JP3174660B2 - Vibration detection and reduction device for microgravity environment and microgravity vibration sensor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention grasps factors that destroy the microgravity environment of equipment used in a microgravity environment such as a space station, a satellite, a spacecraft, and a microgravity environment system, and sets countermeasures. For example, the present invention relates to a vibration detection and reduction device for a microgravity environment that detects a collision with an object such as a meteoroid (meteoroid) or debris, a collision position and a degree of the collision, and sets a countermeasure.
Further, the present invention relates to a microgravity vibration sensor for measuring vibration of a device used in a microgravity environment.

[0002]

2. Description of the Related Art Recently, various experiments and communication services have been provided using space missions such as a space station and a space shuttle. One of the most important issues of this space mission is microgravity (μ-G: for example, 1 × 10
⁵ G or less) secure the environment, and the like.

[0003] However, such a microgravity environment is destroyed by vibration or the like generated for various reasons. For example, the collision of a meteoroid or debris on the space station
It is easily destroyed. In addition, there is no sensor that accurately detects arbitrary vibrations such as vibration energy, frequency, amplitude, and the like in such a collision with meteoroids and debris.

[0004]

In order to maintain the microgravity environment, it is desirable to grasp the causes of the vibration that destroys the microgravity environment and take measures to reduce the vibration. However, conventionally, these measures have not been taken. In a complex system such as a space station, the source of vibration can be grasped, for example, collision of meteoroid or debris, collision position, degree of collision, vibration energy due to collision, vibration frequency, amplitude, etc. can be accurately detected. It is difficult.

Further, the fact is that a method for grasping various vibrations in a μ-G environment has not yet been established. For example, a conventional vibration (acceleration) sensor measures vibration (acceleration) by measuring the movement of a vibrator supported by a substance having a unique damping characteristic such as a spring and a damper. However, such a sensor has a problem in that it has a limitation on the frequency of the detected vibration and the like, and cannot accurately detect the vibration in a microgravity environment.

[0006] This kind of problem also applies to a microgravity environment system provided on the ground or an aircraft. SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a microgravity environment vibration detection and reduction device capable of ascertaining a factor that destroys a microgravity environment and setting a countermeasure.

Further, the present invention relates to vibration in a microgravity environment,
For example, collision of an object with a space station, collision position,
An object of the present invention is to provide a microgravity vibration sensor capable of accurately detecting the degree of collision and the like.

[0008]

Means for Solving the Problems] vibration detecting reduction apparatus for microgravity environment according to the present invention, a plurality of vibration sensors placed on the vibrator placed under microgravity environment (space station, etc.), the Analysis means for collecting vibration data detected by the vibration sensor and analyzing the vibration spectrum, a factor extracting unit for specifying a vibration source based on the vibration spectrum analyzed by the analysis means, and disposed on the vibrating body In accordance with the actuator, the energy of the vibration detected by the vibration sensor, and the vibration source specified by the factor extraction unit , the actuator is drive-controlled to reduce harmful vibration, and / or the vibration factor is deleted. A to
And a actuator control unit .

A first microgravity vibration sensor according to the present invention is a vibration sensor for measuring vibration in a microgravity environment, and floats in a microgravity space (the surroundings are vacuum or any gas). A reflector (arbitrary surface to sphere (= sphere)) that reflects predetermined energy, such as laser light, light of each frequency, electromagnetic waves, and sound waves, with known characteristics; An output means for irradiating the predetermined energy toward the reflector, receiving the reflected energy from the reflector, and detecting the reflected energy from the movement of the reflected energy. properties of vibration of the vibrating body (acceleration, amplitude, frequency, period, etc. (scan
And receiving means for measuring the spectrum .

A second microgravity vibration sensor according to the present invention is a vibration sensor for detecting vibration in a microgravity environment, and is provided floating in a microgravity space, the characteristics of which are known. A transmission refractor, disposed on one side of the transmission refractor, fixed to a structure that is an object to be vibrated, and irradiating means for irradiating a light beam; And a light receiving means disposed on the other side, fixed to the structure, and receiving the light beam irradiated by the irradiation means via the transmission refraction body. However,
The transmission refractor includes a lens and a prism.

