A digital-physical parallel simulation verification method for multi-level control of complex connected satellites

Abstract

The present invention provides a digital physical parallel simulation verification method for multi-level control of complex connected satellites, which relates to the field of satellite control technology, including: establishing a digital simulation model of a payload platform and a digital simulation model of a whole satellite platform; establishing a digital simulation model of a joint connection module and a physical model of a joint connection module according to a connection mechanism between the satellite platform and the payload platform; performing consistency evaluation on the digital simulation model of the joint connection module and the physical model of the joint connection module according to a preset relative position posture motion sequence to obtain a first evaluation result; when the first evaluation result is consistent, performing simulation verification on the digital simulation model of the payload platform and the digital simulation model of the whole satellite platform respectively. This scheme realizes component-level and system-level satellite controller design verification methods through the method of parallel verification of mathematical models and physical models, and has engineering practical value.

Description

Technical Field

[0001] The present invention relates to the field of satellite control technology, in particular to the field of satellite simulation verification technology, and in particular to a digital physical parallel simulation verification method for multi-level control of complex connected satellites. Background Art

[0002] As the demand for mission planning of multi-stage satellites with large payloads and high dynamics and complex connections with relative rotation gradually increases, the simulation verification system of complex control systems is required to be efficient and accurate. Due to the control requirements and mission characteristics of complex multi-stage satellites, it is necessary to comprehensively consider all aspects in the control subsystem to complete the verification work. Moreover, for a multi-body satellite consisting of a high-speed rotating large payload platform and a satellite platform, the mass characteristics of the payload platform and the satellite platform carrying a large imaging payload are equivalent. When the rotating payload is working at a high speed, the interference torque directly affects the attitude control accuracy and stability of the entire satellite, and the interference terms need to be identified and compensated in advance. Therefore, in order to verify the attitude control accuracy of the entire satellite and the attitude control accuracy after identification and compensation, it is urgent to provide a digital physical parallel simulation verification method for multi-stage control of complex connected satellites based on accurate ground dynamics modeling. Summary of the invention

[0003] The present invention provides a digital physical parallel simulation verification method for complex connected satellite multi-level control, which realizes component-level and system-level satellite controller design verification methods through the method of parallel verification of mathematical models and physical models, and has engineering practical value.

[0004] In a first aspect, the present invention provides a digital physical parallel simulation verification method for multi-level control of complex connected satellites, comprising:

[0005] Establish digital simulation models of payload platform and whole satellite platform;

[0006] According to the connection mechanism between the satellite platform and the payload platform, a digital simulation model of the joint connection module and a physical model of the joint connection module are established;

[0007] Performing consistency evaluation on the digital simulation model of the joint connection module and the physical model of the joint connection module according to a preset relative position posture motion sequence to obtain a first evaluation result;

[0008] When the first evaluation results are consistent, simulation verification is performed on the payload platform digital simulation model and the whole satellite platform digital simulation model respectively.

[0009] In a second aspect, the present invention further provides a digital physical parallel simulation verification device for complex connected satellite multi-level control, comprising:

[0010] The model building module is used to build a digital simulation model of the payload platform and a digital simulation model of the entire satellite platform; and to build a digital simulation model of the joint connection module and a physical model of the joint connection module according to the connection mechanism between the satellite platform and the payload platform;

[0011] A motion solving module, used for performing consistency evaluation on the digital simulation model of the joint connection module and the physical model of the joint connection module according to a preset relative position posture motion sequence to obtain a first evaluation result;

[0012] A simulation verification module is used to perform simulation verification on the payload platform digital simulation model and the whole satellite platform digital simulation model respectively when the first evaluation result is consistent.

[0013] In a third aspect, the present invention further provides a computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the digital physical parallel simulation verification method for multi-level control of complex connected satellites as described in any one of the above items.

[0014] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed in a computer, the computer is caused to execute any of the above-mentioned digital physical parallel simulation verification methods for multi-level control of complex connected satellites.

[0015] In a fifth aspect, an embodiment of the present invention further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the method described in any first aspect of this specification.

[0016] The present invention provides a digital physical parallel simulation verification method for multi-level control of complex connected satellites. For a complex connected satellite multi-body system composed of a satellite platform, a connecting mechanism, and a payload platform, a digital simulation model of a joint connection module and a physical model of a joint connection module for the connecting mechanism are established. Then, based on a preset relative position attitude motion sequence, the digital model and the physical model of the connecting mechanism are evaluated for consistency. When the evaluation result is consistent, the digital simulation model of the payload platform established in advance and the digital simulation model of the whole satellite platform for the satellite are simulated and verified. In this way, the present invention, on the basis of precise modeling, not only ensures the working performance of the payload platform, but also realizes high-dynamic simulation verification of the satellite's high attitude precision, improves the accuracy of simulation verification, can provide theoretical support for control system design, and is suitable for engineering applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of a digital physical parallel simulation verification method for complex connected satellite multi-level control provided by one embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a coordinate system applied to a satellite system provided by an embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of the control force output principle of a magnetic levitation joint provided by an embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram of physical simulation eddy current measurement of an eddy current displacement sensor provided by an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of the measurement working principle of the eddy current displacement sensor provided by one embodiment of the present invention;

[0023] Figure 6 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0024] Figure 7 It is a structural diagram of a digital physical parallel simulation verification device for multi-level control of complex connected satellites provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] Please refer to Figure 1 The embodiment of the present invention provides a digital physical parallel simulation verification method for multi-level control of complex connected satellites, including:

[0027] Step 100, establishing a digital simulation model of the payload platform and a digital simulation model of the entire satellite platform;

[0028] Step 102, establishing a digital simulation model of a joint connection module and a physical model of a joint connection module according to the connection mechanism between the satellite platform and the payload platform;

[0029] Step 104, performing consistency evaluation on the digital simulation model of the joint connection module and the physical model of the joint connection module according to a preset relative position posture motion sequence to obtain a first evaluation result;

[0030] Step 106, when the first evaluation result is consistent, simulation verification is performed on the payload platform digital simulation model and the whole satellite platform digital simulation model respectively.

