CN116280294B - Inertial force simulation method and system in ground test environment - Google Patents
Inertial force simulation method and system in ground test environment Download PDFInfo
- Publication number
- CN116280294B CN116280294B CN202310300376.3A CN202310300376A CN116280294B CN 116280294 B CN116280294 B CN 116280294B CN 202310300376 A CN202310300376 A CN 202310300376A CN 116280294 B CN116280294 B CN 116280294B
- Authority
- CN
- China
- Prior art keywords
- force
- load
- motion mechanism
- moment
- space motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 105
- 238000012360 testing method Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 134
- 230000000694 effects Effects 0.000 claims abstract description 75
- 230000001133 acceleration Effects 0.000 claims description 66
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000005486 microgravity Effects 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 11
- 238000004590 computer program Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 10
- 238000012545 processing Methods 0.000 description 9
- 230000005484 gravity Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000006124 Pilkington process Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The system comprises a load device controller, a load effect simulation device and a space motion mechanism data feedback module, wherein the load device controller is used for sending force and moment control instructions to the load effect simulation device and controlling the operation of the load effect simulation device; the load effect simulation device is used for simulating the inertia force born by the space motion mechanism, generating the force and the moment required to be applied to the space motion mechanism according to the received force and moment control instruction and outputting the force and the moment to the space motion mechanism; the space motion mechanism is used for simulating a stress structure of a preset spacecraft according to the received force and moment; the data feedback module is used for sending dynamic data and position data to the load device controller. Therefore, the simulation of the inertial force of the space motion mechanism in the weightlessness or microgravity environment can be realized in the ground test environment.
Description
Technical Field
The invention relates to the technical field of aerospace ground testing, in particular to an inertial force simulation method and system in a ground testing environment.
Background
With the continuous development of the technology in China, especially the continuous breakthrough and rapid development in the technical field of aerospace, in the technology of space station construction, satellites, airships and the like, many times, scientific experiments and flight verification of simulated flight on the ground are needed. For example, the inertial force of the simulation mechanism in the weightlessness or microgravity state has important significance for the control technology of the flight of the research mechanism.
In the process of flight verification test in the prior art, the common weightlessness or microgravity environment simulation method can be divided into: the motion method simulates microgravity and the force balance method simulates microgravity, wherein the motion method simulates microgravity comprises a tower falling method, a parabolic flight method, a sounding rocket method and the like, and the force balance method simulates microgravity comprises an air float method, a water float method, a suspension method, a static balance mechanism method, an electromagnetic balance method and the like. The device of the static balance method has the advantages of exquisite structure, easy realization, realization of multi-degree-of-freedom microgravity simulation and small additional inertia effect, and has the defect that the microgravity simulation precision is easily influenced by factors such as spring stiffness. In addition, the existing static balance method microgravity environment simulation device mainly adopts a constant force cylinder to unload gravity so as to achieve microgravity environment simulation, but the precision and response speed of the microgravity environment simulation are seriously affected due to nonlinear control and time lag problems caused by strong compressibility of gas, and the microgravity environment simulation requirement of a spacecraft cannot be met.
Disclosure of Invention
The present disclosure provides a method and system for inertial force simulation in a ground test environment.
According to an aspect of the present disclosure, there is provided an inertial force simulation system in a ground test environment, the system comprising: load device controller, load effect analogue means, space motion mechanism and data feedback module, wherein:
the load device controller is used for generating a force and moment control instruction for controlling the load effect simulation device, sending the force and moment control instruction to the load effect simulation device and controlling the load effect simulation device to operate;
the load effect simulation device is used for simulating the inertia force born by the space motion mechanism, generating the force and the moment required to be applied to the space motion mechanism according to the received force and moment control instruction and outputting the force and the moment to the space motion mechanism;
the space motion mechanism is used for simulating a stress structure of a preset spacecraft according to the received force and moment;
the data feedback module is used for acquiring dynamic data of the space motion mechanism in real time, sending the dynamic data to the load device controller, measuring position data of a loading mechanism of the load effect simulation device, and sending the position data to the load device controller.
Optionally, the data feedback module comprises a multidimensional acceleration sensor, a multidimensional force sensor and a position sensor; wherein,
the multidimensional acceleration sensor is used for collecting acceleration signals of the space motion mechanism in real time;
the multidimensional force sensor is used for monitoring the force and the moment loaded on the space motion mechanism in real time and monitoring the force and the moment output by the load effect simulation device to the space motion mechanism;
the position sensor is used for acquiring the movement position information of the loading mechanism of the load effect simulation device.