Further, the first and second microgravity vibration sensors are provided with stationary means for stopping the reflector or the transmission / refraction body in a microgravity space.
Further, a third microgravity vibration sensor according to the present invention is a signal responsive means located in a microgravity space and having a predetermined signal response characteristic, a signal output means for outputting a predetermined signal to the signal responsive means, Means for detecting a steady motion of the subject based on a response signal of the signal responding means, and means for holding the signal responding means in a microgravity space within a predetermined range based on the detected steady motion of the subject, Means for detecting an abnormal motion of the subject from the response signal of the signal response means and the detected steady motion.

Further, according to the present invention, the signal responding means is fixed to the subject in response to a fixing instruction from an operator, the fixing is released in response to a release instruction, and the signal responding means is suspended in the microgravity space. It is characterized by comprising means for performing.

[0013]

According to the vibration detecting device for a microgravity environment having the above-described configuration, the device itself accumulates and determines vibration data to drive an actuator or reduce a factor (vibration source : Crew (people), animals and plants
Analysis (stop) and reduction (reduction of rotation speed, etc.) of movement, motor, pump, meteoroid / debris collision, etc. can be performed. For example, it is possible to detect a collision of a meteoroid or debris, a collision position, a degree of the collision, and the like, and drive the actuator to reduce vibration generated by the collision.

Further, by retrieving the control result, learning by the factor extraction unit and the actuator control unit , and preparing for the next collision, the performance including the analysis ability can be independently improved.

The first microgravity vibration sensor having the above structure is
A non-vibration state in which an arbitrary planar reflector is floated in a zero-gravity environment. Then, the output means irradiates the reflector with energy. The output means and the receiving means vibrate with the vibrator, but the reflector does not vibrate. Therefore, by measuring the swing of the energy by the receiving means, the minute acceleration /
Amplitude / gravity can be detected. Since the reflector is unsupported, there is no limitation on the measurement range of the properties (acceleration, amplitude, frequency, etc.) of the detected vibration.

In the second microgravity vibration sensor having the above-mentioned structure, the irradiating means and the light receiving means are fixed to the structure, so that when the structure vibrates, it vibrates together with the structure.
The transmission refractor does not vibrate because it floats in the microgravity space.

The light beam irradiated by the irradiating means is incident on the transmissive refractor, and is refracted and converged according to the curved surface shape, the polyhedral shape, or the combination of the flat surface and the curved surface of the transmissive refractor and transmitted. , And is received by the light receiving means.
When the structure is vibrating, the transmissive body is stationary as described above, and the light receiving position on the light receiving surface of the light receiving unit is in a state corresponding to the vibration of the structure and the characteristics of the transmissive body. It displaces from the light receiving position when the structure is stationary.

The light receiving position of the light beam on the light receiving surface of the light receiving means is inputted to a computer. This computer calculates and outputs the acceleration, amplitude, frequency, and the like of the vibration of the structure from the light receiving position of the light beam by using a known characteristic determined by the shape and the like of the transmission refractor. Thereby, even in a microgravity environment, a minute vibration of the structure can be detected.

Incidentally, the stationary means by the active control stops the above-mentioned reflector and transmission / refraction body in a weightless space.
As a result, it is possible to reflect or transmit the reflector or the transmissive refractor, and to suppress the energy received / received by the receiving means or the light receiving means and the displacement range of the light receiving position / light receiving position within a predetermined range.

[0020]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a space station according to an embodiment of the present invention. Space station 1 as shown in FIG.
A large number of vibration sensors (three-dimensional acceleration sensors) 2 are adhered in a matrix at predetermined intervals on the outer peripheral surface of the airframe and the ship.

Each of the vibration sensors 2 detects vibrations of the body of the space station 1 caused by factors such as collisions of meteoroids, and data of the detected vibrations is transmitted through a transmission line composed of a coaxial cable, a twisted cable, an optical fiber, or the like. 3 via DIU (Data Interface Unit)
It is collected by the sampling unit 4 and supplied to the computer 5 via the DIU sampling unit 4.

The computer 5 detects the degree and factor of microgravity (μ-G) destruction based on the data sent from each vibration sensor 2. Further, the computer 5 selects and drives an actuator 6 provided on the body to cancel the detected vibration. If necessary, the computer 5 also deletes the factor (vibration source) or reduces the factor. The computer 5 grasps the result of driving the actuator 6 and the result of elimination or reduction of the factor by continuous vibration detection from the vibration sensor 2.

FIG. 2 shows a flow of a series of system analysis by the computer 5. In a block (a) of FIG. 2, an initial threshold value of the vibration is set to the vibration sensor 2 based on various standards, for example, NASA (National Aeronautics and Space Administration) shown in FIG.
Set each time.

Next, vibrations caused by harmful vibrations such as crew work shown in block (c), driving various motors, joining a space shuttle, and collision of meteoroids and debris are detected by a vibration sensor 2, and the spectrum is detected. Find the distribution. Next, the created spectral distribution and the initial threshold are superimposed as shown in block (b) to obtain composite data.

The combined data generated in block (b) is stored in the memory shown in block (d). Block (e) extracts a main factor of the vibration by comparing the detected vibration spectrum with an initial threshold. Specifically, the spectrum of the protruding portion is detected from the combined data, and the main factor of the vibration having each spectrum is specified. This block (e)
Is configured by a factor extraction unit configured as software.

In order to reduce the vibration caused by the main factor obtained in the block (e), the selection of the actuator 6 effective for canceling the harmful vibration and the control amount of the selected actuator 6 are made in the block (f). calculate. If the harmful vibration cannot be reduced to a predetermined level or less only by driving the actuator 6, a command is issued to adjust the movement of the crew and the operation of the equipment, which are factors.

Based on the calculation in the block (f), the block (g) is used to select an actuator, adjust a control amount, issue an operation control command for a device that is a factor of harmful vibration, and a command of a crew that is a factor. Outputs commands to adjust exercise and equipment operation. This block (g) controls the actuator
It is built by the department .

Based on the command of the block (g), a control signal is actually sent to the actuator 6 in the block (h) to control the actuator 6. Or, block (g) is, use mission-schedule data, etc.
Then , the actuator 6 is selected and controlled so as to reduce the vibration expected to occur according to the scheduled schedule. Or, to output the required alarm.

Alternatively, the result of these series of controls can be analyzed by passing through software corresponding to block (f) and block (g) again, and block (d) can be analyzed.
And store it as data. That is, after driving the actuator 6, the vibration of the body is detected again by the vibration sensor 2, the vibration factor is detected, the selection of the actuator 6 effective for canceling the harmful vibration and the control amount are calculated, and the like. ,
It outputs a command for selecting an actuator, adjusting a control amount, operating control of a device causing a harmful vibration, and the like, and stores this as data in block (d).

Alternatively, by comparing the data stored in the block (d) with the initial threshold value and the factor, the block (f) is used to perform more effective control on the harmful vibration generated by each factor next time. The compensation operation (control amount, etc.) to be set is reset. That is, learning is performed. Or, for the vibration caused by collision of Meteoroido and debris, classified as a special vibration, space station with stored as data, the space shuttle crew, or instructs to the ground.

FIG. 3 shows the software flow and configuration of this system. In FIG. 3, a portion A indicates a data input portion, in which vibration data is detected by the vibration sensor 2 and a mission schedule (operation schedule of the space shuttle,
Docking, etc.), vibration sources in systems such as motors ,
Inputs data indicating conditions such as roux (human) and the movement of animals and plants , and checks and organizes them.

Part B is a factor extraction / routine for performing spectrum analysis and vibration mode analysis, classifying the factors, and creating a threshold curve. The part B examines the data fed back from the part C described later, creates (calculates) a new threshold curve, and stores the data in the storage device.

Part C is an actuator control routine, which determines the degree of warning or operation of the actuator based on the factor analysis and the threshold curve of the factor extraction part of Part B, and stores the data. Further, in the part C, the operation of the vibration factor source is adjusted based on the determination result (for example, the rotation of the motor or the pump is reduced), and / or the control amount of the active control actuator is set. If
Some alarms are issued. In addition, the C section, activator on the basis of the mission schedule data, etc. entered in Part A
The actuator 6 and the like are controlled so as to reduce the vibration expected to occur.

According to such a configuration, the factor extracting section and the
With the learning and prediction function of the software that composes the actuator and the actuator control unit ,
Even for space environments that cannot be verified, data accumulation after launch into space can be applied to systems as experience values, and system performance is improved in space. Further, even in a microgravity environment system installed on the ground or an aircraft, it is possible to identify and reduce the cause of occurrence of harmful vibration that destroys the microgravity environment.

Next, the structure and operation of a first example of the vibration sensor used in the above embodiment will be specifically described with reference to FIGS. Vibration sensor 2 according to this embodiment
Is a reflector 10 having an arbitrary surface (1 surface to ∞ surface (sphere), but a hexahedron in this embodiment), a laser irradiator 11 for irradiating light to the reflector 10, and reflected by the reflector 10. It comprises a laser receiver 12 for receiving laser light, and a support mechanism 13 for holding the reflecting mirror 10. The laser irradiator 11, the laser receiver 12, and the support mechanism 13 are fixed to the body of the space station 1.

FIG. 5 shows a state in which the reflecting mirror 10 is fixed by the support mechanism 13. Note that a plurality of laser irradiators 11
Is provided, the frequency and wavelength (color) of the irradiated laser beam
Can be set differently to eliminate errors in reading by the light receiver 12.

FIG. 6 shows an operation state of the vibration sensor 2 under a microgravity environment. The support mechanism 13 makes the reflector 10 float in the weightless space. At this time, the surroundings of the reflector 10 may be vacuum or any gas, and the reflector 10 is in a non-supported / vibration-free state.

However, gas is sealed, and the reflector 10 is moved within a predetermined range or stopped at an initial stage, or continuously or intermittently, by an active vibration suppression (speaker, microphone) function or the like. You may. in this way,
By applying a filter to the detection signal while suppressing the displacement of the detection wave due to the natural vibration or rotation of the reflector 10 in the gas, it is possible to detect the vibration while controlling the three-dimensional position of the reflector 10. In addition, the active vibration suppression or the like may be configured so that an operation (use) state and a non-operation state can be selected.

In FIG. 6, a laser beam emitted by a laser irradiator 11 is reflected by a reflector 10 and received by a laser receiver 12. In addition, the reflecting mirror 1
One or more other reflecting mirrors may be installed between the light source 12 and the light receiver 12 to extend the light path and improve the ability to detect vibration. The laser light receiver 12 detects the amplitude, frequency, and the like of the vibration of the reception laser based on the reception light.

The vibration data detected by the laser receiver 12 is transmitted to the computer 5, analyzed, and used for controlling the actuator 6 described above. Next, the configuration and operation of a second example of the vibration sensor 2 in this embodiment will be described with reference to FIGS. As described above, a large number of the vibration sensors 2 are arranged in a matrix at predetermined intervals on a structure such as the space station 1. And D
It is connected to the computer 5 via the IU sampling unit 4 and sends the vibration measurement result of the structure to the computer 5.

As shown in FIG. 7A, a second example of the vibration sensor 2 includes a laser irradiator 21 and a laser irradiator 2.
1, a laser receiver 22 provided between the laser receiver 22 and the laser irradiator 21, and a transmission medium made of a predetermined material, that is, a lens 20.
a and a support mechanism 2 for holding the lens 20a
And 3.

The laser irradiator 21, the laser receiver 22, and the support mechanism 23 are fixed to a structure, and the laser receiver 2
2, a charge coupled device (CCD) or the like is applied. The lens 20a is a curved lens having a predetermined curvature.

In such a vibration sensor 2, when measuring the vibration of the structure in a microgravity environment, the support mechanism 23 for supporting the lens 20a is removed. Here, the operating state of the vibration sensor 2 is shown in FIG. Lens 20a
Is the supporting mechanism 23 because the surrounding space is a microgravity space.
Even if is removed, it will be in a state of floating in space.

When laser light is emitted from the laser irradiator 21 in such a state, the laser light enters the lens 20a and is refracted and converged in accordance with characteristics determined by the curved surface shape and material of the lens 20a. Later transmitted. The laser light transmitted through the lens 20a is received by the laser light receiver 22. The laser receiver 22 outputs light reception data according to the received laser light. This received light data is transmitted to the DIU via the transmission line 3 shown in FIG. 1, ie, a coaxial cable, a twisted cable, an optical fiber, or the like.
It is collected by the sampling unit 4 and sent to the computer 5.

When the structure vibrates while the vibration sensor 2 is operating, the laser irradiator 21 vibrates together with the structure. However, since the lens 20a floats in space and is in a stationary state, the laser light receiving position in the laser light receiver 22 changes according to the characteristics determined by the vibration of the structure, the shape of the lens 20a, and the like.

The change of the light receiving position of the laser light on the light receiving surface of the laser light receiver 22 is represented by Y as shown in FIG.
The displacement in the axial direction is Y1, the displacement in the Z-axis is Z1,
Let X1 be the displacement in the axial direction. However, X1 is obtained by converting the variable β-α of the area of the image on the light receiving surface into a distance.

The displacements X 1, Y 1, and Z 1 measured by the laser receiver 22 are sent to the computer 5 via the DIU sampling unit 4. The computer 5 obtains the acceleration, amplitude, frequency, and the like of the vibration of the structure using the displacement amounts X1, Y1, Z1 and the known characteristics of the lens 20a, and displays them on a display device (not shown). In addition, the vibration control is executed by controlling the actuator 6.

In the second example of the vibration sensor 2 described above, the lens 20a has been described as a medium for transmitting laser light. However, a prism having an arbitrary number of surfaces (arbitrary surface) can be used instead of the lens 20a. FIG. 8 shows an operation state of the second example of the vibration sensor 2 using a prism as a medium transmitting a laser. Laser irradiator 21 shown in FIG.
The laser receiver 22 is fixed to the structure in the same manner as when the lens 20a is used. Although not shown in FIG. 8, the prism 20b is fixed to the structure by the support mechanism 23 when the prism 20b is not operated.

During the operation of the vibration sensor 2, the laser light emitted from the laser irradiator 21 is incident on the prism 20b, and after being refracted and converged according to the characteristics determined by the arbitrary shape and material of the prism 20b. The light is transmitted and received by the laser receiver 22. Laser receiver 22
Outputs light reception data according to the received laser light.
The received light data is collected by the DIU sampling unit 4 via the transmission path 3 shown in FIG.

When the structure vibrates while the vibration sensor 2 is operating, the laser irradiator 21 vibrates together with the structure. However, since the prism 20b floats in space and is in a stationary state, the laser light receiving position in the laser light receiver 22 changes according to the characteristics determined by the vibration of the structure, the planar shape of the prism 20b, and the like.

As shown in FIG. 8, the change in the light receiving position of the laser beam on the light receiving surface of the laser light receiver 22 is represented by the Y-axis displacement amount, the Z-axis displacement amount Z1, and the X-axis direction displacement. Let the displacement amount be X1. The amount of displacement and the method of calculating the amount of displacement are the same as in the case where the above-described lens 20a is used.

The displacements X 1, Y 1, and Z 1 measured by the laser receiver 22 are sent to the computer 5 via the DIU sampling unit 4. The computer 5 uses these displacement amounts X1, Y1, Z1 and the known characteristics of the prism 20b to calculate the acceleration of the vibration of the structure,
Vibration control is executed by obtaining an amplitude, a frequency, and the like, displaying them on a display device (not shown), and controlling the actuator 6.

With such a microgravity vibration sensor, it is possible to detect a minute movement of the structure under a microgravity environment. The above-described second example of the vibration sensor 2 is a vibration sensor using a laser beam. The laser irradiator 21 and the laser receiver 22 transmit / receive light, electromagnetic waves, sound waves, or the like having an arbitrary frequency. By using a transmitter and a receiver, the lens 20a or the prism 20b refracts and converges the above-mentioned wave and uses a transmitting one, so that a vibration sensor using light of any frequency, an electromagnetic wave, or a sound wave may be used. It is possible.

When a plurality of laser irradiators are provided, the frequency and wavelength (color) of the laser light to be irradiated can be set differently so that reading errors of the laser light receiver 22 can be eliminated.

Further, gas is sealed, and the lens 20a or the prism 20b is moved within a predetermined range or stopped at an initial stage, or continuously or intermittently by an active vibration suppression (speaker, microphone) function or the like. You may do so. Thus, the lens 20a or the prism 20b
By applying a filter to the detection signal while suppressing the displacement of the detection wave due to the natural vibration or rotation in the gas, it is possible to detect the vibration while controlling the three-dimensional position of the lens 20a or the prism 20b. Here, the active vibration suppression or the like may be configured so that an operation (use) state and a non-operation (non-use) state can be selected.

Further, the lens 20a is
Alternatively, any other number of anti-lenses or prisms may be provided before reaching the laser receiver 22 via the prism 20b to extend the light path and improve the ability to detect vibration.

Next, the configuration and operation of a third example of the vibration sensor 2 in this embodiment will be described with reference to FIGS. FIG. 9 shows the non-operation state of the vibration sensor 2. The vibration sensor 2 includes a reflector 30 having an arbitrary plane (1 plane to ∞ plane (sphere)) in a housing 7 fixed to the space station 1, a laser irradiator 31 for irradiating the reflector 30 with light, Laser receiver 3 for receiving the laser beam reflected by reflector 30
2, support mechanism 33, support mechanism drive unit 34, support mechanism drive controller 35, laser irradiator power controller 3
6. Laser receiving data sampling unit 37, CP
U (Central Processing Unit) 38, memory 39, power supply and power controller 40, reflection vibration wave projector 41, reflector active vibration suppression controller 4
2. It includes a data transmission bus 43, a command bus 44, and a power supply bus 45.

The laser light receiver 32 receives the laser light reflected by the reflector 30. The support mechanism 33 holds the reflector 30. The support mechanism driving device 34 drives the support mechanism 33. The support mechanism drive controller 35 controls the support mechanism drive device 34. The laser irradiator power supply controller 36 controls the amount of power supplied to each laser irradiator 31, the frequency of the laser light to be irradiated, and the like. The laser light receiving data sampling unit 37 processes (samples) data (for example, trajectory, speed) and the like relating to the laser light from the laser irradiators 31 reflected by the reflector 30 and received by the laser light receiver 32. Then, the result data is sent to the CPU 38. The CPU 38 controls the entire sensor. The memory 39 stores an operation program of the CPU 38 and functions as a work area. Command bus 4
4 is connected to the CPU 38 and transfers commands between the CPU 38 and the computer 5 of the space station 1.
The data transmission bus 43 is connected to the CPU 38 and transfers data such as three-dimensional acceleration, amplitude, and period from the CPU 38 to the computer 5 of the space station 1 via the DIU 4.

The power supply and power controller 40 supplies power to each part in the housing 7 through the power supply bus 45 by using the power supplied from the space station 1. Under the control of the reflector active vibration suppression controller 42, the reflector active vibration suppression wave projector 41 emits vibration energy having a phase opposite to that of the reflector 30 to reduce the vibration of the reflector 30, For example, the reflector 30 is moved within a predetermined range.

Laser irradiator 31, laser receiver 32, support mechanism 33, support mechanism drive unit 34, support mechanism drive controller 35, laser irradiator power supply controller 36, laser reception data sampling unit 37, CPU 3
8, a memory 39, a data transmission bus 43, a power supply and power controller 40, a power supply bus 45, a reflection vibration wave projector 41, and a reflector active control controller 42 are fixed to the housing 7. On the other hand, the reflector 30 is supported by the support mechanism 33.

When a plurality of laser irradiators 31 are provided, the reading error of the laser light receiver 32 can be eliminated by setting the frequency, wavelength or color of the laser light to be irradiated to be different.

FIG. 10 shows an operation state of the vibration sensor 2 under a microgravity environment. Although not shown in FIG. 10, the support mechanism 33 is gently drawn to the inner surface of the laser receiver 32 by the support mechanism driving device 34. As a result, the support mechanism 33 is separated from the reflector 30 and the reflector 3
0 is in a state of floating in the weightless space. At this time, the reflector 3
0 may be a vacuum or an arbitrary gas.
Is in an unsupported / no-vibration state.

However, gas is sealed, and the reflector 10 is moved within a predetermined range or stopped at an initial stage, or continuously or intermittently by an active vibration suppression (speaker, microphone) function or the like. You may. in this way,
By applying a detection signal to a filter while suppressing the displacement of the detection wave due to the natural vibration or rotation of the reflector 30 in the gas, it is possible to detect the vibration while controlling the three-dimensional position of the reflector 30. In addition, the active vibration suppression or the like may be configured so that an operation (use) state and a non-operation state can be selected.

The laser beam emitted from the laser irradiator 31 is reflected by the reflector 30 and received by the laser receiver 32. By arranging an arbitrary number or more of other reflecting mirrors from the irradiator 8 through the reflector 30 to the laser receiver 32, a longer light path is taken,
Vibration detection ability can be improved.

The laser light receiver 32 detects the amplitude, frequency and the like of the received laser light. When a structure such as the space station 1 vibrates, the laser light receiver 32 detects the amplitude, frequency, and the like of the vibration, and sends it to the computer 5. The detected data is analyzed by a computer, and is used for controlling the actuator 6 described above.

FIG. 11 shows a functional configuration of the third example of the vibration sensor 2.
Shown in As shown in FIG. 11, the CPU 38 includes a laser irradiation controller 381, a scheduling unit 38
2, a support command generator 383 and a reflector motion calculator 384. Hereinafter, the operation of the CPU 38 will be described.

The CPU 38 receives a detection start command via the command bus 44. For this detection start command, the scheduling means 382 determines whether the received command satisfies a predetermined condition (such as a time condition). If the received command satisfies the specified condition,
It is sent to the support command generator 383. The support command generator 383 sends a support release command to the support mechanism drive controller 35 based on the reception of the command. The support mechanism drive controller 35 calculates a support release speed, a timing, and the like according to the support release command. The support mechanism driving device 34 controls the reflector 30 based on the calculated data.
Is released, and the reflector 30 floats in the weightless space.

In such a state, data instructing laser irradiation for calibration is transmitted from the scheduling means 382 to the laser irradiation controller 381. The laser irradiation controller 381 determines a specific method and conditions such as selection of the laser irradiator 31 and instructs the laser irradiator power supply controller 36 of this. The laser irradiator power controller 36 assigns a wavelength, power supply, and the like to each laser irradiator 31 based on the instruction. At the time of calibration, the laser is irradiated from all the laser irradiators 31 to the reflector 30.

The laser reflected by the reflector 30 is received by the laser receiver 32. Laser receiver 32
Sends the data of the received laser light to the laser light reception data sampling unit 37. The laser light reception data sampling unit 37 executes a simple calculation of the data, calculates a vibration direction characteristic for each wavelength, that is, for each color, performs a predetermined coordinate conversion and the like, and converts the resulting data into a reflector motion calculation unit 384. Output to

The reflector motion calculating section 384 calculates the position, speed, acceleration, amplitude, cycle, etc. of the reflector 30 using the input data. Data on the movement of these reflectors
It is sent to the reflector active vibration controller 42.
The reflector active vibration suppression controller 42
A wave opposite to the motion of the reflector is formed in the lean gas so that 0 is located in a predetermined space.

The wave projector 41 used here
In general, a low frequency speaker is applied. But,
In addition, a means that can give a wave to a gas, such as a high-frequency sound wave transmitter, may be applied.

As described above, the movement of the reflector 30 is stopped,
Alternatively, in a steady state in which the vibration state is suppressed to a certain range, the motion data of the reflector 30 is stored in the memory 39 and used for the subsequent filtering. Calibration is performed by such a processing operation.

Next, the processing operation of the vibration measurement will be described. In the case of vibration measurement, the laser irradiator 31 is in a laser light output state continuously from the time of calibration execution. Therefore, as described above, the reflector motion calculation unit 384 processes data relating to the motion of the reflector 30. On the other hand, the reflector motion calculation unit 384 fetches data on the motion of the reflector 30 in the steady state from the memory 39, and subtracts the motion data in the steady state from the current motion data of the reflector 30 to obtain the motion data of the vibration sensor 2. Find vibration. The obtained data is transmitted to a predetermined device using the data transmission bus 59.

In the third example of the vibration sensor 2, a system in which laser light is emitted from a laser irradiator 31 and laser light reflected by a reflector 30 is received by a laser light receiver 32 has been described. There is no limitation, and any energy such as light of each frequency (visible light, invisible light), electromagnetic waves, sound waves, and the like may be used.

In the third example of the vibration sensor 2 described above, the reflector 30 is used. However, the present invention is not limited to this, and the transmission refractor (lens, prism, etc.) applied in the second example of the vibration sensor 2 may be used. May be used.

[0076]

As described in detail above, according to the present invention,
Detects collisions and vibrations of objects with space systems, space shuttles, satellites, airplanes, etc. that realize microgravity environment, reduces the vibrations caused by such collisions, and is one of the most important issues in microgravity environment systems. The gravitational environment can be maintained.

Further, learning and learning by system software
With the prediction function, even in a space environment that cannot be verified during the development of this system on the ground, the data accumulation after launch into space can be applied to the system as experience values. Therefore, the performance of the system is independently improved in space.

Further, according to the vibration sensor of the present invention, vibration can be accurately measured in a microgravity environment. In addition, since the reflecting mirror, the reflecting body, and the transmitting / refracting body are not supported, there is no limitation on the measurement range of the properties (acceleration, amplitude, frequency, etc.) of the detected vibration.

[Brief description of the drawings]

FIG. 1A is a front view showing a space station according to an embodiment of the present invention. (B) is an AA arrow view of (a).

FIG. 2 is a flowchart showing a flow of a data processing function according to the embodiment;

FIG. 3 is a flowchart of system software for realizing the data processing shown in FIG. 2;

FIG. 4 is a diagram showing an example of an initial threshold.

FIG. 5 is a diagram showing a state where the reflector of the first example of the vibration sensor according to the embodiment is fixed.

FIG. 6 is a diagram showing an operation state of a first example of the vibration sensor according to the embodiment.

7A and 7B are diagrams showing a second example of the vibration sensor according to the embodiment, and FIG. 7A is a diagram showing a state where a lens is fixed;
(B) is a diagram showing an operating state.

FIG. 8 is a diagram showing an operation state when a prism is applied to the transmission refractor in the second example of the vibration sensor according to the embodiment.

FIG. 9 is a diagram illustrating a third example of the vibration sensor according to the embodiment, and illustrates a state where the reflector is fixed.

FIG. 10 is a diagram showing an operation state of a third example of the vibration sensor according to the embodiment.

FIG. 11 is a block diagram showing a functional configuration of a third example of the vibration sensor according to the embodiment.

[Explanation of symbols]

1. Space station, 2. Vibration sensor, 3. Transmission line,
4: DIU sampling unit, 5: computer,
6 ... actuator, 7 ... sensor housing, 10 ... reflector,
11 laser irradiator, 12 laser receiver, 13 support mechanism, 20a lens, 20b prism, 21 laser irradiator, 22 laser receiver, 23 support mechanism, 30
... Reflector, 31 ... Laser irradiator, 32 ... Laser receiver,
33 ... support mechanism, 34 ... support mechanism drive device, 35 ... support mechanism drive controller, 36 ... laser irradiator power controller, 37 ... laser reception data sampling unit, 38 ... CPU, 39 ... memory, 40 ... power and power controller 41: Wave Projector, 42: Reflector Active Vibration Suppression Controller, 43: Data Transfer Bus, 44: Command Bus, 45: Power Bus, 381: Laser Irradiation Controller, 382: Scheduling Means, 383: Support Command Generation Unit, 384 ... Reflector motion calculation unit.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B64G 1 / 36,1 / 38 B64G 1 / 66,1 / 68 G01H 1/00-17/00

Claims (7)

(57) [Claims] A plurality of vibration sensors disposed on a vibrating body placed under a microgravity environment; and collecting vibration data detected by the vibration sensors.
Analysis means for analyzing a vibration spectrum; a factor extraction unit for specifying a vibration source based on the vibration spectrum analyzed by the analysis means; an actuator arranged on the vibrating body; and a vibration detected by the vibration sensor. In accordance with energy and the vibration source specified by the factor extraction unit , drive control of the actuator to reduce harmful vibration,
And / or an actuator control unit for eliminating a vibration factor. A vibration detection and reduction device for a microgravity environment, comprising: 2. A vibration sensor for measuring vibration in a microgravity environment, wherein the vibration sensor is arranged in a floating state in a microgravity space, and emits predetermined energy such as laser light, light of each frequency, electromagnetic waves, sound waves, etc. by known characteristics. A reflector having an arbitrary planar body to be reflected, an output unit fixed to the vibrator, and irradiating the predetermined energy toward the reflector, fixed to the vibrator, receiving reflected energy from the reflector, Receiving means for measuring the amplitude, frequency and period of vibration of the vibrating body from the movement of the reflected energy. 3. The microgravity vibration sensor according to claim 2, further comprising a stationary means for stopping the reflector in a microgravity space. 4. A vibration sensor for detecting vibration in a microgravity environment, wherein the vibration sensor is disposed in a floating state in a microgravity space, and has a known characteristic. And an irradiation unit fixed to a structure that is a subject to be vibrated and irradiating a light beam, disposed on the other side of the transmission / refraction body opposite to the irradiation unit, and fixed to the structure. A microgravity vibration sensor, comprising: a light receiving unit that receives the light beam emitted by the irradiation unit via the transmission refraction body. 5. The microgravity vibration sensor according to claim 4, further comprising a stationary means for stopping the transmission refractor in a microgravity space. 6. A signal responsive means located in a microgravity space and having a predetermined signal response characteristic, a signal output means for outputting a predetermined signal to the signal responsive means, and a response signal from the signal responsive means. Means for detecting a steady motion of the subject; means for holding the signal response means in a microgravity space within a predetermined range based on the detected steady motion of the subject; and a response signal of the signal response means being detected. Means for detecting an abnormal motion of the subject from the steady motion. 7. A means for fixing the signal response means to the subject in response to a fixing instruction from an operator, releasing the fixing in response to a release instruction, and suspending and placing the signal response means in the microgravity space. The microgravity vibration sensor according to claim 6, comprising: