JP2010285057A - Spacecraft motion simulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simulate a large-angle attitude motion of a satellite and a wide-band microdisturbance environment. <P>SOLUTION: A spacecraft motion simulator includes an attitude simulation part, a disturbance simulation part mounted with mounting equipment, and a mounted-system simulator that operates the simulation parts. The attitude simulation part is driven by an attitude command value from the mounted-system simulator. The disturbance simulation part is driven by a disturbance command value generated by a disturbance command generator. The disturbance command generator generates the disturbance command value so as to cancel the effects of disturbances, caused by the attitude simulation part, on the basis of each attitude of the attitude simulation part and the disturbance simulation part by a disturbance generation command value from the mounted-system simulator. Consequently, it is possible to simulate a wide-band microdisturbance environment having a wide movable range. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spacecraft motion simulation device, and in particular, a spacecraft motion simulation device including a rotationally driven spacecraft attitude simulation unit and a 6-DOF translational drive and rotationally driven spacecraft disturbance simulation unit. It is about.

  In a conventional spacecraft motion simulation device, two links are connected by a universal joint, one end is provided with a ball joint, and the other end is provided with a plurality of two link arms mounted with a rotary actuator. A configuration in which the base plate is coupled by six two-link arms, a rotary actuator is arranged at each coupling portion of the base plate and the two link arms, and each rotary actuator is driven to freely change the position and posture of the upper plate. (For example, refer to Patent Document 1).

JP 07-187100 A

  In such a spacecraft motion simulation device, since the translational movable range by the two-link mechanism is small, it is necessary to increase the length of the two-link arm when simulating the attitude motion of the spacecraft. There was a problem that the machine motion simulation device mechanism was enlarged. In addition, because of the link mechanism, the angle range for simulating attitude movement is limited, and there is a problem that it is not possible to simulate the wide-band micro disturbance environment of the satellite while simulating attitude movement at a large angle of the satellite. .

  Accordingly, an object of the present invention is to obtain a spacecraft motion simulation device that can simulate a wide-range minute disturbance environment of a satellite with a wide rotational movable range.

  The spacecraft motion simulation device according to the present invention is supported by a first rotary actuator that is directly connected to the first rotary mechanism, a second rotary actuator that is incorporated in the first rotary mechanism, and a bearing. The second rotation mechanism unit, the third rotation type actuator incorporated in the second rotation mechanism unit, and the first on-board equipment interface directly connected to the third rotation type actuator via the third rotation mechanism unit A spacecraft attitude simulation unit having a unit and a second on-board device mounted on the first on-board device interface unit are supported by a parallel mechanism so as to be driven to translate and rotate with six degrees of freedom. A spacecraft disturbance simulation section equipped with an onboard equipment interface section, a spacecraft attitude simulation section, and a spacecraft onboard system simulator that operates the spacecraft disturbance simulation section. In the simulator, an attitude simulator driving device that drives the spacecraft attitude simulation unit with an attitude command value from the spacecraft onboard system simulator, and a turbulence generation command value from the spacecraft onboard system simulator, Based on the attitude of the aircraft attitude simulation unit and the attitude of the spacecraft disturbance simulation unit, generate a disturbance command value based on the spacecraft disturbance command value so as to cancel the influence of the disturbance by the spacecraft attitude simulation unit, And a disturbance command generating device for operating the disturbance simulation unit driving device.

  According to the present invention, a 6-DOF high-speed drive can be achieved by providing a 6-DOF translational and rotationally driven spacecraft disturbance simulation unit by a parallel mechanism, and the spacecraft attitude can be rotationally driven by a rotary actuator. Disturbance that generates a disturbance command value from the attitude information by the spacecraft attitude simulation section and the translational 3 degrees of freedom and the rotation 3 degrees of freedom fluctuation information by the spacecraft disturbance simulation section by providing the simulation section By providing the command generation device, there is an unprecedented remarkable effect that only the desired disturbance can be generated by suppressing the influence of the disturbance by the spacecraft attitude simulation unit.

It is a side view which shows the spacecraft motion simulation apparatus by Embodiment 1 of this invention. It is a side view which shows the spacecraft motion simulation apparatus by Embodiment 2 of this invention. It is a top view which shows the spacecraft disturbance simulation part by Embodiment 2 of this invention. It is a side view which shows the spacecraft motion simulation apparatus by Embodiment 3 of this invention. It is a side view which shows the spacecraft motion simulation apparatus by Embodiment 4 of this invention. It is a side view which shows the spacecraft motion simulation apparatus by Embodiment 5 of this invention. It is a side view which shows the spacecraft motion simulation apparatus by Embodiment 6 of this invention. It is a side view which shows the spacecraft motion simulation apparatus by Embodiment 7 of this invention.