[0031] In the present invention, for the complex connected satellite multi-body system composed of satellite platform-connection mechanism-payload platform, a joint connection module digital simulation model and a joint connection module physical model are established for the connection mechanism, and then the digital model and the physical model of the connection mechanism are evaluated for consistency based on the preset relative position attitude motion sequence. When the evaluation result is consistent, the previously established load platform digital simulation model for the load platform and the whole satellite platform digital simulation model for the satellite are simulated and verified. In this way, the present invention, on the basis of precise modeling, not only ensures the working performance of the load platform, but also realizes high dynamic simulation verification of the high attitude precision of the satellite, thereby improving the accuracy of the simulation verification.

[0032] It should be noted that the payload platform can be a small inertia payload platform or a large inertia payload platform. Preferably, the large inertia payload platform is one whose own mass is equivalent to that of the satellite platform.

[0033] First, in the present invention, the coordinate system includes the geocentric inertial coordinate system, the satellite platform coordinate system, the whole satellite platform coordinate system and the payload platform coordinate system.

[0034] Specifically, Figure 2 As shown, for the geocentric inertial coordinate system, with the origin O E is the center of mass of the Earth, O E X E The axis points to the 2000.0 mean vernal equinox, O E Z E The axis is perpendicular to the 2000.0 flat equatorial plane and is consistent with the direction of the Earth's rotation angular velocity. E Y E Axis and O E X E , O E Z E The axes form a right-hand system;

[0035] For the satellite platform coordinate system, the origin O is the center of the connection surface between the satellite and the carrier, O xThe axis is along the longitudinal axis of the satellite body, pointing to the payload platform as the positive direction, the positive direction of the z-axis points to the I quadrant of the spacecraft (pointing to the center of the earth when there is no attitude deviation), perpendicular to the longitudinal axis, and the y-axis, x-axis and z-axis form a right-hand system;

[0036] For the whole satellite platform coordinate system, the origin Oc is the center of mass of the whole satellite, and the XcYcZc axis is parallel to the satellite platform coordinate system;

[0037] For the payload platform coordinate system, the origin Oi is the connection point between the payload platform and the satellite platform, and the XiYiZi axis is parallel to the satellite platform coordinate system.

[0038] Described below Figure 1 How the various steps are performed.

[0039] First, based on the above coordinate system, assume that the load platform is a mass m i The satellite platform is a continuous mass body with a mass of m 0 The continuous mass body is composed of mass points dm In the satellite platform coordinate system, r o is the position vector from the origin of the satellite platform coordinate system to the center of mass of the satellite platform; r c is the position vector from the origin of the satellite platform coordinate system to the satellite's center of mass; r oi is the position vector from the origin of the satellite platform coordinate system to the connection point; in the payload platform coordinate system, r ci is the position vector from the connection point (which is the geometric center of the connection structure) to the center of mass of the load platform; r pi is the connection vector from the connection point to any mass point of the load platform; R c is the connection vector from the origin of the geocentric inertial coordinate system to the center of mass of the satellite. The center of mass and mass relationship between the satellite platform and the payload platform is: .

[0040] According to the relationship between the time derivative of any vector in the space rotating coordinate system relative to the inertial system and the time derivative relative to the rotating coordinate system, the first-order and second-order derivative representations of the space pointing vector are given. The time derivative of any vector is ,in u is an arbitrary vector; represents the first-order time derivative relative to the geocentric inertial coordinate system, Represents the first-order time derivative of the coordinate system rotating relative to the body; represents the second-order time derivative relative to the geocentric inertial coordinate system, Represents the second-order time derivative of the rotation coordinate system relative to the body. Among them, the first-order derivatives of the position vector and the angular velocity vector are calculated as follows:

[0041]

[0042]

[0043]

[0044]

[0045] The second derivative of the position vector is calculated as follows:

[0046]

[0047]

[0048]

[0049] in, , so

[0050]

[0051] Among them, the middle term . ω bs To obtain the angular velocity vector of the satellite platform relative to the inertial system in the satellite platform coordinate system; ω i is the angular velocity vector of the payload platform relative to the satellite platform in the payload platform coordinate system; ω is is the third velocity vector of the load platform in the inertial space; ω is =ω bs +ω i .

[0052] In step 100, the load platform digital simulation model is established by the following method:

[0053] Based on the dynamic characteristics, a first momentum equation of the payload platform and a first momentum moment equation relative to the connection point between the satellite platform and the payload platform are established;

[0054] The first momentum equation is determined by the following formula:

[0055]

[0056] The first moment of momentum equation is determined by the following formula:

[0057]

[0058] in, F i It is the first control force of the load platform; M i is the first control moment of the load platform.

[0059] In step 100, the digital simulation model of the entire satellite platform is established by the following method:

[0060] The second momentum equation of the satellite and the second momentum moment equation relative to the satellite's mass center are established based on the dynamic characteristics;

[0061] The second momentum equation is determined by the following formula:

[0062]

[0063] The second momentum equation is determined by the following formula:

[0064]

[0065] in, F c It is the second control force for the satellite; M c is the second control torque of the satellite.

[0066] In step 102, the connection mechanism may be connected by a mechanical bearing or a magnetic bearing, and the digital simulation models of the joint connection modules established for different connection mechanisms are also different.

[0067] The first case: when the connection mechanism is a mechanical bearing, a second-order spring damping connector is used to determine the third control force on the bearing connection point of the load platform;

[0068] Acquire a lever arm corresponding to the third control force, and determine a third control torque based on the third control force and the lever arm;

[0069] The third control force is determined by the following formula:

[0070]

[0071] in, F pi For the third controlling force; i is the direction of freedom of the mechanical bearing, dL is the relative motion displacement of the connection point between the satellite platform and the payload platform in the direction of freedom; ddL is the relative motion speed of the connection point in the direction of freedom; k is the spring stiffness; c is the damping coefficient.