Alternatively, the process may be carried out in a single-stage,
the load device controller is further configured to receive an acceleration signal sent by the multidimensional acceleration sensor in the system through the data feedback module, generate an inertial load instruction according to the acceleration signal and inertia of the spatial movement mechanism, and use the inertial load instruction as the force and moment control instruction;
the load device controller is also used for receiving force and moment instructions acquired from outside the system.
Optionally, the load device controller is further configured to obtain historical force and moment control data, and generate the force and moment control instructions based on the historical force and moment control data.
According to a second aspect of the present disclosure, there is provided a method of inertial force simulation in a ground test environment, applied to an inertial force simulation system in a ground test environment, the method comprising:
the load device controller sends a force and moment control instruction to the load effect simulation device and controls the load effect simulation device to operate;
the load effect simulation device simulates the inertia force born by the space motion mechanism, generates the force and the moment required to be applied to the space motion mechanism according to the received force and moment control instruction and outputs the force and the moment to the space motion mechanism;
the space motion mechanism controls and simulates a stress structure of a preset spacecraft according to the received force and moment;
the data feedback module acquires dynamic data of the space movement mechanism in real time, sends the dynamic data to the load device controller, measures position data of the load mechanism of the load effect simulation device, and sends the position data to the load device controller.
Optionally, the data feedback module comprises a multidimensional acceleration sensor, a multidimensional force sensor and a position sensor; the method further comprises the steps of:
the multidimensional acceleration sensor acquires acceleration signals of the space motion mechanism in real time and sends the acceleration signals to the load device controller;
the multi-dimensional force sensor monitors the force and moment loaded on the space motion mechanism in real time, and monitors the force and moment output by the load effect simulation device to the space motion mechanism;
the position sensor acquires movement position information of a loading mechanism of the load effect simulation device.
Optionally, the method further comprises:
the load device controller receives acceleration signals sent by the multidimensional acceleration sensor in the system through the data feedback module, generates an inertial load instruction according to the acceleration signals and inertia of the space motion mechanism, takes the inertial load instruction as the force and moment control instruction, and receives force and moment instructions acquired outside the system.
Optionally, the method further comprises:
the load device controller obtains historical force and torque control data and generates the force and torque control instructions based on the historical force and torque control data.
According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory and a processor, the memory having stored thereon a computer program, the processor implementing the method as described above when executing the program.
According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the above-described method of the present disclosure.
The system comprises a load device controller, a load effect simulation device, a space motion mechanism and a data feedback module, wherein the load device controller is used for generating a force and moment control instruction for controlling the load effect simulation device, sending the force and moment control instruction to the load effect simulation device and controlling the load effect simulation device to operate; the load effect simulation device is used for simulating the inertia force born by the space motion mechanism, generating the force and the moment required to be applied to the space motion mechanism according to the received force and moment control instruction and outputting the force and the moment to the space motion mechanism; the space motion mechanism is used for simulating a stress structure of a preset spacecraft according to the received force and moment; the data feedback module is used for acquiring dynamic data of the space movement mechanism in real time, sending the dynamic data to the load device controller, measuring position data of the loading mechanism of the load effect simulation device and sending the position data to the load device controller. Therefore, the simulation of the inertial force of the space motion mechanism in the weightlessness or micro-low gravity environment can be realized in the ground test environment.
Drawings
Further details, features and advantages of the present disclosure are disclosed in the following description of exemplary embodiments, with reference to the following drawings, wherein:
FIG. 1 is a schematic diagram of an inertial force simulation system in a ground test environment provided in an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an inertial force simulation system in a ground test environment provided in accordance with another exemplary embodiment of the present disclosure;
FIG. 3 is a schematic diagram of an inertial force simulation system in a ground test environment provided in accordance with yet another exemplary embodiment of the present disclosure;
FIG. 4 is a flow chart of a method of inertial force simulation in a ground test environment provided by yet another exemplary embodiment of the present disclosure;
FIG. 5 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure;
fig. 6 is a block diagram of a computer system according to an exemplary embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
In order to complete closed loop test of a control subsystem by matching with an on-board product under the ground, simulation of an inertial force load effect can be realized, and the inertial force simulation method and system in the ground test environment provided by the embodiment of the disclosure can reduce test cost and risk in a test process and improve accuracy and response speed of data simulation.
