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A relative motion equivalent method and system of a nine-degree-of-freedom motion simulator

A technology of motion simulator and relative motion, which is applied in the field of efficiency, can solve the problems of inability to carry out full-condition simulation tests and tests, limited motion, and small range of relative motion in the horizontal and vertical directions, so as to save development and test costs, Reduce the requirements of the test site and improve the stability of the algorithm

Active Publication Date: 2019-10-22
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem solved by the present invention is: Aiming at the problems that the rendezvous and docking nine-degree-of-freedom motion simulator hardware itself has a small horizontal and vertical relative motion range, limited motion, and cannot carry out simulation tests and tests of all working conditions, a nine-degree-of-freedom motion simulator is proposed. The relative motion equivalent algorithm and system of the DOF motion simulator greatly increases the simulation range of the lateral and vertical relative motion of the 9-DOF motion simulator, thereby meeting the test requirements for the relative position motion range of the two aircraft during the rendezvous and docking process. Proof tests provide assurance

Method used

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  • A relative motion equivalent method and system of a nine-degree-of-freedom motion simulator
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  • A relative motion equivalent method and system of a nine-degree-of-freedom motion simulator

Examples

Experimental program
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Effect test

Embodiment 1

[0073] The specific implementation steps are as follows:

[0074] 1) Know the expected relative pose relationship between the two motion simulators (θ 1 , θ 2 , θ 3 ) and relative positional relationship (X, Y, Z). (θ 1 , θ 2 , θ 3 ) is the coordinate system of the six-degree-of-freedom motion simulator relative to the 3DOF motion simulator coordinate system The Euler angles of the three coordinate axes, (X, Y, Z) is the coordinate system of the six-degree-of-freedom motion simulator Origin O f In the three-degree-of-freedom motion simulator coordinate system coordinates below.

[0075] 2) When the equivalent algorithm is not considered, calculate the transformation relationship between the two coordinate systems according to the expected relative pose and relative position data.

[0076] Usually, the relative attitude relationship is completed through the attitude motion of the three-degree-of-freedom motion simulator and the six-degree-of-freedom motion simula...

example 1

[0104] In the algorithm of Example 1, the simulation of lateral and vertical relative motion is realized through the pitching motion and yaw motion of the three-degree-of-freedom motion simulator, while the roll angle of the three-degree-of-freedom motion simulator remains unchanged. If necessary, the roll angle of the three-degree-of-freedom motion simulator can also participate in the motion equivalent simulation, so as to achieve more complex motion equivalent.

Embodiment 3

[0106] The algorithm of Example 1 is based on the "three + six" configuration of the nine-degree-of-freedom relative motion simulator for research and verification, but the core idea of ​​this algorithm can be easily extended to other configurations of the nine-degree-of-freedom motion simulator , such as the "five + four" configuration.

[0107] Through experimental verification and simulation, the present invention well solves the problem that the hardware itself of the rendezvous and docking nine-degree-of-freedom motion simulator has a small range of lateral and vertical relative motion, limited motion, and cannot carry out simulation tests and tests of all working conditions; the present invention The method of the invention has good stability, not only can be used for static simulation test, but also can be used for continuous dynamic simulation test, and the simulation process is stable; due to the use of the equivalent algorithm proposed by the present invention, it is ...

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Abstract

The invention relates to a nine-dof motion simulator relative movement equivalent method and system, belongs to the spaceflight technology ground simulation test field, solves a problem of the insufficient motion simulation scope of a motion simulator relative to a spacecraft and facilitates the motion simulator to satisfy more test demands. A meeting and docking nine-dof motion simulator comprises a three-dof motion simulator and a six-dof motion simulator, and the nine-dof motion simulator is a three+six structure and has nine degrees of freedom in total. the physical process of two aircrafts from close-distance approach to butt joint contact can be simulated by the nine-dof motion simulator, or in the separation start process after butt joint completion, respective triaxial attitude motion of the two aircrafts and triaxial relative position motion between the two aircrafts are simulated. The algorithm is advantaged in that the transverse and vertical relative motion simulation scopeof the nine-dof motion simulator can be substantially improved, test demands of the relative position motion scope of the two aircrafts in the meeting butt joint process are satisfied, and comprehensive verification tests are guaranteed.

Description

technical field [0001] The invention discloses a relative motion equivalent method and system of a nine-degree-of-freedom motion simulator, belonging to the field of ground simulation tests of aerospace technology. Background technique [0002] During the rendezvous and docking process between the Shenzhou spacecraft and Tiangong-1, there are strict index requirements for the relative motion range between the two aircraft. Only when this index requirement is met can the two aircraft complete the normal rendezvous and docking task. At the same time, according to the requirements of this index, the corresponding technical index requirements are put forward for the normal working range of the measurement sensor. Therefore, as long as the relative range of motion between the two aircraft meets the requirements of the corresponding indicators, and in the absence of other abnormal conditions, the measurement sensor should be in a normal working state to provide accurate and stable...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G09B9/08G06F17/16
Inventor 解永春石磊张昊管乐鑫孙赫婕涂俊峰吴雪峰
Owner BEIJING INST OF CONTROL ENG
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