[0072] Specifically, the third control force on the bearing connection point of the load platform is F i = F ai + F pi ,in, F ai is the active control force on the payload platform, F pi is the passive traction force on the load platform. Since the mechanical bearing is a single-degree-of-freedom bearing in the direction of the rotating axis and has two degrees of freedom in posture and position in the non-rotating axis, the active force F ai =0, the passive force is the third control force, and the passive force uses the second-order spring damping stiffness connector to establish a digital simulation model. .

[0073] The second case: when the connection mechanism is a magnetic suspension bearing, the installation information of the magnetic suspension joints at different positions is obtained;

[0074] Obtain the radial magnetic suspension Lorentz force of magnetic suspension joints at different positions in the direction of the non-rotation axis;

[0075] Determine the force arm corresponding to the radial magnetic suspension Lorentz force according to the installation information;

[0076] According to the radial magnetic suspension Lorentz force and the lever arm, the third control force and the third control torque on the load platform are determined by utilizing the magnetic suspension joint control output principle;

[0077] The third control force and the third control torque are determined by the following formula:

[0078]

[0079]

[0080] in, is the control force of the third control force in the non-rotation axis Y-axis direction; , They are respectively the upper radial magnetic suspension Lorentz force and the lower radial magnetic suspension Lorentz force in the non-rotating axis Y-axis direction; is the control torque of the third control torque in the non-rotating axis Z-axis direction; l 1y , l 2y For , The corresponding lever arm;

[0081] is the control force of the third control force in the non-rotational axis Z-axis direction; , They are respectively the upper radial magnetic suspension Lorentz force and the lower radial magnetic suspension Lorentz force in the non-rotating axis Z-axis direction; is the control torque of the third control torque in the direction of the non-rotating axis Y-axis; l 1z , l 2z For , The corresponding lever arm.

[0082] Specifically, the magnetic bearing is a six-degree-of-freedom bearing. The rotor of the magnetic bearing is mounted on the rotor of the magnetic joint, and the rotor of the magnetic joint is mounted on the load platform. The stator of the magnetic bearing is mounted on the stator of the joint, and the stator of the joint is mounted on the satellite platform. The energized coil in the magnetic field is acted upon by the Lorentz force, generating control force and control torque on the load platform and the satellite platform. Figure 3 In the schematic diagram of the magnetic levitation joint control force output principle shown, the eddy current and magnetic bearing joints overlap at this time. The upper frame is used to represent the load platform, and the lower frame is used to represent the satellite platform. The position control and torque control output are achieved through the output force distribution of the magnetic levitation joints at different installation positions. Taking the X-axis as the rotation axis as an example, the third control force and the third control torque of the magnetic levitation joint on the load platform are shown in the above formula. , They are the output control forces of the magnetic suspension joints at installation positions 1 and 2 on the Y axis respectively; , They are the output control forces of the magnetic levitation joints on the Y-axis at installation positions 1 and 2 respectively.

[0083] In step 104, for the first case above, when the connection mechanism is a mechanical bearing, the digital simulation model of the joint connection module and the physical model of the joint connection module are evaluated for consistency according to a preset relative position posture motion sequence to obtain a first evaluation result, including:

[0084] A digital simulation model of a joint connection module is used to obtain a fourth control force and a fourth control torque of the connection mechanism on the load platform when the connection mechanism is in a preset relative position and posture motion state; the preset relative position and posture motion sequence includes a plurality of preset relative position and posture motion states arranged in time sequence;

[0085] The physical model of the joint connection module is used to obtain the fifth control force and the fifth control torque of the connection mechanism on the load platform when the connection mechanism is in a preset relative position and posture motion state;

[0086] Determine whether the difference between the fourth control force and the fifth control force in the same preset relative position and posture motion state is less than a first preset threshold, and determine whether the difference between the fourth control torque and the fifth control torque in the same preset relative position and posture motion state is less than a second preset threshold;

[0087] If the judgment results are all yes, then the first evaluation result is consistent.

[0088] In the present invention, for mechanical bearings, a digital simulation model of a joint connection module is first used to simulate a preset relative position and posture motion sequence to obtain a fourth control force and a fourth control torque for the load platform; then a physical simulation model of the joint connection module is used to simulate a preset relative position and posture motion sequence to obtain a fifth control force and a fifth control torque for the load platform; in this way, by comparing the differences in control forces and control torques obtained by different models under the same relative position and posture motion sequence, it is determined whether the physical model and the digital model are consistent; if the differences are within the preset threshold range, it is considered that the physical model and the digital model are consistent, and further simulation verification can be performed on other related modules based on the control forces and control torques output by the physical simulation model of the joint connection module to improve the verification accuracy.

[0089] In step 104, for the second case above, when the connection mechanism is a magnetic suspension bearing, the magnetic suspension bearing is installed on the magnetic suspension joint, the magnetic suspension joint has three translational degrees of freedom, and each translational degree of freedom is installed with an eddy current displacement sensor; according to the preset relative position posture motion sequence, the digital simulation model of the joint connection module and the physical model of the joint connection module are evaluated for consistency, and a first evaluation result is obtained, including:

[0090] S1: Establishing the eddy current sensor digital simulation model and the eddy current sensor physical simulation model of the eddy current displacement sensor, as well as the magnetic levitation joint digital simulation model and the magnetic levitation joint physical simulation model of the magnetic levitation joint;

[0091] S2: Perform consistency evaluation on the eddy current sensor digital simulation model and the eddy current sensor physical simulation model according to a preset relative position posture motion sequence to obtain a first sub-evaluation result;

[0092] S3: performing consistency evaluation on the digital simulation model of the magnetic levitation joint and the physical simulation model of the magnetic levitation joint according to the preset electric coil current sequence to obtain a second sub-evaluation result;

[0093] S4: When the first sub-evaluation result and the second sub-evaluation result are both consistent, determining that the first evaluation result is consistent.

