KR19990051765A - Single Axis Rotation Simulator for Satellite Posture Control Simulation - Google Patents

Abstract

The present invention relates to a one-axis rotation simulator for satellite attitude control simulation that allows sufficient experimentation of the pitch direction on the ground before launching satellites of expensive advanced systems.

The present invention is a fixed horizontal pedestal, a rotating horizontal pedestal rotatably coupled to the upper fixed horizontal pedestal, a potentiometer which is installed in the upper center of the rotating horizontal pedestal and detects the position change value of the rotating horizontal pedestal, and the cloth Coupling means for coupling and fixing the tension meter, Output means for generating a rotating torque of the rotating horizontal support, and the angular velocity sensor for detecting the angular velocity of the rotating horizontal support, Acquisition and processing of the detection data By acquiring data acquisition calculation means.

Description

Single Axis Rotation Simulator for Satellite Posture Control Simulation

The present invention relates to a one-axis rotation simulator for the simulation of satellite attitude control.

The single-axis rotation simulator for the simulation of satellite attitude control is a simulation device that attempts to analyze the performance by integrating the sensors, drivers and control logic used for satellite attitude control on the ground first.

That is, satellites cannot be repaired or supplemented once they are in space, so many designs and experiments are carried out on the ground. Each part is verified or tested in a separate test sequence at the factory and the results are used.

However, these processes have limitations in verifying many cases that can occur when the actual attitude control parts are made in hardware.

The present invention aims to build up an environment that allows sufficient experiments on the ground before launching to compensate for the above drawbacks and to smoothly carry out the present purpose of an advanced satellite system.

However, the satellite is a three-axis motion that is not restricted by the posture transformation in space, while the one-axis rotation simulator of the present invention is capable of rotating only one axis.

In real satellites, attitude control is achieved in the pitch direction (the direction perpendicular to the orbit plane), the roll direction (the direction the satellite travels along the orbit plane), and the yaw direction (the direction away from the earth in the orbit plane), usually pitch They are designed separately for the roll and yaw directions, because the roll / o direction is closely related to the motion and the pitch direction is not.

Therefore, even the single-axis rotation simulator of the present invention can perform the attitude control experiment on the satellite's pitch direction, and in particular, the most important attitude control in the satellite is made in the pitch direction, so the meaning of the simulator invention is sufficient.

In addition to being able to control the posture control by only one axis, the frictional force of the roller bearing in the rotating part is not sufficient to realize the space environment. It is a fairly large variable.

That is, the frictional force has a great influence on the verification result between the attitude control logic to be developed and being mounted inside the satellite moving in the actual space environment and moving in the one-axis rotation simulator of the present invention.

However, it can be verified that there is no defect in hardware and control logic by showing that the desired sensors and drivers are operated according to the control logic.

The present invention is intended to simulate the attitude control of the satellite, and the general ground system attaches the motor to the position or position to change the position and the motor does not move relatively, whereas the reaction wheel of the attitude control driver of the satellite It uses the natural law of conservation of angular momentum of motors and satellites.

That is, the motor is coupled to the inside of the moving satellite relative to the angular momentum of the wheel by controlling the rotational speed of the wheel coupled to the motor to maintain the desired posture of the satellite. This is expressed as a formula:

Iθ + Jω = constant

Where I is the satellite inertial mass, J is the inertial mass of the wheel coupled to the motor, θ is the acceleration, the derivative of the satellite attitude angle (θ), and ω is the rotational speed of the wheel. As can be seen from the above equation, since the initial constant value does not change, the attitude of the satellite is related to the rotational speed of the wheel, so that the attitude of the satellite can be changed to a desired angle by giving an appropriate change (made in the attitude control logic).

The present invention is a fixed horizontal pedestal, a rotating horizontal pedestal rotatably coupled to the upper fixed horizontal pedestal, a potentiometer which is installed in the upper center of the rotating horizontal pedestal and detects the position change value of the rotating horizontal pedestal, and the cloth Coupling means for coupling and fixing the tension meter, Output means for generating a rotating torque of the rotating horizontal support, and the angular velocity sensor for detecting the angular velocity of the rotating horizontal support, Acquisition and processing of the detection data By acquiring data acquisition calculation means.

1 is a perspective view of the present invention

Figure 2 is a plan view of the rotating horizontal pedestal of the present invention

Figure 3 is a partial cross-sectional view of the motor unit coupled state of the present invention

Figure 4 is a cross-sectional view of the combined rotation vertical stand of the present invention

5 is a connection diagram of the present invention

Figure 6 is a circuit diagram of a solenoid valve drive device of the present invention

<Description of the symbols for the main parts of the drawings>

10: support 12: fixed horizontal stand

13: Potentiometer support 14: Fixed vertical stand

15: rotating part cover 20: rotating horizontal support

21: rotating vertical support 22: roller bearing

23: Angular bearing 24: Loosening nut

30: Secondary pressure regulator 31: Pressure regulating valve

32: pressure scale 34: secondary static pressure tube

35: solenoid valve 36: nozzle

40: thrust supply device 41: thrust supply valve

42: primary pressure regulator 44: primary constant pressure tube

50: angular velocity sensor 51: potentiometer

52: potentiometer bracket 53: coupler

54: coupler fixed shaft 60: motor

61: motor bracket 62: wheel

63: wheel screw 70: power input module

72: solenoid drive module 74: automatic / manual changeover switch

75: detection signal input terminal module 80: angular velocity sensor drive power

81: motor drive power 82: solenoid drive power

83: data acquisition device 84: attitude control logic operation device

MPS: Motor Power Signal

MPG: Motor Power Ground

SPS1,2: Solenoid Power Signal 1,2 (24 [V])

SPG: Solenoid Power Ground

PPS: Potentiometer Power Signal (5 [V])

PPG: Potentiometer Power Ground

POS: Potentiometer Output Signal

TOS: Tachometer Output Signal

TOR: Tachometer Output Reference

RSPP: Rate Sensor Power Plus (+15 [V])

RSPM: Rate Sensor Power Minus (-15 [V])

RSG: Rate Sensor Ground

RSOS: Rate Sensor Output Signal

MCS: Motor Command Signal

MCG: Motor Command Ground

MCWS: Manual ClockWise Signal

MSCG: Maunal Solenoid Command Ground

MCCWS: Manual CounterClockWise Signal

CWS1,2: ClockWise Signal 1, 2 (CWS: 1, 2 same signal)

CCWS1,2: CounterClockWise Signal 1, 2 (CCWS: 1,2 same signal)

The present invention is provided with a fixed horizontal support 12, but the support 10 is installed on the bottom of the fixed horizontal support 12 so that the horizontal level of the fixed horizontal support 12 in accordance with the degree of rotation of the support 10 and fixed horizontal After fixing the fixed vertical support 14 to the upper center of the pedestal 12, screw the rotary part cover 15 to the fixed vertical support (14).

Upper and lower roller bearings 22 and angular bearings 23 are interpolated inside the rotating part cover 15, and a vertical vertical support 21 is rotatably fitted inside the bearings 22 and 23 to rotate vertically. (21) The loosening prevention nut 24 is inserted in the lower part.

The rotating horizontal support 20 is fixed to the upper part of the rotating vertical support 21, and the motor bracket 61 is fixed to the upper center of the rotating horizontal support 20, and then the motor 60 is fixed to the upper part of the motor bracket 61. .

At this time, the motor shaft 60a protrudes into the motor bracket 61 and the wheel 62 is fixed to the motor shaft 60a by the wheel screw 63 so that the wheel 62 rotates according to the rotation of the motor 60. do.

The potentiometer bracket 52 is fixed to the upper part of the motor 60, and the potentiometer 51 is rotated together with the motor 60 by fixing the potentiometer 51 above the potentiometer bracket 52. To be.

The potentiometer shaft 51a is connected to the coupler fixed shaft 54 by the coupler 53, and the coupler fixed shaft 54 is fixed to the potentiometer support 13, and the potentiometer support 13 is The potentiometer shaft 51a is not rotated because it is fixed to the fixed horizontal support 12.

The thrust supply device 40 is placed on the pedestal 45 in the opposite direction to the upper portion of the rotating horizontal support 20, and the compressed air of the thrust supply device 40 is driven by the thrust supply valve 41. ) And then to the secondary pressure regulator (30) through the primary positive pressure tube (44), the compressed air delivered to the secondary pressure regulator (30) the secondary positive pressure tube (34) by the pressure regulating valve (31) After being delivered to the) is injected through the nozzle 36 in accordance with the drive of the solenoid valve 35.

The angular velocity sensor 50 is installed on the rotating horizontal support 20, and a plurality of screw grooves 20a are formed at regular intervals to easily install the equipment.

In the present invention of this configuration, the potentiometer 51 is connected to the potentiometer bracket 52 as shown in FIG. 3 and the potentiometer bracket 52 is attached to the motor 60 to rotate together with the motor 60. The shaft of 51 is connected to the coupler fixing shaft 54 by the coupler 53 and the coupler fixing shaft 54 is connected to the potentiometer support 13 so that it does not rotate.

Therefore, the resistance value in the potentiometer 51 is changed when the rotating horizontal support 20 rotates, and the value is obtained through the detection signal input module 75 and the power input module 70 in accordance with the connection as shown in FIG. The analog input terminal of) is transmitted through the wire.

At this time, the power supply (PPS, PPG) applied to the potentiometer 51 is connected to the power input terminal module 70 and the detection signal input terminal module 75 through a digital input / output port at a constant voltage (5.12V) in the data acquisition device 83. After supply.

In this case, the data acquisition device 83 uses the National Instrument AT-MIO-16DE-10 board and the potentiometer 51 uses Midori's CP-5UY product.

The angular velocity sensor 50 receives ± 15V from the angular velocity sensor drive power supply 80 through the wiring as shown in FIG. 5 to detect the angular velocity of rotation of the rotary simulator rotating horizontal support 20 to obtain the same data acquisition device as the potentiometer 51. At 83, a voltage proportional to the rotational angular velocity is transmitted.

The angular velocity sensor 50 used Watson's ARS-C122-1A product.

The last sensor used in the present invention is a tachometer, which is built in the motor 60 and detects the rotational speed of the wheel 62 of the motor 60 and transmits a proportional value to the data acquisition device 83 as a voltage. Done.

Power is used to write the power supplied to the motor 60, the process of receiving is shown in Figure 5 and the detected rotational speed of the motor wheel 62 is also transmitted to the analog input terminal of the data acquisition device 83 through the connection as shown in FIG. do. The motor 60 used the Mode11075 product of Aerotench.

Among the drivers, the motor 60 is attached to the motor bracket 61 coupled to the rotation simulator rotation horizontal support 20 and vertically positioned above the rotation simulator rotation horizontal support 20.

The motor bracket 61 is depicted in FIG. 3 and encloses the wheel 62 therein, but the actual wheel is coupled only to the motor 60.

The coupling is fixed so as not to fall down by the wheel screw 63 and the power supply is wired and delivered as shown in FIG.

The power supply of the motor 60 signals the motor drive power supply 81 with the voltage required for posture control at the analog output terminal of the data acquisition device 83, and the motor drive power supply 81 amplifies this value to produce the actual motor. The power supply is supplied to the motor 60 in accordance with the wiring of FIG. 5 by changing the voltage 60 to the driving voltage.

Another actuator is a solenoid valve 35, which is a thrust device, which is connected to a pair of one thrust supply device 40 so that a total of four are used.

Here, the solenoid valve 35 is manufactured by ASCO's Model 8225, and the thrust supply device 40 is Paker's Model TC-3AL M207. The thrust supply device 40 supplies compressed air at 3000 psi.

However, thrust for posture control requires a pressure of 100 to 200 psi, so a constant pressure is required, as shown in FIGS. 1 and 2, to create a constant pressure at 200 psi through the primary pressure regulator 42, and a pressure with the secondary pressure regulator 30. Adjust the pressure of 100 ~ 200psi through the control valve 31 is used. When operating the simulator, the thrust supply valve 41 is opened to the maximum, and the pressure regulating valve 31 is adjusted to achieve the desired pressure.

The thrust supply device 40 is secured to the belt by two thrust supply device pedestal 45 coupled to the rotary simulator rotation horizontal pedestal 20.

The primary pressure regulator 42 is coupled to the primary pressure regulator bracket 43 and fixed to the thrust supply device 40.

The primary static pressure air is transmitted to the thrust device through the primary positive pressure tube 44 to be filled in the secondary positive pressure tube 34 through the secondary positive pressure regulator 30.

When the operation signal falls on the solenoid valve 35, the pressure is injected through the nozzle 36 to generate thrust (the torque is rotational thrust).

The secondary pressure regulator 30 is fixed to the thrust device bracket 37 which is coupled to the rotating simulator rotating horizontal support 20 with a secondary pressure regulator bracket 33.

And the desired pressure is adjusted using the pressure regulating valve 31, looking at the pressure scale 32.

The power supply of the solenoid valve 35 is connected as shown in FIG. 5, and the detailed circuit is manufactured as shown in FIG. 6, and the operation signal is connected to each of the contacts ae, cg, bf, and dh of FIG. 6. Flows to open the solenoid valve (35).

The manual mode can be changed by the automatic / manual conversion switch 74, and the operation principle is the same as that of the automatic mode, but the manual mode is not easy to control posture, so the thrust caused by the manual mode is not affected by the satellite in space. There is an advantage that can be experimented assuming disturbance.

In addition, the manual mode is also used to remove the compressed air in the primary positive pressure tube 44 and the secondary positive pressure tube 34 so that the thrust supply device 40 and the primary constant pressure 42 can be easily separated. It is convenient.

If the positive pressure tubes 34 and 44 have compressed air, it is difficult to loosen the screws attached to the primary pressure regulator bracket 43 when the thrust supply device 40 and the primary pressure regulator 42 are separated.

As can be seen from the circuit diagram of FIG. 6, it can be seen that two of the four solenoid valves 35 are connected together, which is the same to generate the maximum torque that can rotate the rotating simulator rotating horizontal support 20. Solenoid valves 35 that produce torque in the direction are bundled together.

Rotating portion that enables one-axis rotation of the present invention is rotated by connecting between the rotation simulator rotation vertical support 21 and the rotation simulator rotation cover 15 to the roller bearing 22 and the angular bearing 23 as shown in FIG. Simulator Rotation Enables rotation of the vertical pedestal 21 and the devices coupled thereon.

The rotary simulator rotary part cover 15 is coupled to the rotary simulator fixed vertical pedestal 14 in the form of a male screw to prevent rotation from occurring.

An anti-loosening nut 24 is engaged to prevent the rotating portion from being separated from each bearing.

The power input module 70, the solenoid drive module 72, and the detection signal input module 75 are made by combining electronic elements and connecting connectors on a circuit board. Was mounted on.

To facilitate the mounting of many of the apparatuses of the present invention, the screw grooves 20a were made at intervals of 10 cm in the vertical, horizontal, horizontal, and horizontal rotation stages of the rotation simulator, and specific devices were manufactured by combining brackets.

The data acquisition device 83 is mounted in a slot of a computer PC, which is an attitude control logic computing device 84.

The 1-axis rotation simulator configured as above operates as follows.

Turn on each power to operate 1 axis rotation simulator.

In this case, in the case of the potentiometer 51, since the power is supplied from the data acquisition device 83, the data acquisition device 83 should be turned on. This is the computer power that is the attitude control logic calculation device 84 should be turned on.

When the power is turned on, power is supplied to each device through the power input terminal module 70, the solenoid driving module 72, and the detection signal input module 75.

After the operation state is completed, the sensor voltages of the 1-axis rotation simulator convert the posture information of the single-axis rotation simulator into the appropriate voltages, and send them to the detection signal input terminal module 75 and then to the power input terminal module 70. Passed to analog input.

Then, the posture control logic calculating unit 84 recognizes the voltage according to the program for changing the appropriate posture value, and transmits the posture control voltage calculated from the posture control logic to the data acquisition device 83 to send it to the appropriate driving device. give.

In the case of the solenoid valve 35, the ON (+ 5V) / OFF (0V) command is issued from the digital input / output port so that the torque is generated in the clockwise direction (CWS1, 2) and the counterclockwise direction (CCWS1, 2). In the case of the motor 60, the posture control voltage between 0 and 10 V is sent to the motor drive power supply 81 and amplified by the analog output terminal, and the voltage is sent back to the power input module 70.

Then, the operation command (CWS1, 2 or CCWS1, 2) of the solenoid valve 35 flows a current to the coil in the solenoid valve 35 in the circuit of the solenoid drive module 72, which is a detection signal input terminal module ( 75).

The solenoid valves 35 that receive the operation command change the posture by generating torque while sending out the secondary static pressure air waiting for the valve input.

The operation command of the motor 60 is amplified voltage is transmitted to the motor 60 through the power input terminal module 70 and the detection signal input terminal module 75 and the motor 60 is changed at a constant speed proportional to the applied voltage Generate torque.

The posture change of the rotation simulator rotating horizontal support 20 according to the torque generation is made according to the following formula. While repeating this process continuously, the rotation simulator rotating horizontal pedestal 20 is changed to a desired posture programmed in the posture control logic computing device 84.

The present invention has advantages in that it can be used as a simulator for uniaxial rotation simulation in research institutes (including industrial companies and universities) studying satellite attitude control and attitude control of general ground systems in Korea.

At present, since there are not enough hardware devices for the simulation of attitude control of satellites, we only understand the attitude control theory according to the momentum conversion between wheels and satellites.

However, if one axis rotation simulator for simulation of the satellite attitude control according to the present invention is used, it is expected that an understanding of the attitude control of the actual satellite may be established.

Therefore, the present invention is a new system that can apply mathematical theory to the actual device, the meaning of the invention can be significant.

In addition, this simulator can reduce the burden of development cost because the cost of the main body manufacturing is cheap and can be replaced arbitrarily expensive equipment from low-cost experimental equipment.

Claims (6)

Fixed leveling base, A rotating horizontal support rotatably coupled to the fixed horizontal support top; A potentiometer installed in the upper center of the rotating horizontal support and detecting a change in the position of the rotating horizontal support, Coupling means for coupling and fixing the potentiometer; An output means installed at the upper part of the rotating horizontal support and generating a rotating torque of the rotating horizontal support; An angular velocity sensor detecting an angular velocity of the rotating horizontal support, And a data acquisition calculation means for acquiring and processing the detection data. The method of claim 1, The motor is fixed to the upper center of the rotating horizontal support and the motor bracket is fixed. The motor shaft protrudes into the motor bracket to fix the wheel. A one-axis rotation simulator for satellite attitude control simulation, wherein the potentiometer is fixed on the inside of the motor, and the potentiometer bracket is fixed to the potentiometer support by means of a coupler. In claim 1, In the fixed vertical support fixed to the fixed horizontal support, screw the rotary part cover and insert the rotary vertical support projected in the lower center of the rotary horizontal support into the rotary cover, and the roller bearing and the angular Single axis rotation simulator for satellite attitude control simulation, characterized in that the bearing is interpolated. In claim 1, The output means fixes the thrust supply device with the built-in compressed air to the upper part of the rotating horizontal support, The compressed air of the thrust supply device is a one-axis rotation simulator for the satellite attitude control simulation, characterized in that the nozzle is sprayed according to the operation of the solenoid valve after passing through the first and second constant pressure. In claim 4, Nozzles are installed in pairs, one-axis rotation simulator for satellite attitude control simulation, characterized in that the compressed air is injected in the circumferential direction of the rotating horizontal support. In claim 1, Single axis rotation simulator for satellite attitude control simulation, characterized in that the horizontal groove is formed with a screw groove at a predetermined interval.