The disclosed embodiments first provide an inertial force simulation system in a ground test environment, as shown in fig. 1, the system comprising: a load device controller 10, a load effect simulation device 20, a spatial movement mechanism 30, and a data feedback module 40;
wherein:
the load device controller 10 is configured to send a torque control command to the load effect simulation device.
In an embodiment, the load device controller 10 may have different operation modes, for example, may obtain externally input control data to generate force and moment control commands through an external command control mode; or through the self-closing loop control mode, the load device controller 10 controls the load effect simulation device 20 to enable the space motion mechanism 30 to run to a designated position, the load device controller 10 collects acceleration signals of the space multidimensional acceleration sensor in real time, displacement information of the load mechanism of the load effect simulation device 20 is calculated to obtain corresponding force and moment control instructions, and then the load effect simulation device 20 is controlled to realize closed loop control.
The load effect simulation device 20 is used for simulating the inertia force born by the space motion mechanism, generating the force and the moment required to be applied to the space motion mechanism according to the received force and moment control command and outputting the force and the moment to the space motion mechanism.
The space motion mechanism 30 is used for simulating the stress structure of the preset spacecraft according to the received force and moment.
The load effect simulation device 20, upon receiving the torque control command sent by the load device controller 10, simulates the inertial force applied to the spatial movement mechanism 30. For example, the spatial movement mechanism 30 includes three rotation axes in mutually perpendicular directions, and the load effect simulation device 20 applies a moment generated by the moment control command to different rotation axes of the spatial movement mechanism 30 according to the received moment control command, so as to simulate an inertial force generated by the spatial movement mechanism 30 through the three rotation axes to generate inertial force data of the spatial movement mechanism 30.
The data feedback module 40 is configured to acquire dynamic data of the spatial movement mechanism 30 in real time, send the dynamic data to the load device controller 10, measure position data of the loading mechanism of the load effect simulation device 20, and send the position data to the load device controller 10.
In an embodiment, the data feedback module 40 may collect dynamic data of the spatial movement mechanism 30 in real time and send the dynamic data to the load device controller 10, so that the load device controller 10 may dynamically generate force and moment control instructions for controlling the load effect simulation device 20 according to the dynamic data fed back by the data feedback module 40.
In the embodiment, since the load effect simulation device is used for generating the force and moment required to be applied to the space motion mechanism 30 and outputting the force and moment to the space motion mechanism 30, when the space motion mechanism 30 receives the force and moment outputted by the load effect simulation device 20, the space motion mechanism needs to simulate the preset spacecraft to generate corresponding dynamic data. For example, when the preset spacecraft is a satellite of a certain model, if the force and the moment output by the load effect simulation device 20 are used for controlling the satellite to rotate or move, the space motion mechanism 30 does not need to adopt a real satellite or a satellite model, and the like, and only needs to simulate the stress of the preset spacecraft according to the requirement, and simulate the preset spacecraft according to the received force and moment to generate corresponding dynamic data; for example, the space motion mechanism 30 may be a small micro device connected to the load effect simulation device 20, and is configured to receive the force and moment output by the load effect simulation device 20, and generate corresponding dynamic data by simulating the stress structure of a preset spacecraft. And the spatial movement mechanism 30 can adopt a stress body made of light materials to simulate the stress structure of a preset spacecraft so as to reduce the influence of gravity on the spatial movement mechanism as much as possible, thus reducing the rigidity requirement of the spatial movement mechanism in ground test, reducing the cost and better simulating the inertia force in the weightless or micro weightless environment.
Therefore, the structure of the space motion mechanism needs to be consistent with a preset spacecraft product on the satellite, and is used for simulating a stress structure of the preset spacecraft, and only the stress structure is simulated, so that the problem that the space motion mechanism bears the gravity of the whole space mechanism or other devices are needed to counteract the gravity of the whole space mechanism is avoided, and the effect of simulating the inertia force of the space motion mechanism in a ground test environment is achieved.
The system comprises a load device controller, a load effect simulation device and a space motion mechanism, wherein the load device controller is used for generating a force and moment control instruction for controlling the load effect simulation device, sending the force and moment control instruction to the load effect simulation device and controlling the load effect simulation device to operate; the load effect simulation device is used for simulating the inertia force born by the space motion mechanism, generating the force and the moment required to be applied to the space motion mechanism according to the received force and moment control instruction and outputting the force and the moment to the space motion mechanism; the space motion mechanism is used for simulating a stress structure of a preset spacecraft according to the received force and moment. Therefore, the simulation of the inertial force of the space motion mechanism in the weightlessness or micro-low gravity environment can be realized in the ground test environment. And the test cost and the test risk can be reduced to a great extent, and the environment simulation requirement of the spacecraft can be well met.
In an embodiment provided by the present disclosure, the above-mentioned inertial force simulation system in a ground test environment, the data feedback module includes a multi-dimensional acceleration sensor, a multi-dimensional force sensor, and a position sensor. As shown in fig. 2 and fig. 3, fig. 2 is an inertial force simulation system in a ground test environment in a control mode by an external command provided in an embodiment of the present disclosure, and fig. 3 is an inertial force simulation system in a ground test environment in a self-closing control mode provided in an embodiment of the present disclosure. Wherein,
the multidimensional acceleration sensor is used for collecting acceleration signals of the space motion mechanism in real time.
The multidimensional force sensor is used for monitoring the force and moment loaded on the space motion mechanism in real time and monitoring the force and moment output by the load effect simulation device 20 to the space motion mechanism.
And the position sensor is used for acquiring the movement position information of the loading mechanism of the load effect simulation device.
In an embodiment, the load device controller is further configured to receive an acceleration signal sent by the multidimensional acceleration sensor, generate an inertial load command according to the acceleration signal and inertia of the spatial movement mechanism, and use the inertial load command as a moment control command, so as to send the moment control command to the load effect simulation device.
In an embodiment, in the ground test environment corresponding to fig. 2 in the external command control mode, the inertial force simulation system may generate the force and moment control commands by acquiring the control data input from the outside through the external command control mode. The external command control mode may specifically be to acquire historical force and moment control data, and generate the force and moment control command based on the historical force and moment control data, for example, a series of control data input from the outside in a historical period of time. Wherein F is C /T C Representing externally entered force and moment data.
In an embodiment, in the inertial force simulation system in the ground test environment under the self-closing control mode corresponding to fig. 3, the load device controller is further configured to receive an acceleration signal sent by the multidimensional acceleration sensor, generate an inertial load instruction according to the acceleration signal and inertia of the spatial motion mechanism, and use the inertial load instruction as a force and moment control instruction. For example, the load device controller collects the space multidimensional acceleration signals, multiplies the inertia of the response to obtain an inertial load instruction, and then is closed-loop controlled by the loading system to realize the output of moment.
Specifically, the space motion mechanism in the embodiment of the disclosure may be a power device of a spacecraft motion mechanism, and is used for driving the spacecraft motion mechanism to perform motion, that is, an on-board product. The load device controller can support data measurement, data reception, data calculation and data output. The load device controller is connected with a multidimensional acceleration sensor, a multidimensional force sensor and a position sensor, wherein the multidimensional acceleration sensor can be used for sensing acceleration signals of the space movement mechanism in real time and transmitting the acceleration signals to the load device controller, and particularly can comprise acceleration in the Z direction and angular acceleration in the Y direction, inertial load of the space movement mechanism is obtained through acceleration calculation, and the load device controller applies the inertial force to the space movement mechanism to simulate actual working conditions. The multidimensional force sensor can be used for measuring the force and the moment loaded by the space motion mechanism in real time, and can also monitor the force and the moment output by the load effect simulation device, wherein the measuring direction of the multidimensional force sensor comprises the force in the Z direction and the moment in the Y direction; the position sensor is used for measuring the movement position of the space movement mechanism and the position output by the equivalent load effect simulation device.
In the embodiment, the data of the space motion mechanism is measured through the multidimensional force sensor, the multidimensional acceleration sensor and the position sensor, the measured data is collected by the load device controller, the force and moment control instruction of the corresponding load effect simulation device is output to the load effect simulation device, the load effect simulation device is connected with the space motion mechanism, the connection mode and the stress structure of the space motion mechanism and the spacecraft in the on-board product are simulated, and the purposes of simulating the inertia force borne by the space motion mechanism and applying the inertia force to the space motion mechanism are achieved.
In still another embodiment provided by the present disclosure, there is further provided a method for simulating an inertial force in a ground test environment, which may be applied to the inertial force simulation system in a ground test environment as shown in fig. 4, and may include the steps of:
in step S410, the load device controller sends force and torque control commands to the load effect simulation device and controls the load effect simulation device to operate.
In step S420, the load effect simulator simulates the inertial force applied to the spatial movement mechanism, and generates a force and a moment to be applied to the spatial movement mechanism according to the received force and moment control command, and outputs the force and moment to the spatial movement mechanism.
In step S430, the spatial movement mechanism simulates a stress structure of a preset spacecraft according to the received force and moment control.
In step S440, the data feedback module acquires dynamic data of the spatial movement mechanism in real time, and transmits the dynamic data to the load device controller, and measures position data of the loading mechanism of the load effect simulation device, and transmits the position data to the load device controller.
In an embodiment provided by the present disclosure, the data feedback module includes a multi-dimensional acceleration sensor, a multi-dimensional force sensor, and a position sensor; the method further comprises the steps of:
s10, acquiring acceleration signals of a space motion mechanism in real time by a multidimensional acceleration sensor, and sending the acceleration signals to a load device controller;
s20, a multidimensional force sensor monitors the force and moment loaded on the space motion mechanism in real time, and monitors the force and moment output by a load effect simulation device to the space motion mechanism;
s30, the position sensor acquires movement position information of a loading mechanism of the load effect simulation device.
In connection with the embodiment described above with respect to fig. 2, the load device controller obtains historical force and torque control data and generates force and torque control commands based on the historical force and torque control data.
In combination with the embodiment corresponding to fig. 3, the load device controller receives the acceleration signal sent by the multidimensional acceleration sensor, generates an inertial load command according to the acceleration signal and inertia of the spatial movement mechanism, and takes the inertial load command as a moment control command.
For a specific description of the method embodiment, reference may be made to the corresponding description of the system embodiment described above, which is not repeated here.
The embodiment of the disclosure also provides an electronic device, including: at least one processor; a memory for storing the at least one processor-executable instruction; wherein the at least one processor is configured to execute the instructions to implement the above-described methods disclosed by embodiments of the present disclosure.
Fig. 5 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure. As shown in fig. 5, the electronic device 1800 includes at least one processor 1801 and a memory 1802 coupled to the processor 1801, the processor 1801 may perform corresponding steps in the above-described methods disclosed by embodiments of the present disclosure.
The processor 1801 may also be referred to as a central processing unit (central processing unit, CPU), which may be an integrated circuit chip with signal processing capabilities. The steps of the above-described methods disclosed in the embodiments of the present disclosure may be accomplished by instructions in the form of integrated logic circuits or software in hardware in the processor 1801. The processor 1801 may be a general purpose processor, a digital signal processor (digital signal processing, DSP), an ASIC, an off-the-shelf programmable gate array (field-programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may reside in a memory 1802 such as random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as is well known in the art. The processor 1801 reads the information in the memory 1802 and, in combination with its hardware, performs the steps of the method described above.
In addition, various operations/processes according to the present disclosure, when implemented by software and/or firmware, may be installed from a storage medium or network to a computer system having a dedicated hardware structure, such as computer system 1900 shown in fig. 6, which is capable of performing various functions including functions such as those described previously, and the like, when various programs are installed. Fig. 6 is a block diagram of a computer system according to an exemplary embodiment of the present disclosure.
Computer system 1900 is intended to represent various forms of digital electronic computing devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 6, the computer system 1900 includes a computing unit 1901, and the computing unit 1901 may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1902 or a computer program loaded from a storage unit 1908 into a Random Access Memory (RAM) 1903. In the RAM 1903, various programs and data required for the operation of the computer system 1900 may also be stored. The computing unit 1901, ROM 1902, and RAM 1903 are connected to each other via a bus 1904. An input/output (I/O) interface 1905 is also connected to bus 1904.
Various components in computer system 1900 are connected to I/O interface 1905, including: an input unit 1906, an output unit 1907, a storage unit 1908, and a communication unit 1909. The input unit 1906 may be any type of device capable of inputting information to the computer system 1900, and the input unit 1906 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device. The output unit 1907 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 1908 may include, but is not limited to, magnetic disks, optical disks. The communication unit 1909 allows the computer system 1900 to exchange information/data with other devices over a network, such as the internet, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth (TM) devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.
The computing unit 1901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 1901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1901 performs the various methods and processes described above. For example, in some embodiments, the above-described methods disclosed by embodiments of the present disclosure may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 1908. In some embodiments, some or all of the computer programs may be loaded and/or installed onto electronic device 1900 via ROM 1902 and/or communication unit 1909. In some embodiments, the computing unit 1901 may be configured to perform the above-described methods of the disclosed embodiments by any other suitable means (e.g., by means of firmware).
The disclosed embodiments also provide a computer-readable storage medium, wherein instructions in the computer-readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the above-described method disclosed by the disclosed embodiments.
A computer readable storage medium in embodiments of the present disclosure may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium described above can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specifically, the computer-readable storage medium described above may include one or more wire-based electrical connections, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The disclosed embodiments also provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the above-described methods of the disclosed embodiments.