[0094] It should be noted that in order to achieve the comparison effect between the digital simulation model and the physical simulation model, the digital simulation model sets the satellite platform as a static platform system with ultra-large mass characteristics, and the influence of the orbital angular velocity is removed during the simulation process.

[0095] In a preferred embodiment, for the magnetic bearing, the eddy current sensor physical simulation model adopts a differential measurement method; at least two eddy current displacement sensors are installed for each translational degree of freedom.

[0096] Specifically, Figure 4 The physical simulation model of the eddy current displacement sensor established has a total of three translational degrees of freedom. The eddy current displacement sensor adopts differential measurement, and every two probes constitute a differential measurement channel. Each radial position measurement plane is equipped with two main position measurement channels and two backup position measurement channels. The two main displacement measurement channels share a circuit board. Four pairs of differential probes and one circuit box constitute an eddy current displacement sensor. In order to achieve the decoupling of relative position and relative attitude measurement, at least two eddy current displacement sensors with different radial positions are required. In order to improve the measurement accuracy, it is preferred to install four eddy current displacement sensors for each translational degree of freedom.

[0097] In the present invention, the rotor of the magnetic suspension bearing is mounted on the rotor of the magnetic suspension joint, and the stator of the magnetic suspension bearing is mounted on the stator of the joint. The energized coil in the magnetic field is acted upon by the Lorentz force, and the magnitude of the control force of the magnetic suspension bearing is adjusted by adjusting the magnitude of the current in the coil, and the frequency and phase of the radial force are adjusted by turning on and off the power of different groups of coils.

[0098] In a preferred embodiment, for a magnetic bearing, Figure 5 The digital model measurement principle diagram of the eddy current displacement sensor shown in the figure is a schematic diagram of the radial eddy current measurement working principle, and the lower figure is a schematic diagram of the axial eddy current measurement working principle. The measured end of the eddy current displacement sensor is installed on the stator shaft of the satellite platform; the measuring end of the eddy current displacement sensor is installed on the rotor shaft of the load platform; the magnetic levitation joint includes a stator shaft and a rotor shaft;

[0099] The digital simulation model of the eddy current sensor is expressed by the following formula:

[0100]

[0101]

[0102] in, r b , r s They are respectively the radial eddy current measurement vector and the axial eddy current measurement vector of the eddy current displacement sensor in the load platform coordinate system; a ,b are the coefficients of radial eddy current measurement vector and axial eddy current measurement vector respectively;

[0103] C UO is the transformation matrix of the load platform coordinate system relative to the track system;

[0104] C LO is the transformation matrix of the satellite platform coordinate system relative to the orbital system;

[0105] In the orbital system, r L_U is the position vector from the center of mass of the satellite platform to the center of mass of the payload platform;

[0106] In the satellite platform coordinate system, r L_X is the direction of the stator axis; r L_P is the position vector from the center of mass of the satellite platform to the measured end;

[0107] In the load platform coordinate system, r U_X is the direction of the rotor axis; r U_Q + r I is the position vector from the center of mass of the load platform to the measuring end;

[0108] err 1= err zero + err nonlinear + err cofre + err diffre + err tem + err rand ; err zero It is the zero measurement deviation and zero stability deviation; err nonlinear is the nonlinearity deviation; err cofre is the frequency error; err diffre is the frequency multiplication error; err tem is the scale factor temperature stability error; err rand Random noise for eddy current measurements.

[0109] In the present invention, in order to further improve the calculation results of the digital simulation model of the eddy current sensor, error terms including zero-position measurement deviation and zero-position stability deviation, nonlinearity deviation, co-frequency error, multiplication error, scale factor temperature stability error, and eddy current measurement random noise are also considered in establishing the digital simulation model to further improve the simulation accuracy.

[0110] Specifically, Figure 5 As shown in the figure above, the radial eddy current measurement vector r The vector description relationship of the unified expression in the orbital system is:

[0111]

[0112] Because in Figure 5 In the figure above, in the same coordinate system, the radial eddy current measurement vector r The installation orientation of the eddy current in the fixed position of the load platform coordinate system r U_X are mutually perpendicular vectors, so Considering the attitude motion of the satellite platform and the payload platform and the relative motion relationship between the platforms, the following coefficients can be obtained: a The expression is:

[0113]

[0114] Will a Substituting the radial eddy current measurement vector r The radial eddy current measurement vector in the load platform coordinate system is obtained r b :

[0115] .

[0116] Specifically, in Figure 5 In the schematic diagram of the working principle of axial eddy current measurement shown in the middle and lower figure, the installation position of the eddy current displacement sensor is perpendicular to the rotor axis of the load platform, and the measurement direction is parallel to the rotor axis of the load platform. Considering that the axial eddy current installation surface is perpendicular to the rotor axis, the measurement direction is consistent with the rotor axis. Since the eddy current is installed on the load platform coordinate system, the installation position vector in this system is expressed as r U_Q + r I From the eddy current measurement, it can be seen that the axial eddy current measurement vector in the orbital system can be obtained through vector calculation: r z :

[0117]

[0118] Because in Figure 5 In the lower middle figure, the axial eddy current measurement vector r z The central bearing metal part connected to the satellite platform r L_X are mutually perpendicular vectors, so Considering the attitude motion of the satellite platform and the payload platform and the relative motion relationship between the platforms, the following coefficients can be obtained: b The expression is:

[0119]

[0120] Will b Substituting the above axial eddy current measurement vector r z The axial eddy current measurement vector in the load platform coordinate system is obtained r s :

[0121] .

[0122] In a preferred embodiment, for the magnetic suspension bearing, the digital simulation model of the magnetic suspension joint is expressed by the following formula:

[0123]

[0124] in, F b is the Lorentz force; I is the joint coil current, ; B is the magnetic field strength, ; C UO is the transformation matrix of the load platform coordinate system relative to the track system; C LO is the transformation matrix of the satellite platform coordinate system relative to the orbital system; err 2= err nler × err nlea × err cef ;in err nler is the magnetic bearing pole installation error coefficient; err nlea is the error coefficient caused by displacement; err cef is the electromagnetic force error coefficient.

[0125] In the present invention, the magnetic field strength is given during the establishment of the digital simulation model of the magnetic levitation joint. BThe center of the magnetic field is at the center of the stator end of the satellite platform. The central magnetic field is evenly distributed, and the other areas are conical. The coil is installed on the load platform and generates Lorentz force by cutting the magnetic field lines of the satellite platform. During the digital simulation modeling process, the Lorentz force generated by the magnetic levitation joint for the entire satellite is an internal force, and the Lorentz force generated by the magnetic levitation joint for the load platform and the satellite platform is an external force. The control force and control torque obtained by the closed-loop system are provided to the magnetic levitation joint through distribution, and the control system gives the joint coil current I The control force is described as F b .

[0126] In the present invention, for the magnetic suspension bearing, for the preset relative position posture motion sequence, the eddy current sensor digital simulation model and the eddy current sensor physical simulation model are respectively used for simulation to realize the digital verification of the polarity and the correctness of the detection value of the eddy current displacement sensor. Considering the deflection motion of the three-dimensional model and the operability of the relative distance detection, in the two-dimensional model of the longitudinal section of the rotating joint, the joint rotor is rotated at a fixed point, and the distance from the radial eddy current displacement sensor probe to the detection surface of the central axis of the rotating joint stator after the rotation is measured, and the distance is calculated by the radial eddy current measurement vector and the axial eddy current measurement vector. Under the nominal zero position state of the rotating joint magnetic suspension, the joint rotor is rotated in different directions relative to the joint stator around the geometric center of the satellite platform magnetic bearing, and the relative distance between the stator and the rotor at the sensor probe under the same relative position posture motion state is detected respectively. If the comparison consistency of the test results obtained by the digital model and the physical model is greater than 96%, (relative distance output by the digital model-relative distance output by the physical model) / relative distance output by the physical model ≤4%, then the first sub-evaluation result is considered to be consistent.

[0127] In the present invention, for the magnetic levitation bearing, the digital simulation model of the magnetic levitation joint is first used to simulate the preset electric coil current sequence to obtain the Lorentz force of the magnetic levitation bearing, that is, the control force; then the physical simulation model of the magnetic levitation joint is used to simulate the preset electric coil current sequence to obtain the Lorentz force of the magnetic levitation bearing at this time; in this way, by comparing the difference in Lorentz forces obtained by different models under the same preset electric coil current sequence, the correctness of the polarity and detection value of the magnetic levitation controller is digitally verified, and by judging whether the physical model and the digital model are consistent, if the difference / the Lorentz force output by the physical simulation model of the magnetic levitation joint is ≤4%, it is considered that the physical model and the digital model are consistent, that is, the second sub-evaluation result is consistent.

[0128] In step 106, when the first evaluation result is consistent, simulation verification is performed on the payload platform digital simulation model and the whole satellite platform digital simulation model respectively, including:

[0129] Determine the target control force and control torque under the preset relative position and posture motion sequence based on the physical model of the joint connection module;

[0130] The target control force and control torque are respectively input into the digital simulation model of the payload platform and the digital simulation model of the whole satellite platform to simulate the satellite, and the control accuracy and control stability for the payload platform and the satellite platform are obtained.

[0131] In the present invention, based on the digital physical parallel simulation verification method for complex connected satellite multi-level control provided by the present invention, a simulation model framework architecture based on the above-mentioned digital simulation models is first established, including a dynamics and kinematics solution module architecture, a sensor device and control device module architecture, a controller and actuator module architecture, and a satellite platform and payload platform interactive path architecture based on interactive interface connection, and a closed-loop verification digital simulation system is constructed. After completing the verification of the control accuracy and control stability index of the closed-loop system connected by the mechanical bearing or magnetic suspension bearing in step 104, the verification of the control accuracy and control stability index of the load platform follow-up control closed-loop system connected by the mechanical bearing or magnetic suspension bearing and the verification of the control accuracy and control stability index of the satellite platform follow-up control closed-loop system connected by the mechanical bearing or magnetic suspension bearing are completed successively, thereby completing the verification of the entire closed-loop verification digital simulation system.

[0132] like Figure 6 , Figure 7 As shown, the embodiment of the present invention provides a digital physical parallel simulation verification device for complex connected satellite multi-level control. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 6 As shown, a hardware architecture diagram of a computing device where a digital physical parallel simulation verification device for complex satellite multi-level control provided by an embodiment of the present invention is located is shown. Figure 6 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 7 As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a digital physical parallel simulation verification device for complex connection satellite multi-level control, including:

[0133] The model building module 700 is used to build a digital simulation model of the payload platform and a digital simulation model of the entire satellite platform; and to build a digital simulation model of the joint connection module and a physical model of the joint connection module according to the connection mechanism between the satellite platform and the payload platform;

[0134] The motion solving module 702 is used to perform consistency evaluation on the digital simulation model of the joint connection module and the physical model of the joint connection module according to a preset relative position and posture motion sequence to obtain a first evaluation result;

[0135] The simulation verification module 704 is used to perform simulation verification on the payload platform digital simulation model and the whole satellite platform digital simulation model respectively when the first evaluation result is consistent.

[0136] In some specific implementations, the model building module 700 may be used to execute the above steps 100 and 102 , the motion solving module 702 may be used to execute the above step 104 , and the simulation verification module 704 may be used to execute the above step 106 .

[0137] In some specific implementations, the model building module 700 is further configured to perform the following operations:

[0138] The digital simulation model of the load platform is established by the following method:

[0139] Based on the dynamic characteristics, a first momentum equation of the payload platform and a first momentum moment equation relative to the connection point between the satellite platform and the payload platform are established;

[0140] The first momentum equation is determined by the following formula:

[0141]

[0142] The first moment of momentum equation is determined by the following formula:

[0143]

[0144] in, F i It is the first control force of the load platform; m i is the mass of the load platform; R c is the connection vector from the origin of the geocentric inertial coordinate system to the center of mass of the satellite; in the satellite platform coordinate system, r c , r oi are the position vector from the origin of the satellite platform coordinate system to the center of mass of the satellite and the position vector from the origin to the connection point; in the payload platform coordinate system, r ci is the position vector from the connection point to the center of mass of the load platform; M i is the first control moment of the load platform; r piis the connection vector from the connection point to any mass point of the load platform; it represents the second-order time derivative relative to the geocentric inertial coordinate system.

[0145] In some specific implementations, the model building module 700 is further configured to perform the following operations:

[0146] The digital simulation model of the entire satellite platform is established by the following method:

[0147] The second momentum equation of the satellite and the second momentum moment equation relative to the satellite's mass center are established based on the dynamic characteristics;

[0148] The second momentum equation is determined by the following formula:

[0149]

[0150] The second momentum equation is determined by the following formula:

[0151]

[0152] in, F c It is the second control force for the satellite; m i is the mass of the load platform; m 0 The quality of the satellite platform; R c is the connection vector from the origin of the geocentric inertial coordinate system to the center of mass of the satellite; M c is the second control torque of the satellite; in the satellite platform coordinate system, r o , r c , r oi are respectively the position vector from the origin of the satellite platform coordinate system to the mass center of the satellite platform, the position vector to the mass center of the satellite, and the position vector to the connection point; r pi is the connection vector from the connection point to any mass point of the load platform; it represents the second-order time derivative relative to the geocentric inertial coordinate system.

[0153] In some specific implementations, the model building module 700 is further configured to perform the following operations:

[0154] The digital simulation model of the joint connection module is established by the following method:

[0155] When the connection mechanism is a mechanical bearing, a second-order spring damping connector is used to determine the third control force on the bearing connection action point of the load platform;

[0156] Acquire a lever arm corresponding to the third control force, and determine a third control torque based on the third control force and the lever arm;

[0157] The third control force is determined by the following formula:

[0158]

[0159] in, F pi For the third controlling force; i is the direction of freedom of the mechanical bearing, dL is the relative motion displacement of the connection point between the satellite platform and the payload platform in the direction of freedom; ddL is the relative motion speed of the connection point in the direction of freedom; k is the spring stiffness; c is the damping coefficient.

[0160] In some specific implementations, the motion solving module 702 is further configured to perform the following operations:

[0161] When the connection mechanism is a mechanical bearing, a digital simulation model of a joint connection module is used to obtain a fourth control force and a fourth control torque of the connection mechanism on the load platform when the connection mechanism is in a preset relative position and posture motion state; the preset relative position and posture motion sequence includes a plurality of preset relative position and posture motion states arranged in time sequence;

[0162] The physical model of the joint connection module is used to obtain the fifth control force and the fifth control torque of the connection mechanism on the load platform when the connection mechanism is in a preset relative position and posture motion state;

[0163] Determine whether the difference between the fourth control force and the fifth control force in the same preset relative position and posture motion state is less than a first preset threshold, and determine whether the difference between the fourth control torque and the fifth control torque in the same preset relative position and posture motion state is less than a second preset threshold;

[0164] If the judgment results are all yes, then the first evaluation result is consistent.

[0165] In some specific implementations, the model building module 700 is further configured to perform the following operations:

[0166] When the connection mechanism is a magnetic suspension bearing, obtaining installation information of magnetic suspension joints at different positions;

[0167] Obtain the radial magnetic suspension Lorentz force of magnetic suspension joints at different positions in the direction of the non-rotation axis;

[0168] Determine the force arm corresponding to the radial magnetic suspension Lorentz force according to the installation information;

[0169] According to the radial magnetic suspension Lorentz force and the lever arm, the third control force and the third control torque on the load platform are determined by utilizing the magnetic suspension joint control output principle;

[0170] The third control force and the third control torque are determined by the following formula:

[0171]

[0172] in, is the control force of the third control force in the non-rotation axis Y-axis direction; , They are respectively the upper radial magnetic suspension Lorentz force and the lower radial magnetic suspension Lorentz force in the non-rotating axis Y-axis direction; is the control torque of the third control torque in the non-rotating axis Z-axis direction; l 1y , l 2y For , The corresponding lever arm;

[0173] is the control force of the third control force in the non-rotational axis Z-axis direction; , They are respectively the upper radial magnetic suspension Lorentz force and the lower radial magnetic suspension Lorentz force in the non-rotating axis Z-axis direction; is the control torque of the third control torque in the direction of the non-rotating axis Y-axis; l 1z , l 2z For , The corresponding lever arm.

[0174] In some specific implementations, the model building module 700 is further configured to perform the following operations:

[0175] The measured end of the eddy current displacement sensor is installed on the stator shaft of the satellite platform; the measuring end of the eddy current displacement sensor is installed on the rotor shaft of the load platform; the magnetic suspension joint includes a stator shaft and a rotor shaft;

[0176] The digital simulation model of the eddy current sensor is expressed by the following formula:

[0177]

[0178] in, r b , r s They are respectively the radial eddy current measurement vector and the axial eddy current measurement vector of the eddy current displacement sensor in the load platform coordinate system;

[0179] C UO is the transformation matrix of the load platform coordinate system relative to the track system;

[0180] C LO is the transformation matrix of the satellite platform coordinate system relative to the orbital system;

[0181] In the orbital system, r L_U is the position vector from the center of mass of the satellite platform to the center of mass of the payload platform;

[0182] In the satellite platform coordinate system, r L_X is the direction of the stator axis; r L_P is the position vector from the center of mass of the satellite platform to the measured end;

[0183] In the load platform coordinate system, r U_X is the direction of the rotor axis; r U_Q + r I is the position vector from the center of mass of the load platform to the measuring end;

[0184] err 1 is the error term;

[0185] The physical simulation model of the eddy current sensor adopts a differential measurement method; at least two eddy current displacement sensors are installed in each translational degree of freedom.

[0186] In some specific implementations, the model building module 700 is further configured to perform the following operations:

[0187] The digital simulation model of the magnetic levitation joint is expressed by the following formula:

[0188]

[0189] in, F b is the Lorentz force; I is the joint coil current; B is the magnetic field strength; C UO is the transformation matrix of the load platform coordinate system relative to the track system; C LO is the transformation matrix of the satellite platform coordinate system relative to the orbital system; err 2 is the error coefficient.

[0190] In some specific implementations, the motion solving module 702 is further configured to perform the following operations:

[0191] When the connection mechanism is a magnetic suspension bearing, the magnetic suspension bearing is installed on the magnetic suspension joint, and the magnetic suspension joint has three translational degrees of freedom, and each translational degree of freedom is installed with an eddy current displacement sensor;

[0192] Establishing the eddy current sensor digital simulation model and the eddy current sensor physical simulation model of the eddy current displacement sensor, as well as the magnetic levitation joint digital simulation model and the magnetic levitation joint physical simulation model of the magnetic levitation joint;

[0193] Perform consistency evaluation on the eddy current sensor digital simulation model and the eddy current sensor physical simulation model according to a preset relative position posture motion sequence to obtain a first sub-evaluation result;

[0194] Perform consistency evaluation on the digital simulation model of the magnetic levitation joint and the physical simulation model of the magnetic levitation joint according to the preset electric coil current sequence to obtain a second sub-evaluation result;

[0195] When the first sub-evaluation result and the second sub-evaluation result are both consistent, the first evaluation result is determined to be consistent.

[0196] In some specific implementations, the simulation verification module 704 is further configured to perform the following operations:

[0197] Determine the target control force and control torque under the preset relative position and posture motion sequence based on the physical model of the joint connection module;

[0198] The target control force and control torque are respectively input into the digital simulation model of the payload platform and the digital simulation model of the whole satellite platform to simulate the satellite, and the control accuracy and control stability for the payload platform and the satellite platform are obtained.

[0199] In some specific embodiments, the device also includes a sensor device and control device module architecture, a controller and actuator module architecture, and a satellite platform and payload platform interaction path architecture based on an interaction interface connection.

[0200] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a digital physical parallel simulation verification device for complex satellite multi-level control. In other embodiments of the present invention, a digital physical parallel simulation verification device for complex satellite multi-level control may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0201] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0202] An embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a digital physical parallel simulation verification method for multi-level control of a complex connected satellite in any embodiment of the present invention is implemented.

[0203] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a digital physical parallel simulation verification method for multi-level control of a complex connected satellite in any embodiment of the present invention.

[0204] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes a digital physical parallel simulation verification method for multi-level control of a complex connected satellite as described in any of the above embodiments.

[0205] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0206] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0207] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0208] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0209] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0210] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0211] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0212] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A digital physical parallel simulation verification method for complex connected satellite multi-level control, characterized in that: include: Establish digital simulation models of payload platform and whole satellite platform; According to the connection mechanism between the satellite platform and the payload platform, a digital simulation model of the joint connection module and a physical model of the joint connection module are established; Performing consistency evaluation on the digital simulation model of the joint connection module and the physical model of the joint connection module according to a preset relative position posture motion sequence to obtain a first evaluation result; When the first evaluation results are consistent, respectively performing simulation verification on the payload platform digital simulation model and the whole satellite platform digital simulation model; The step of performing consistency evaluation on the digital simulation model of the joint connection module and the physical model of the joint connection module according to the preset relative position posture motion sequence to obtain a first evaluation result includes: When the connection mechanism is a mechanical bearing, the digital simulation model of the joint connection module is used to obtain the fourth control force and the fourth control torque of the connection mechanism on the load platform when the connection mechanism is in a preset relative position posture motion state; the preset relative position posture motion sequence includes a plurality of preset relative position posture motion states arranged in time sequence; The joint connection module physical model is used to obtain a fifth control force and a fifth control torque of the connection mechanism on the load platform when the connection mechanism is in the preset relative position and posture motion state; Determine whether the difference between the fourth control force and the fifth control force in the same preset relative position and posture motion state is less than a first preset threshold, and determine whether the difference between the fourth control torque and the fifth control torque in the same preset relative position and posture motion state is less than a second preset threshold; If the judgment results are all yes, then the first evaluation result is consistent; or, When the connection mechanism is a magnetic suspension bearing, the magnetic suspension bearing is installed on the magnetic suspension joint, and the magnetic suspension joint has three translational degrees of freedom, and each translational degree of freedom is installed with an eddy current displacement sensor; Establishing an eddy current sensor digital simulation model and an eddy current sensor physical simulation model of the eddy current displacement sensor, as well as a magnetic levitation joint digital simulation model and a magnetic levitation joint physical simulation model of the magnetic levitation joint; Performing consistency evaluation on the digital simulation model of the eddy current sensor and the physical simulation model of the eddy current sensor according to the preset relative position posture motion sequence to obtain a first sub-evaluation result; Performing consistency evaluation on the digital simulation model of the magnetic levitation joint and the physical simulation model of the magnetic levitation joint according to a preset electric coil current sequence to obtain a second sub-evaluation result; When the first sub-assessment result and the second sub-assessment result are both consistent, determining that the first assessment result is consistent; When the first evaluation result is consistent, respectively performing simulation verification on the payload platform digital simulation model and the whole satellite platform digital simulation model, including: Determine the target control force and control torque in the preset relative position posture motion sequence based on the physical model of the joint connection module; The target control force and control torque are respectively input into the digital simulation model of the payload platform and the digital simulation model of the whole satellite platform to simulate the satellite, so as to obtain the control accuracy and control stability for the payload platform and the satellite platform.

2. The method according to claim 1, characterized in that The load platform digital simulation model is established by the following method: Establishing a first momentum equation of the payload platform and a first momentum moment equation relative to a connection point between the satellite platform and the payload platform based on dynamic characteristics; The first momentum equation is determined by the following formula: The first moment of momentum equation is determined by the following formula: in, F i is the first control force of the load platform; m i is the mass of the load platform; R c is the connection vector from the origin of the geocentric inertial coordinate system to the center of mass of the satellite; in the satellite platform coordinate system, r c , r oi are the position vector from the origin of the satellite platform coordinate system to the center of mass of the satellite and the position vector to the connection point respectively; in the payload platform coordinate system, r ci is the position vector from the connection point to the center of mass of the load platform; M i is the first control torque of the load platform; r pi is the connection vector from the connection point to any mass point of the load platform; represents the second-order time derivative relative to the geocentric inertial coordinate system; and / or, The digital simulation model of the whole satellite platform is established by the following method: Establishing a second momentum equation of the satellite and a second angular momentum equation relative to the center of mass of the satellite based on dynamic characteristics; The second momentum equation is determined by the following formula: The second momentum equation is determined by the following formula: in, F c is a second control force for the satellite; m i is the mass of the load platform; m 0 is the mass of the satellite platform; R c is the connection vector from the origin of the geocentric inertial coordinate system to the center of mass of the satellite; M c is the second control torque of the satellite; in the satellite platform coordinate system, r o , r c , r oi are respectively the position vector from the origin of the satellite platform coordinate system to the mass center of the satellite platform, the position vector to the mass center of the satellite, and the position vector to the connection point; r pi is the connection vector from the connection point to any mass point of the load platform; Represents the second-order time derivative with respect to the geocentric inertial coordinate system.

3. The method according to claim 1, characterized in that The digital simulation model of the joint connection module is established by the following method: When the connection mechanism is a mechanical bearing, a second-order spring damping connector is used to determine the third control force applied to the bearing connection action point of the load platform; Acquire a lever arm corresponding to the third control force, and determine a third control torque based on the third control force and the lever arm; The third control force is determined by the following formula: in, F pi is the third control force; i is the direction of freedom of the mechanical bearing, dL is the relative motion displacement of the connection point between the satellite platform and the payload platform in the direction of freedom; ddL is the relative movement speed of the connection point in the direction of freedom; k is the spring stiffness; c is the damping coefficient; or, When the connection mechanism is a magnetic suspension bearing, obtaining installation information of magnetic suspension joints at different positions; Obtaining radial magnetic suspension Lorentz force of the magnetic suspension joint at different positions in the direction of the non-rotation axis; Determine the force arm corresponding to the radial magnetic suspension Lorentz force according to the installation information; According to the radial magnetic suspension Lorentz force and the lever arm, a third control force and a third control torque on the load platform are determined by utilizing the magnetic suspension joint control output principle; The third control force and the third control torque are determined by the following formula: in, is the control force of the third control force in the non-rotation axis Y-axis direction; , They are respectively the upper radial magnetic suspension Lorentz force and the lower radial magnetic suspension Lorentz force in the non-rotating axis Y-axis direction; is the control torque of the third control torque in the direction of the non-rotating axis Z-axis; l 1y , l 2y For , The corresponding lever arm; is the control force of the third control force in the non-rotational axis Z-axis direction; , They are respectively the upper radial magnetic suspension Lorentz force and the lower radial magnetic suspension Lorentz force in the non-rotating axis Z-axis direction; is the control torque of the third control torque in the direction of the non-rotating axis Y-axis; l 1z , l 2z For , The corresponding lever arm.

4. The method according to claim 1, characterized in that: The measured end of the eddy current displacement sensor is installed on the stator shaft of the satellite platform; the measuring end of the eddy current displacement sensor is installed on the rotor shaft of the load platform; the magnetic suspension joint includes a stator shaft and a rotor shaft; The digital simulation model of the eddy current sensor is expressed by the following formula: in, r b , r s They are respectively the radial eddy current measurement vector and the axial eddy current measurement vector of the eddy current displacement sensor in the load platform coordinate system; C UO is the transformation matrix of the load platform coordinate system of the load platform relative to the track system; C LO is the transformation matrix of the satellite platform coordinate system of the satellite platform relative to the orbital system; In the orbital system, r L_U is the position vector from the center of mass of the satellite platform to the center of mass of the payload platform; In the satellite platform coordinate system, r L_X is the direction of the stator axis; r L_P is the position vector from the center of mass of the satellite platform to the measured end; In the load platform coordinate system, r U_X is the direction of the rotor axis; r U_Q + r I is the position vector from the center of mass of the load platform to the measuring end; err 1 is the error term; a , b All are coefficients; and / or, The digital simulation model of the magnetic levitation joint is expressed by the following formula: in, F b is the Lorentz force; I is the joint coil current; B is the magnetic field strength; C UO is the transformation matrix of the load platform coordinate system of the load platform relative to the track system; C LO is the transformation matrix of the satellite platform coordinate system of the satellite platform relative to the orbital system; err 2 is the error coefficient.

5. The method according to claim 1, characterized in that The eddy current sensor physical simulation model adopts a differential measurement method; at least two eddy current displacement sensors are installed in each translational degree of freedom.

6. A digital physical parallel simulation verification device for implementing the complex connection satellite multi-level control method according to any one of claims 1 to 5, characterized in that: include: The model building module is used to build a digital simulation model of the payload platform and a digital simulation model of the entire satellite platform; and to build a digital simulation model of the joint connection module and a physical model of the joint connection module according to the connection mechanism between the satellite platform and the payload platform; A motion solving module, used for performing consistency evaluation on the digital simulation model of the joint connection module and the physical model of the joint connection module according to a preset relative position posture motion sequence to obtain a first evaluation result; A simulation verification module is used to perform simulation verification on the payload platform digital simulation model and the whole satellite platform digital simulation model respectively when the first evaluation result is consistent.

7. A computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 5.

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