  Hereinafter, embodiments of the spacecraft motion simulation device of the present invention will be described.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing a side view of a spacecraft motion simulation device according to Embodiment 1 of the present invention. In the spacecraft motion simulation device, a first rotary actuator 8 such as a motor is attached to a posture simulation unit base 9. The first rotation mechanism unit 7 is directly connected to the first rotary actuator 8. A second rotary actuator 5 such as a motor and a bearing (not shown) are incorporated in the first rotary mechanism unit 7, and the second rotary mechanism unit 4 is constituted by the second rotary actuator 5 and a bearing (not shown). It is supported. A third rotary actuator 3 such as a motor is incorporated in the second rotary mechanism unit 4, and the third rotary mechanism unit 2 is directly connected to the third rotary type actuator 3. Reference numeral 1 is directly connected to a third rotary actuator 3 via a third rotary mechanism 2. Further, a counterweight 6 is provided in the second rotation mechanism unit 4 in order to keep the balance of the second rotation mechanism unit 4.

  A spacecraft attitude command value is generated by the spacecraft mounting system simulator 11, and the first rotary actuator 8, the second rotary actuator 5, and the third rotation are generated by the attitude simulator drive device 10 based on the command value. By driving the type actuator 3, the spacecraft attitude simulation unit 17 is rotationally driven with three degrees of freedom to simulate the attitude of the spacecraft. Note that the third rotary actuator 3 may be fixed if the spacecraft mounted device 28 does not require a degree of freedom of rotation around the directional axis, such as an optical communication antenna.

  On the first mounted device interface unit 1, a parallel mechanism 16 including six translational actuators 14 such as piezoelectric actuators and linear motion motors is attached to the disturbance simulation unit mount 13 and supported by the parallel mechanism 16. A spacecraft mounting device 28 is mounted on the second mounting device interface section 15. The mounted device 28 is, for example, a telescope with a built-in camera, an optical communication antenna, or a radio wave antenna.

  Disturbance command value from the spacecraft on-board simulation device 11, posture freedom unit from the posture simulation unit posture detector 31, three-degree-of-freedom posture information, and six freedoms from the disturbance simulation unit displacement / posture detector 32 On the basis of the degree information, the disturbance command generation device 33 generates a spacecraft disturbance generation command value, and the translation simulator 14 is driven by the disturbance simulation unit driving device 12 based on the command value to thereby generate the spacecraft disturbance simulation unit. 18 is driven in translation with 3 degrees of freedom and rotationally driven with 3 degrees of freedom to simulate the disturbance of the spacecraft. The disturbance command generation device generates a spacecraft disturbance generation command value so as to cancel it based on the three-degree-of-freedom posture information of the posture simulation unit, and suppresses the influence of the disturbance by the spacecraft posture simulation unit 17.

  In addition, although the example of the expansion-contraction type parallel mechanism driven with a translation type actuator was shown as the parallel mechanism 16 here, the rotation type parallel mechanism driven with a rotation type actuator, or the linear motion type parallel mechanism driven with a translation type actuator, or A wire-driven parallel mechanism driven by a rotary actuator may be used.

  As described above, the spacecraft motion simulation device includes the first rotary actuator 8 directly connected to the first rotary mechanism unit 7 and the second rotary actuator 5 incorporated in the first rotary mechanism unit 7. And the second rotation mechanism unit 4 supported by the bearings, the third rotation type actuator 3 incorporated in the second rotation mechanism unit 4, and the third rotation type via the third rotation mechanism unit 2. The spacecraft attitude simulation unit 17 having the first on-board device interface unit 1 directly connected to the actuator 3 and the parallel mechanism 16 are driven to translate and rotate with six degrees of freedom on the first on-board device interface unit 1. The spacecraft disturbance simulation section 18 provided with the second onboard equipment interface section 15 for mounting the onboard equipment, the spacecraft attitude simulation section 17 and the spacecraft disturbance simulation section 18 are operated. And a spacecraft equipped with system simulation device 11. In addition, the spacecraft motion simulation device includes a posture simulation unit driving device 10 that drives the spacecraft posture simulation unit 17 according to a posture command value from the spacecraft mounting system simulation device 11 and a disturbance generation from the spacecraft mounting system simulation device 11. Based on the command value, the disturbance command value based on the spacecraft disturbance command value so as to cancel the influence of the disturbance by the spacecraft posture simulation unit 17 based on the attitude of the spacecraft posture simulation unit 17 and the attitude of the spacecraft disturbance simulation unit 18. And a disturbance command generation device 33 for operating the disturbance simulation unit drive device 12. The spacecraft motion simulation apparatus also includes a posture simulation unit posture detector 31 that detects the posture of the spacecraft posture simulation unit 17 and a disturbance simulation unit displacement / posture detector 32 that detects the posture of the spacecraft disturbance simulation unit 18. I have.

  According to such a configuration, the space mechanism disturbance simulating unit that is driven and translated and rotated by six degrees of freedom by the parallel mechanism 16 can be used to perform high speed driving of six degrees of freedom. The range of rotational movement can be increased by driving the machine disturbance simulation unit 18 with another actuator, and the attitude information by the spacecraft attitude simulation unit 17 and the fluctuation information of the translational 3 degrees of freedom and the rotation 3 degrees of freedom by the spacecraft disturbance simulation unit 18. By providing the disturbance command generation device 33 that generates a disturbance command value from the above, it is possible to suppress the influence of the disturbance by the spacecraft attitude simulation unit 17 and generate only a desired disturbance.

Embodiment 2. FIG.
Further, in FIG. 1, the spacecraft disturbance simulation unit 18 has a parallel mechanism composed of six translational actuators 14 in order to simulate a six-degree-of-freedom disturbance of the spacecraft. However, there are cases where there is almost no influence due to the disturbance in the translational direction or the disturbance in the rotational direction around the optical axis, such as a mounted device such as a telescope that handles parallel light and an optical communication antenna. In this case, as shown in FIG. 2, the spacecraft disturbance simulation unit 18 may have a structure including three translational actuators 14. A view of the spacecraft disturbance simulation unit 18 as viewed from above is shown in FIG. As shown in FIG. 3, by arranging the translational actuator 14 concentrically at 120 °, the spacecraft disturbance simulation unit 18 can have two degrees of freedom of rotation and one degree of freedom of translation.

  According to such a configuration, by reducing the number of translational actuators 14, it is possible to reduce the load of the drive arithmetic processing of the spacecraft mounting system simulation device 11, reduce the power consumption of the spacecraft disturbance simulation section 18, and spacecraft disturbance. The structure of the simulation unit 18 can be simplified.

Embodiment 3 FIG.
In FIG. 1, in order to simulate the attitude of the spacecraft with three degrees of freedom, the spacecraft attitude simulation unit 17 includes three rotary actuators 3, 5, and 8. However, there are cases where there is almost no influence of the rotational direction around the optical axis, such as on-board equipment such as a telescope and an optical communication antenna. In addition, one degree of freedom of rotation may be sufficient to simulate the attitude of a spacecraft. In such a case, as shown in FIG. 4, the spacecraft attitude simulation unit 17 may have a structure including a single rotary actuator 8. FIG. 4 is configured to simulate the rotation of the attitude around the vertical axis with respect to the ground, but the spacecraft motion simulator is rotated 90 ° and installed on the ground, and the attitude around the parallel axis with respect to the ground. It is good also as a structure which simulates rotation of this. With this configuration, it is possible to reduce the load of the driving arithmetic processing, to reduce the size and power consumption of the spacecraft attitude simulation section, and to simplify the structure of the spacecraft attitude simulation section.

Embodiment 4 FIG.
Further, in FIG. 4, in order to simulate a 6-degree-of-freedom disturbance of the spacecraft, the spacecraft disturbance simulation unit 18 has a parallel mechanism including six translational actuators 14, but as shown in FIG. 5. The spacecraft disturbance simulation unit 18 may have a structure including three translational actuators 14. According to such a configuration, the number of rotary actuators can be reduced to reduce the load of the driving arithmetic processing of the spacecraft mounting system simulator 11, the spacecraft attitude simulator 17 can be reduced in size, and the power consumption can be reduced. The structure of the machine posture simulator 17 can be simplified.

Embodiment 5 FIG.
Moreover, as shown in FIG. 6, it is good also as a structure which faces a spacecraft motion simulation apparatus and the other party spacecraft orientation simulation part 23 directly. A fourth rotary actuator 20 such as a motor is attached to the pointing simulator 19, and the fourth rotating mechanism 21 is directly connected to the counterpart spacecraft pointing device interface 22.

  The counterpart spacecraft pointing angle command value is generated by the spacecraft mounting system simulation device 11 and the fourth rotary actuator 20 is driven by the pointing simulation unit driving device 24 based on the command value. 23 is rotated with one degree of freedom to simulate the pointing angle of the counterpart spacecraft. FIG. 6 is configured to simulate the rotation of the posture around the vertical axis with respect to the ground, but the counterpart spacecraft pointing simulator 23 is rotated 90 degrees and installed on the ground, and the pointing around the parallel axis with respect to the ground. It is good also as a structure which simulates rotation of a corner. Devices mounted on the counterpart spacecraft pointing device interface unit 22 are, for example, a telescope with a built-in camera, an optical communication antenna, and a radio wave antenna. With this configuration, it is possible to simulate a change in the pointing angle of a beam or the like from a counterpart spacecraft or the like.

Embodiment 6 FIG.
Further, FIG. 6 shows that the counterpart spacecraft pointing simulator 23 is composed of one rotary actuator 20 in order to simulate the rotation of the directivity angle of one degree of freedom of the counterpart spacecraft. When the optical communication antenna is mounted as shown in FIG. 7, the counterpart spacecraft pointing simulator 23 may be configured by a movable mirror 25 and a laser transmitter 26 that can be driven to rotate with two degrees of freedom. . According to such a configuration, it is possible to simulate a change in the directivity angle of at least one degree of freedom by including the counterpart spacecraft directivity simulator 23.

Embodiment 7 FIG.
Moreover, as shown in FIG. 8, it is good also as a structure which faces two spacecraft motion simulation apparatuses directly. According to such a configuration, communication between spacecrafts flying in a formation, simulation of communication between low-altitude orbiting spacecraft, communication between low-altitude orbiting spacecraft and geostationary spacecraft, or spacecraft-ground station It is possible to simulate intercommunication.

  The spacecraft motion simulation apparatus illustrated and described above is merely an example, and various modifications can be made, and the features of each specific example can be used altogether or selectively combined.

  The present invention can be used for a spacecraft motion simulation device.

  DESCRIPTION OF SYMBOLS 1 1st mounted apparatus interface part, 2 3rd rotation mechanism part, 3rd rotation type actuator, 4 2nd rotation mechanism part, 5 2nd rotation type actuator, 6 counterweight, 7 1st rotation Mechanism unit, 8 first rotary actuator, 9 attitude simulation unit platform, 10 attitude simulation unit drive device, 11 spacecraft mounting system simulation device, 12 disturbance simulation unit drive device, 13 disturbance simulation unit mount, 14 translational actuator, DESCRIPTION OF SYMBOLS 15 2nd equipment interface part, 16 Parallel mechanism, 17 Spacecraft attitude | position simulation part, 18 Spacecraft disturbance simulation part, 19 Directional simulation part mount, 20 4th rotation type actuator, 21 4th rotation mechanism part, 22 Counterpart spacecraft pointing device interface part, 23 Counterpart spacecraft pointing simulation part, 24 Directional simulation part drive unit, 25 Movable mirror, 26 Oscillator, 27 a laser beam, 28 mounted device, 31 posture simulating unit posture detector, 32 disturbance simulating unit displacement and posture detector, 33 disturbances command generating device.

Claims (6)

A first rotation type actuator directly connected to the first rotation mechanism, a second rotation type actuator incorporated in the first rotation mechanism and a second rotation mechanism supported by the bearing; A spacecraft attitude simulation unit including a third rotary actuator incorporated in the rotation mechanism unit, and a first on-board equipment interface unit directly connected to the third rotation type actuator via the third rotation mechanism unit;
A spacecraft disturbance provided with a second onboard equipment interface section for mounting the onboard equipment supported on the first onboard equipment interface section so as to be translated and rotated with six degrees of freedom by a parallel mechanism. A simulation section,
In the spacecraft motion simulation device comprising the spacecraft attitude simulation unit and the spacecraft onboard system simulation device that operates the spacecraft disturbance simulation unit,
An attitude simulation unit driving device for driving the spacecraft attitude simulation unit according to an attitude command value from the spacecraft on-board simulation device;
Based on the attitude of the spacecraft attitude simulation section and the attitude of the spacecraft disturbance simulation section, the influence of the disturbance by the spacecraft attitude simulation section is canceled based on the disturbance generation command value from the spacecraft onboard system simulator. A spacecraft motion simulation apparatus comprising: a disturbance command generation device that generates a disturbance command value based on the spacecraft disturbance command value and operates the disturbance simulation unit driving device.   2. The attitude simulation unit attitude detector for detecting the attitude of the spacecraft attitude simulation unit, and a disturbance simulation unit displacement / attitude detector for detecting the attitude of the spacecraft disturbance simulation unit. The spacecraft motion simulation device described in 1.   The spacecraft motion simulation device according to claim 1 or 2, wherein the spacecraft disturbance simulation unit is configured by three actuators.   The spacecraft motion simulation device according to any one of claims 1 to 3, wherein the spacecraft attitude simulation unit is configured by a single rotary actuator.   The spacecraft motion simulation device according to any one of claims 1 to 4, comprising a spacecraft attitude simulation section, a spacecraft disturbance simulation section, and a counterpart spacecraft-oriented simulation section.   The spacecraft motion simulation device according to any one of claims 1 to 5, wherein two spacecraft motion simulation devices are configured to face each other.

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