wherein the plane formed by the equipment support base forms an angle α with the X-axis, an angle β with the Y-axis, and an angle γ with the Z-axis, then
Wherein A, B, C is the position of the connecting point of the support bar and the equipment support seat.
9. The on-board device holder with pointing self-sensing capability according to claim 8,
wherein x isa'、ya'、za'，xb'、yb'、zb'，xc'、yc'、zc'is the spatial position coordinates of A', B 'and C'.
10. The spaceborne equipment bracket with pointing self-sensing capability as claimed in claim 1 wherein the three sides of the support bar after deformation are:
wherein, xa'、ya'、za'，xb'、yb'、zb'，xc'、yc'、zc'is the spatial position coordinates of A', B 'and C'.
11. The spaceborne equipment bracket with pointing self-sensing capability as claimed in claim 1 wherein the length of the three support rods after deformation is changed to:
A、B、C、A0、B0、C0A, B, C moves to A ', B ' and C ' after the temperature changes for six positions at the connecting point of the supporting rod and the equipment supporting seat; rod A0A、B0B and C0C original length is S, and strain of each rod is respectively set as epsilon1,ε2,ε3。
12. The on-board device bracket with pointing self-sensing capability according to claim 1, wherein the relationship between the force and the temperature variation of the three rods is as follows:
F1＝EA(μΔT1-ε1)
F2＝EA(μΔT2-ε2)
F3＝EA(μΔT3-ε3)
where μ denotes the coefficient of thermal expansion, EA is the tensile stiffness of the rods, and the strain of each rod is respectively ε1,ε2,ε3。
13. The on-board device bracket with pointing self-sensing capability as claimed in claim 1, wherein the device supporting base is balanced in force in direction X, Y, Z, comprising:
A、B、C、A0、B0、C0A, B, C moves to spatial position coordinates of A ', B ' and C ' after the temperature changes for six positions at the connecting point of the supporting rod and the equipment supporting seat; delta A0B0C0And Δ A ' B ' C ' are all equilateral triangles with respective side lengths L0And L; rod A0A、B0B and C0The original length of C is S, the height from the bottom of the original support platform is H, and the strain of each rod is respectively set as epsilon1,ε2,ε3And EA is the tensile stiffness of the rod.
14. The on-board device bracket with pointing self-sensing capability as claimed in claim 1, wherein the device supporting base is moment balanced in direction X, Y, Z, comprising:
A、B、C、A0、B0、C0A, B, C moves to spatial position coordinates of A ', B ' and C ' after the temperature changes for six positions at the connecting point of the supporting rod and the equipment supporting seat; delta A0B0C0And Δ A ' B ' C ' are all equilateral triangles with respective side lengths L0And L; rod A0A、B0B and C0The original length of C is S, the height from the bottom of the original support platform is H, and the strain of each rod is respectively set as epsilon1,ε2,ε3And EA is the tensile stiffness of the rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111389377.7A CN114030646B (en) | 2021-11-22 | Satellite-borne equipment support with directional self-perception capability |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111389377.7A CN114030646B (en) | 2021-11-22 | Satellite-borne equipment support with directional self-perception capability |
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