In an embodiment of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computers may be connected to the user computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computers.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules, components or units referred to in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a module, component or unit does not in some cases constitute a limitation of the module, component or unit itself.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The above description is merely illustrative of some embodiments of the present disclosure and of the principles of the technology applied. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (6)
1. An inertial force simulation system in a ground testing environment, the system comprising: load device controller, load effect analogue means, space motion mechanism and data feedback module, wherein:
the load device controller is used for generating a force and moment control instruction for controlling the load effect simulation device, sending the force and moment control instruction to the load effect simulation device and controlling the load effect simulation device to operate;
the load device controller is further used for acquiring historical force and moment control data and generating the force and moment control instructions based on the historical force and moment control data;
the load effect simulation device is used for simulating the inertia force born by the space motion mechanism, generating the force and the moment required to be applied to the space motion mechanism according to the received force and moment control instruction and outputting the force and the moment to the space motion mechanism;
the space motion mechanism is used for simulating a stress structure of a preset spacecraft according to the received force and moment, and a stress body formed by light materials is adopted for simulating the stress structure of the preset spacecraft;
the data feedback module is used for acquiring dynamic data of the space movement mechanism in real time, sending the dynamic data to the load device controller, measuring position data of a loading mechanism of the load effect simulation device, and sending the position data to the load device controller;
the data feedback module comprises a multidimensional acceleration sensor, a multidimensional force sensor and a position sensor; wherein,
the multi-dimensional acceleration sensor is used for acquiring acceleration signals of the space motion mechanism in real time, sensing the acceleration signals of the space motion mechanism in real time and transmitting the acceleration signals to the load device controller, wherein the acceleration signals comprise acceleration in the Z direction and angular acceleration in the Y direction, inertial load of the space motion mechanism is obtained through acceleration calculation, and the load device controller applies the inertial force to the space motion mechanism;
the multidimensional force sensor is used for monitoring the force and the moment loaded on the space motion mechanism in real time and monitoring the force and the moment output by the load effect simulation device to the space motion mechanism;
the position sensor is used for acquiring the movement position information of the loading mechanism of the load effect simulation device.
2. The system of claim 1, wherein the load device controller is further configured to receive, via the data feedback module, acceleration signals sent by the multi-dimensional acceleration sensor within the system, and generate inertial load commands based on the acceleration signals and the inertia of the spatial movement mechanism, and take the inertial load commands as the force and moment control commands;
the load device controller is also used for receiving force and moment instructions acquired from outside the system.
3. An inertial force simulation method in a ground test environment, applied to an inertial force simulation system in the ground test environment, the method comprising:
the load device controller sends a force and moment control instruction to the load effect simulation device and controls the load effect simulation device to operate;
the load device controller is further used for acquiring historical force and moment control data and generating the force and moment control instructions based on the historical force and moment control data;
the load effect simulation device simulates the inertia force born by the space motion mechanism, generates the force and the moment required to be applied to the space motion mechanism according to the received force and moment control instruction and outputs the force and the moment to the space motion mechanism;
the space motion mechanism simulates a stress structure of a preset spacecraft according to the received force and moment control, and a stress body formed by light materials is adopted to simulate the stress structure of the preset spacecraft;
the data feedback module acquires dynamic data of the space movement mechanism in real time, sends the dynamic data to the load device controller, measures position data of a loading mechanism of the load effect simulation device, and sends the position data to the load device controller;
the data feedback module comprises dynamic data transmitted by a multidimensional acceleration sensor, a multidimensional force sensor and a position sensor; the method further comprises the steps of:
the multi-dimensional acceleration sensor is used for collecting acceleration signals of the space motion mechanism in real time and sending the acceleration signals to the load device controller, the multi-dimensional acceleration sensor is also used for sensing the acceleration signals of the space motion mechanism in real time and transmitting the acceleration signals to the load device controller, the acceleration signals comprise acceleration in the Z direction and angular acceleration in the Y direction, inertial load of the space motion mechanism is obtained through acceleration calculation, and the load device controller applies the inertial force to the space motion mechanism;
the multi-dimensional force sensor monitors the force and moment loaded on the space motion mechanism in real time, and monitors the force and moment output by the load effect simulation device to the space motion mechanism;
the position sensor acquires movement position information of a loading mechanism of the load effect simulation device.
4. A method according to claim 3, characterized in that the method further comprises:
the load device controller receives acceleration signals sent by the multidimensional acceleration sensor in the system through the data feedback module, generates an inertial load instruction according to the acceleration signals and inertia of the space motion mechanism, takes the inertial load instruction as the force and moment control instruction, and receives force and moment instructions acquired outside the system.
5. An electronic device, comprising:
at least one processor;
a memory for storing the at least one processor-executable instruction;
wherein the at least one processor is configured to execute the instructions to implement the method of any of claims 3-4.
6. A computer readable storage medium, characterized in that instructions in the computer readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the method of any one of claims 3-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310300376.3A CN116280294B (en) | 2023-03-24 | 2023-03-24 | Inertial force simulation method and system in ground test environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310300376.3A CN116280294B (en) | 2023-03-24 | 2023-03-24 | Inertial force simulation method and system in ground test environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116280294A CN116280294A (en) | 2023-06-23 |
| CN116280294B true CN116280294B (en) | 2024-03-12 |
Family
ID=86795776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310300376.3A Active CN116280294B (en) | 2023-03-24 | 2023-03-24 | Inertial force simulation method and system in ground test environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116280294B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH112588A (en) * | 1996-08-01 | 1999-01-06 | Schenck Komeg Gmbh | Method for simulating inertia force by dynamometer |
| CN104122035A (en) * | 2014-07-02 | 2014-10-29 | 西南大学 | Direct-set load torque and rotational inertia simulating system and control method thereof |
| CN104477420A (en) * | 2014-10-27 | 2015-04-01 | 清华大学 | Nine-rope driving robot device for simulating zero gravity and low gravity |
| CN204705887U (en) * | 2015-05-26 | 2015-10-14 | 湖北工业大学 | A kind of pneumatic servo weighted platform structure |
| WO2017000396A1 (en) * | 2015-06-30 | 2017-01-05 | 中国空间技术研究院 | Truss antenna reflector deployment dynamics modelling method based on multi-body analysis test |
| CN108414175A (en) * | 2018-02-06 | 2018-08-17 | 南京航空航天大学 | The vibration-testing and method of movement are adhered under simulated microgravity on elastic linear |
| CN111947959A (en) * | 2020-08-18 | 2020-11-17 | 哈尔滨工业大学 | Electric inertia simulation method |
| CN112304333A (en) * | 2020-09-10 | 2021-02-02 | 北京无线电测量研究所 | Inertia subassembly testing system and testing method thereof |
| KR20210086009A (en) * | 2019-12-31 | 2021-07-08 | 한국항공우주연구원 | Verification system, method and program for controlling a satellite attitude |
| CN113942667A (en) * | 2021-11-15 | 2022-01-18 | 华中科技大学 | Method and device for simulating low gravity environment |
| CN114162359A (en) * | 2022-02-11 | 2022-03-11 | 清华大学 | Active compensation method for somatosensory micro-low gravity simulation device |
| CN114690640A (en) * | 2022-04-01 | 2022-07-01 | 北京航空航天大学 | Self-adaptive robust control method and device with inertia compensation |
| CN114739548A (en) * | 2022-03-30 | 2022-07-12 | 广东科伺智能科技有限公司 | Servo test system |
| CN115157260A (en) * | 2022-07-27 | 2022-10-11 | 北京航空航天大学 | Gravity and inertia force compensation method for six-dimensional force sensor at tail end of mechanical arm |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2491101A1 (en) * | 2003-12-30 | 2005-06-30 | Canadian Space Agency | Zero-g emulating testbed for spacecraft control system |
| US20180057193A1 (en) * | 2016-08-23 | 2018-03-01 | David Byron Douglas | Simulated Gravity Device |
| CN113119096B (en) * | 2019-12-30 | 2022-10-28 | 深圳市优必选科技股份有限公司 | Mechanical arm space position adjusting method and device, mechanical arm and storage medium |
-
2023
- 2023-03-24 CN CN202310300376.3A patent/CN116280294B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH112588A (en) * | 1996-08-01 | 1999-01-06 | Schenck Komeg Gmbh | Method for simulating inertia force by dynamometer |
| CN104122035A (en) * | 2014-07-02 | 2014-10-29 | 西南大学 | Direct-set load torque and rotational inertia simulating system and control method thereof |
| CN104477420A (en) * | 2014-10-27 | 2015-04-01 | 清华大学 | Nine-rope driving robot device for simulating zero gravity and low gravity |
| CN204705887U (en) * | 2015-05-26 | 2015-10-14 | 湖北工业大学 | A kind of pneumatic servo weighted platform structure |
| WO2017000396A1 (en) * | 2015-06-30 | 2017-01-05 | 中国空间技术研究院 | Truss antenna reflector deployment dynamics modelling method based on multi-body analysis test |
| CN108414175A (en) * | 2018-02-06 | 2018-08-17 | 南京航空航天大学 | The vibration-testing and method of movement are adhered under simulated microgravity on elastic linear |
| KR20210086009A (en) * | 2019-12-31 | 2021-07-08 | 한국항공우주연구원 | Verification system, method and program for controlling a satellite attitude |
| CN111947959A (en) * | 2020-08-18 | 2020-11-17 | 哈尔滨工业大学 | Electric inertia simulation method |
| CN112304333A (en) * | 2020-09-10 | 2021-02-02 | 北京无线电测量研究所 | Inertia subassembly testing system and testing method thereof |
| CN113942667A (en) * | 2021-11-15 | 2022-01-18 | 华中科技大学 | Method and device for simulating low gravity environment |
| CN114162359A (en) * | 2022-02-11 | 2022-03-11 | 清华大学 | Active compensation method for somatosensory micro-low gravity simulation device |
| CN114739548A (en) * | 2022-03-30 | 2022-07-12 | 广东科伺智能科技有限公司 | Servo test system |
| CN114690640A (en) * | 2022-04-01 | 2022-07-01 | 北京航空航天大学 | Self-adaptive robust control method and device with inertia compensation |
| CN115157260A (en) * | 2022-07-27 | 2022-10-11 | 北京航空航天大学 | Gravity and inertia force compensation method for six-dimensional force sensor at tail end of mechanical arm |
Non-Patent Citations (2)
| Title |
|---|
| 基于等效惯量模拟的空间站转位机械臂承载性能测试;徐志刚;白鑫林;王军义;贺云;;机器人(02);231-236 * |
| 负载模拟器中无刷直流电机力矩控制仿真;乔俊福;杨瑞峰;郭晨霞;张鹏;;计算机仿真(03);43-45 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116280294A (en) | 2023-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101739031B (en) | Small satellite attitude control ground simulating device and method | |
| US20080070196A1 (en) | Docked emulation system | |
| CN112067222B (en) | Multi-degree-of-freedom vibration platform collaborative simulation detection method and detection system | |
| Sarebanha et al. | Real-time hybrid simulation of seismically isolated structures with full-scale bearings and large computational models | |
| CN116280294B (en) | Inertial force simulation method and system in ground test environment | |
| Budiyono et al. | Real‐time hardware simulation of a small‐scale helicopter dynamics | |
| CN109668704A (en) | A kind of separate type mixed test system and test method | |
| CN113900388A (en) | Spacecraft attitude control physical simulation test system accurate quick-building platform and method | |
| Callenes et al. | A multidisciplinary framework for using emerging computing systems in engineering education | |
| Petrosian et al. | Test platform for Simulation-In-Hardware of unmanned aerial vehicle on-board computer. | |
| CN109814584A (en) | Flexible spacecraft attitude and structural vibration coupling control experiment system | |
| JPH06102815A (en) | Simulation device for driving mechanism and method thereof and simulation device for structure and method thereof | |
| Chait et al. | Georgia Tech Small Satellite Real-Time Hardware-in-the-Loop Simulation Environment: SoftSim6D | |
| CN112415979B (en) | Flight control test system, method, equipment and storage medium | |
| CN116394268A (en) | Simulation method, device and equipment of robot and storage medium | |
| CN113184222B (en) | Magnetic torquer signal processing method and system of satellite attitude and orbit control comprehensive test equipment | |
| RU2771111C1 (en) | Hardware and software platform of the hardware-in-the-loop simulation stand for testing the unmanned aerial vehicle computer | |
| Betancur et al. | Design and Development of a Test Bed with Active Tracking Control to Support Gravity Off-loading | |
| Bondyra et al. | Experimental test bench for multirotor UAVs | |
| Jin et al. | Research on Ground Microgravity Simulation System Based on Parallel Mechanism | |
| You et al. | A Real-Time Simulator for Processor-In-the-Loop Simulation of Small Satellites | |
| Eideh et al. | Designing and Constructing an Educational Apparatus for Control of Motion | |
| CN114516052A (en) | Dynamics control method and system of parallel real-time high-performance multi-axis mechanical arm | |
| CN117213526A (en) | Verification quality control simulation method and device for inertial measurement equipment | |
| CN114880793A (en) | Mass spring damping characteristic simulation method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |