Dynamic leveling system and dynamic leveling method in triaxial air bearing table control process

Abstract

The invention discloses a dynamic leveling system and a dynamic leveling method in a triaxial air bearing table control process. The system comprises an automatic balancing device, a reaction flywheel, a control computer and a communication system. The dynamic leveling method comprises the steps of wireless local area network establishment, attitude data information transmission, control instruction resolving, dynamic disturbance torque estimation and compensation, data storage and the like. According to the method, the reaction flywheel is used for balance adjustment of the three-axis air bearing table for the first time, high-precision estimation is conducted on the dynamic disturbance torque through the reaction flywheel, and the direction of the dynamic disturbance torque is judged according to the error attitude angle and the right-hand rule principle. Finally, the interference torque is compensated in real time by utilizing an automatic balancing device, so that high-precision control of the three-axis air bearing table is realized, and meanwhile, the anti-interference capability and the environment adaptability of the three-axis air bearing table are improved. A high-confidence spacecraft ground semi-physical simulation experiment is facilitated, and it is ensured that the spacecraft smoothly completes a specified task after being injected into an orbit.

Description

technical field [0001] The invention belongs to the technical field of semi-physical simulation on the ground of spacecraft, and in particular relates to a dynamic leveling system in the control process of a three-axis air bearing platform, and also relates to a dynamic leveling method in the control process of a three-axis air bearing platform. Background technique [0002] The three-axis air bearing table is an important ground semi-physical simulation device for spacecraft, which can perform high-confidence simulations for spacecraft attitude control, spacecraft rendezvous and docking, etc. Interference torque is an important factor limiting the use of air bearings. With the continuous development of semi-physical simulation technology, the leveling technology of air bearings has changed from manual adjustment to automatic adjustment. At this stage, most of the disturbance torque compensation of the air bearing platform is completed by the automatic balance system, but it...

AI Technical Summary

Problems solved by technology

It is easy to cause problems such as saturation of the reaction flywheel speed, reduction of control accuracy of the air bearing table, or even loss of control

Obviously, the traditional automatic balancing scheme cannot compensate the dynamic time-varying disturbance torque, which greatly reduces the environmental adaptability of the air bearing table and limits the use of the three-axis air bearing table

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