Active pointing super-static platform ground semi-physical test method and system

Abstract

The application discloses a kind of active pointing superstatic platform ground semi-physical test method and system.The method is applied to the host computer of ground semi-physical test system, method includes: for any time execution: S1, based on the difference between the first relative pose of the load mounting platform and the Stewart platform and the reference relative pose, adjust the pose of the Stewart platform, and execute S2;S2, calculate the second relative pose of the load mounting platform and the adjusted Stewart platform, and execute S3;S3, based on the difference between the second relative pose and the reference relative pose, adjust the pose of the load mounting platform, and execute S4;S4, calculate the third relative pose of the adjusted load mounting platform and the Stewart platform;Third relative pose is used as the first relative pose of next time, and returns to execute S1 until test is finished.The application can accurately test the performance of active pointing superstatic platform.

Description

Technical Field

[0001] This invention relates to the field of ground-based semi-physical simulation technology, and in particular to a ground-based semi-physical testing method and system for an actively pointing ultra-quiet platform. Background Technology

[0002] Active pointing ultra-quiet platform control technology serves satellites with extremely high requirements for payload attitude, such as high-resolution Earth observation, space situational awareness, and astronomical observation. Therefore, in order to ensure the on-orbit performance of the active pointing ultra-quiet platform, ground testing is necessary.

[0003] When conducting ground tests, the relevant technologies cannot simulate the changes in the relative attitude between the satellite and the payload during maneuvering. This results in a more idealized ground test environment for actively pointing ultra-quiet platforms, which differs significantly from the actual on-orbit conditions and affects the accuracy of the tests.

[0004] Therefore, there is an urgent need for an active pointing ground-based semi-physical testing method and system for ultra-quiet platforms. Summary of the Invention

[0005] This invention provides a semi-physical testing method and system for actively pointing ultra-quiet platforms, which can accurately test the performance of actively pointing ultra-quiet platforms.

[0006] The technical solution is as follows:

[0007] On one hand, a method for active pointing ultra-quiet platform ground-based semi-physical testing is provided, applied in the host computer of a ground-based semi-physical testing system. The system includes the active pointing ultra-quiet platform, a load mounting platform, a six-DOF Stewart platform, a Stewart platform driver, and a central control unit. The active pointing ultra-quiet platform includes a VIPPS drive unit, multiple first actuating rods, and a micrometer sensor. One end of each first actuating rod is connected to the load mounting platform, and the other end is connected to the top of the Stewart platform. The method includes:

[0008] For any given moment, execute:

[0009] S1, based on the difference between the first relative pose and the reference relative pose between the payload mounting platform and the Stewart platform at this moment, the pose of the Stewart platform is adjusted using the Stewart platform driver, and S2 is executed; the reference relative pose at each moment is obtained by the central control unit simulating the satellite.

[0010] S2, For the adjusted Stewart platform, recalculate the second relative pose between the load mounting platform and the Stewart platform, and execute S3;

[0011] S3, based on the difference between the second relative pose and the reference relative pose, adjust the pose of the load mounting platform using the VIPPS drive unit, and execute S4;

[0012] S4, for the adjusted load mounting platform, recalculate the third relative pose between the load mounting platform and the Stewart platform; use the third relative pose as the first relative pose between the load mounting platform and the Stewart platform at the next moment, and return to execute S1 until the test ends.

[0013] On the other hand, an active pointing ultra-quiet platform ground semi-physical testing system is provided, the device comprising:

[0014] The system includes an active pointing ultra-quiet platform, a load mounting platform, a six-degree-of-freedom Stewart platform, a central control unit, a Stewart platform driver, and a host computer. The active pointing ultra-quiet platform includes a VIPPS drive unit, multiple first actuators, and a micrometer sensor. One end of each first actuator is connected to the load mounting platform, and the other end is connected to the top of the Stewart platform.

[0015] The host computer is electrically connected to the VIPPS drive unit, the central control unit, and the Stewart platform, respectively. The host computer is used to execute the following at any given time:

[0016] S1, based on the difference between the first relative pose and the reference relative pose between the payload mounting platform and the Stewart platform at this moment, the pose of the Stewart platform is adjusted using the Stewart platform driver, and S2 is executed; the reference relative pose at each moment is obtained by the central control unit simulating the satellite.

[0017] S2, For the adjusted Stewart platform, recalculate the second relative pose between the load mounting platform and the Stewart platform, and execute S3;

[0018] S3, based on the difference between the second relative pose and the reference relative pose, adjust the pose of the load mounting platform using the VIPPS drive unit, and execute S4;

[0019] S4, for the adjusted load mounting platform, recalculate the third relative pose between the load mounting platform and the Stewart platform; use the third relative pose as the first relative pose between the load mounting platform and the Stewart platform at the next moment, and return to execute S1 until the test ends.

[0020] This invention provides a ground-based semi-physical testing method for an actively pointing ultra-quiet platform, applied to the host computer of a ground-based semi-physical testing system. This method simulates the state of a satellite payload platform using the state of the payload mounting platform and the state of the satellite platform using the state of a six-DOF Stewart platform. During the simulated satellite operation, at each moment, the first relative pose between the payload mounting platform and the Stewart platform is compared with a reference relative pose. First, the pose of the Stewart platform is adjusted based on the comparison result. After adjustment, the second relative pose between the two is recalculated. If a difference still exists between the second relative pose and the reference relative pose, the pose of the payload mounting platform is adjusted to further reduce the difference. Finally, the adjusted third relative pose is used as the first relative pose for the next moment for further adjustment. This allows the ground testing system to accurately simulate the changes in the relative attitude between the satellite and the payload during satellite maneuvers, accurately testing the performance of the actively pointing ultra-quiet platform. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a semi-physical testing method for an actively pointing ultra-quiet platform provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of an active pointing ultra-quiet platform ground semi-physical testing system provided in an embodiment of the present invention.

[0024] Figure label:

[0025] 1-Host computer;

[0026] 2-VIPPS drive unit; 3-First actuating rod; 4-Micrometer sensor;

[0027] 5-Load mounting platform;

[0028] 6-Stewart platform;

[0029] 61-First platform; 62-Second platform; 63-Second actuator;

[0030] 7-Stewart platform driver; 8-Central control unit; 9-Vibration source; 10-Vibration source drive unit; 11-Bracket; 12-Low-frequency suspension; 13-Elastic suspension. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] The following describes the specific implementation of the above concept.

[0033] Please refer to Figure 1 This invention provides an active pointing ultra-quiet platform ground semi-physical testing method, applied in the host computer 1 of a ground semi-physical testing system. The system includes an active pointing ultra-quiet platform, a load mounting platform 5, a six-DOF Stewart platform 6, a Stewart platform driver 7, and a central control unit 8. The active pointing ultra-quiet platform includes a VIPPS drive unit 2, multiple first actuation rods 3, and a micrometer sensor 4. One end of each first actuation rod 3 is connected to the load mounting platform 5, and the other end is connected to the top of the Stewart platform 6. The method includes: for any given moment, executing:

[0034] Step S1: Based on the difference between the first relative pose and the reference relative pose between the payload mounting platform 5 and the Stewart platform 6 at this moment, the pose of the Stewart platform 6 is adjusted using the Stewart platform driver 7, and then S2 is executed; the reference relative pose at each moment is obtained by the central control unit 8 through simulation of the satellite.

[0035] Step S2: For the adjusted Stewart platform 6, recalculate the second relative pose between the load mounting platform 5 and the Stewart platform 6, and execute S3.

[0036] Step S3: Based on the difference between the second relative pose and the reference relative pose, adjust the pose of the load mounting platform 5 using the VIPPS drive unit 2, and then execute S4.

[0037] Step S4: For the adjusted load mounting platform 5, recalculate the third relative pose between the load mounting platform 5 and the Stewart platform 6; use the third relative pose as the first relative pose between the load mounting platform 5 and the Stewart platform 6 at the next moment, and return to execute S1 until the test ends.

[0038] In this embodiment of the invention, the state of the satellite payload platform is simulated using the state of the payload mounting platform 5, and the state of the satellite platform is simulated using the state of the six-DOF Stewart platform 6. During the simulated satellite operation, at each moment, the first relative pose between the payload mounting platform 5 and the Stewart platform 6 is compared with a reference relative pose. First, the pose of the Stewart platform 6 is adjusted based on the comparison result. After adjustment, the second relative pose between the two is recalculated. If the second relative pose still differs from the reference relative pose, the pose of the payload mounting platform 5 is adjusted to further reduce the difference. Finally, the adjusted third relative pose is used as the first relative pose for the next moment for further adjustment. This allows the ground test system to accurately simulate the changes in the relative attitude between the satellite and the payload during satellite maneuvers, and accurately test the performance of the actively pointing ultra-quiet platform.

[0039] The following description Figure 1 The execution method of each step is shown.

[0040] First, regarding step S1:

[0041] Currently, ground-based semi-physical experiments cannot accurately simulate the relative pose between the payload and the satellite during maneuvering. This step utilizes payload mounting platform 5 to simulate the motion of the payload on the satellite and Stewart platform 6 to simulate the motion of the satellite. By alternating the adjustment of the two platforms, the relative pose between the payload and the satellite during maneuvering can be simulated.

[0042] In some implementations, the relative pose between the load mounting platform 5 and the Stewart platform 6 is determined as follows:

[0043] The control output of the VIPPS drive unit 2 is obtained, and the load mounting platform actuator is simulated based on the control output to calculate the driving force and torque generated by the load mounting platform actuator on the load mounting platform 5 and the Stewart platform 6. Based on the driving force and torque generated by the load mounting platform actuator on the load mounting platform 5, the translational and rotational data of the load mounting platform 5 are calculated using dynamics.

[0044] The control output of the central control unit 8 is obtained, and the Stewart platform actuator is simulated based on the control output to calculate the driving force and torque generated by the Stewart platform actuator on the Stewart platform 6. Based on the driving force and torque generated by the Stewart platform actuator and the load mounting platform actuator on the Stewart platform 6, the translational and rotational data of the Stewart platform 6 are calculated using dynamics.

[0045] Based on the translational and rotational data of the load mounting platform 5 and the Stewart platform 6, the relative pose between the load mounting platform 5 and the Stewart platform 6 is calculated.

[0046] In this step, the dynamics simulation software is installed on the host computer 1 for use in satellite dynamics simulation. The control output of the VIPPS drive unit 2 includes the control quantities of the payload platform actuators at the previous moment, such as the displacement of each first actuator 3. The control output of the central control unit 8 includes the control quantities of the Stewart platform 6 control mechanism at the previous moment, such as the displacement of each second actuator 63.

[0047] In some embodiments, the Stewart platform 6 includes a first platform 61, a second platform 62, and a plurality of second actuators 63; one end of each second actuator 63 is connected to the first platform 61, and the other end is connected to the second platform 62.

[0048] Adjusting the pose of Stewart platform 6 using Stewart platform driver 7 includes:

[0049] Based on the translational and rotational data of Stewart platform 6, the expected displacement of each second actuator 63 is calculated;

[0050] Based on the desired displacement of each second actuator 63, the Stewart platform driver 7 drives each second actuator 63 to the desired position to adjust the pose of the Stewart platform 6.

[0051] In some embodiments, the orientation of the load mounting platform 5 is adjusted using the VIPPS drive unit 2, including:

[0052] Based on the translational and rotational data of the load mounting platform 5, the expected displacement of each first actuating rod 3 is calculated.

[0053] Based on the desired displacement of each first actuator 3, the VIPPS drive unit 2 drives each first actuator 3 to the desired position to adjust the pose of the load mounting platform 5.

[0054] In the two steps described above, through dynamic simulation, the desired displacement of each actuator can be calculated based on the translational and rotational data of each platform. Then, based on the corresponding controller, the actuator is driven to move to the appropriate position, thereby adjusting the position and attitude of each platform.

[0055] In some embodiments, the ground-based semi-physical testing system further includes a vibration source 9 and a vibration source drive unit 10; the vibration source 9 is disposed between the first actuating rod 3 and the Stewart platform 6; the method further includes:

[0056] The vibration information of vibration source 9 is based on dynamic simulation, and the vibration information includes frequency and amplitude.

[0057] Based on vibration information, the vibration source 9 is driven to vibrate by the vibration source drive unit 10 to simulate the vibration characteristics of the satellite.

[0058] In this step, vibration source 9 includes a control moment gyroscope and a solar panel drive mechanism. The state of vibration source 9 is related to the satellite's operating state. For example, when the satellite is relatively stationary, the solar panel vibration frequency is very low; when the satellite maneuvers, the solar panel undergoes flexible vibration. By setting vibration source 9, various disturbances and noise conditions of the satellite platform can be simulated. Furthermore, based on the control bandwidth of Stewart platform 6, low-pass filter parameters for the dynamic output are designed, and the filtered relative pose is output to Stewart platform 6, while high-frequency information is output to vibration source 9.

[0059] In some embodiments, the ground-based semi-physical testing system further includes a support 11, a low-frequency suspension 12, and an elastic suspension 13; the low-frequency suspension 12 is fixed to the support 11, one end of the elastic suspension 13 is connected to the bottom end of the low-frequency suspension 12, and the other end is connected to the load mounting platform 5; the method further includes:

[0060] Eliminating high-frequency interference generated by ground-based semi-physical testing systems based on low-frequency suspension 12;

[0061] Based on the elastic suspension 13, vertical movement space is provided for the load mounting platform 5, the active pointing ultra-quiet platform and the Stewart platform 6;

[0062] The load mounting platform 5 is provided with an equivalent load based on the elastic suspension 13; after the theoretical driving force generated by the load mounting platform actuator on the load mounting platform 5 is calculated, the equivalent driving force output by the VIPPS drive unit 2 is calculated based on the equivalent relationship between the equivalent load and the theoretical load.

[0063] In this embodiment, the control of the actively pointing ultra-quiet platform is directly related to the overall satellite payload mass characteristics. Using the same control parameters, the control characteristics under no-load conditions are inconsistent with those under on-orbit conditions. However, simulating the overall satellite mass characteristics at a 1:1 scale is costly and restrictive, and hinders further application in subsequent models. This embodiment, by using a low-frequency suspension 12 and an elastic suspension 13 to suspend the payload mounting platform 5 on the support 11, can achieve unloading of the actively pointing ultra-quiet platform and simulate on-orbit microgravity conditions. Furthermore, the support 11 is a high-rigidity support, and the parameters of the low-frequency suspension 12 and the spring suspension are set according to specific engineering requirements.

[0064] In some implementations, the formula for calculating the equivalent driving force is:

[0065]

[0066] Among them, F p The equivalent driving force output by VIPPS drive unit 2 is given by F, where F is the theoretical driving force, m is the theoretical mass on the satellite, and J is the theoretical mass on the satellite. p For the theoretical Jacobian matrix, Let I be the transpose of the theoretical Jacobian matrix, I be the theoretical load inertia, m0 be the equivalent ground load mass, and J be the load mass. p0 Install the corresponding Jacobian matrix on the ground. The corresponding Jacobian matrix transpose is given for ground installation, and I0 is the ground equivalent load inertia.

[0067] In this embodiment, by simulating the inertia and Jacobian matrix of the equivalent load installation platform 5 and comparing it with the actual on-orbit equivalent relationship, the equivalent proportional relationship of the active pointing ultra-quiet platform motor drive is calculated. The control output is multiplied by this coefficient before output, which can achieve the equivalent output of the equivalent load.

[0068] Through the above embodiments, this application fully considers the characteristics of each product of the actively pointing ultra-quiet platform, combining theoretical dynamic states, proportional inertia suspension, and actual product output. By employing suspension equivalent simulation and relative pose simulation closed-loop testing methods, it effectively achieves closed-loop testing of the actively pointing ultra-quiet platform on the ground at a relatively low cost. This enables the simulation of the actual operating conditions of the on-orbit satellite platform, improving the accuracy of the actively pointing ultra-quiet platform testing.

[0069] In some embodiments, the load mounting platform 5 includes a first mounting plate (not shown in the diagram) and a first adapter plate (not shown in the diagram); one side of the first mounting plate is connected to the elastic suspension 13, and the other side is connected to the upper mounting surface of the first adapter plate, and the lower mounting surface of the first adapter plate is connected to the side of each first actuating rod 3 away from the Stewart platform 6.

[0070] The method also includes:

[0071] Replace the lower mounting surface of the first adapter plate according to the actual interface of the different first actuator rod 3.

[0072] In engineering applications, the upper mounting surface of the first adapter plate is connected to the first mounting plate using a universal interface, and the lower mounting surface of the first adapter plate is replaced according to different product conditions, such as the different parameters of the size of the first actuating rod 3, in order to improve the applicability of the device.

[0073] In some embodiments, the semi-physical testing system also includes a second adapter plate (not shown in the figure); the upper mounting surface of the second adapter plate is connected to the side of each first actuator 3 away from the load mounting platform 5, and the lower mounting surface of the second adapter plate is connected to the upper end face of the Stewart platform 6.

[0074] Replace the upper mounting surface of the second adapter plate according to the actual interface of the different first actuator rod 3.

[0075] In engineering applications, the lower mounting surface of the second adapter plate is connected to the Stewart platform 6 using a universal interface, and the upper mounting surface of the second adapter plate is changed according to different product conditions, such as the different parameters of the size of the second actuator 63, to improve the applicability of the device.

[0076] This invention also provides an active pointing ultra-quiet platform ground semi-physical testing system, including an active pointing ultra-quiet platform, a load mounting platform 5, a six-degree-of-freedom Stewart platform 6, a central control unit 8, a Stewart platform driver 7, and a host computer 1; the active pointing ultra-quiet platform includes a VIPPS drive unit 2, multiple first actuating rods 3, and micrometer sensors 4; one end of each first actuating rod 3 is connected to the load mounting platform 5, and the other end is connected to the top of the Stewart platform 6.

[0077] The host computer 1 is electrically connected to the VIPPS drive unit 2, the central control unit 8, and the Stewart platform 6. The host computer 1 is used to execute the following at any given time:

[0078] S1, based on the difference between the first relative pose and the reference relative pose between the payload mounting platform 5 and the Stewart platform 6 at this moment, the pose of the Stewart platform 6 is adjusted using the Stewart platform driver 7, and S2 is executed; the reference relative pose at each moment is obtained by the central control unit 8 through simulation of the satellite.

[0079] S2, For the adjusted Stewart platform 6, recalculate the second relative pose between the load mounting platform 5 and the Stewart platform 6, and execute S3;

[0080] S3, based on the difference between the second relative pose and the reference relative pose, adjust the pose of the load mounting platform 5 using the VIPPS drive unit 2, and execute S4;

[0081] S4, for the adjusted load mounting platform 5, recalculate the third relative pose between load mounting platform 5 and Stewart platform 6; use the third relative pose as the first relative pose between load mounting platform 5 and Stewart platform 6 at the next moment, and return to execute S1 until the test ends.

[0082] It should be noted that the active pointing ultra-quiet platform ground semi-physical testing system and the active pointing ultra-quiet platform ground semi-physical testing method provided in the above embodiments belong to the same concept. For details of the specific components and the functional implementation process of the components, please refer to the method embodiments, which will not be repeated here.

[0083] It should also be noted that, in this document, relational terms such as first, second, third, and fourth are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0084] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A semi-physical testing method for an actively oriented ultra-quiet platform, characterized in that, In the host computer (1) of the ground semi-physical testing system, the system includes the active pointing ultra-quiet platform, the load mounting platform (5), the six-degree-of-freedom Stewart platform (6), the Stewart platform driver (7), and the central control unit (8); the active pointing ultra-quiet platform includes a VIPPS drive unit (2), multiple first actuating rods (3), and a micrometer sensor (4); one end of each first actuating rod (3) is connected to the load mounting platform (5), and the other end is connected to the top of the Stewart platform (6); the method includes: For any given moment, execute: S1, based on the difference between the first relative pose and the reference relative pose between the payload mounting platform (5) and the Stewart platform (6) at this moment, the pose of the Stewart platform (6) is adjusted using the Stewart platform driver (7), and S2 is executed; the reference relative pose at each moment is obtained by the central control unit (8) simulating the satellite. S2, for the adjusted Stewart platform (6), recalculate the second relative pose between the load mounting platform (5) and the Stewart platform (6), and execute S3; S3, based on the difference between the second relative pose and the reference relative pose, the pose of the load mounting platform (5) is adjusted using the VIPPS drive unit (2), and S4 is executed; S4, for the adjusted load mounting platform (5), recalculate the third relative pose between the load mounting platform (5) and the Stewart platform (6); use the third relative pose as the first relative pose between the load mounting platform (5) and the Stewart platform (6) at the next moment, and return to execute S1 until the test ends.

2. The method according to claim 1, characterized in that, The relative pose between the load mounting platform (5) and the Stewart platform (6) is determined as follows: The control output of the VIPPS drive unit (2) is obtained, and the load mounting platform actuator is simulated based on the control output to calculate the driving force and torque generated by the load mounting platform actuator on the load mounting platform (5) and the Stewart platform (6); based on the driving force and torque generated by the load mounting platform actuator on the load mounting platform (5), the translational and rotational data of the load mounting platform (5) are calculated using dynamics. The control output of the central control unit (8) is obtained, and the Stewart platform actuator is simulated based on the control output to calculate the driving force and torque generated by the Stewart platform actuator on the Stewart platform (6); based on the driving force and torque generated by the Stewart platform actuator and the load mounting platform actuator on the Stewart platform (6), the translational and rotational data of the Stewart platform (6) are calculated using dynamics. Based on the translational and rotational data of the load mounting platform (5) and the Stewart platform (6), the relative pose between the load mounting platform (5) and the Stewart platform (6) is calculated.

3. The method according to claim 2, characterized in that, The Stewart platform (6) includes a first platform (61), a second platform (62), and a plurality of second actuators (63); one end of each second actuator (63) is connected to the first platform (61), and the other end is connected to the second platform (62); The adjustment of the pose of the Stewart platform (6) using the Stewart platform driver (7) includes: Based on the translational and rotational data of the Stewart platform (6), the desired displacement of each of the second actuators (63) is calculated; Based on the desired displacement of each of the second actuators (63), the Stewart platform driver (7) drives each of the second actuators (63) to the desired position to adjust the pose of the Stewart platform (6).

4. The method according to claim 2, characterized in that, The method of adjusting the pose of the load mounting platform (5) using the VIPPS drive unit (2) includes: Based on the translational and rotational data of the load mounting platform (5), the desired displacement of each of the first actuators (3) is calculated; Based on the desired displacement of each of the first actuators (3), the VIPPS drive unit (2) drives each of the first actuators (3) to the desired position to adjust the pose of the load mounting platform (5).

5. The method according to claim 1, characterized in that, The ground-based semi-physical testing system also includes a vibration source (9) and a vibration source drive unit (10); the vibration source (9) is located between the first actuating rod (3) and the Stewart platform (6); the vibration source (9) includes a control torque gyroscope and a sail drive mechanism; The method further includes: The vibration information of the vibration source (9) is based on dynamic simulation, and the vibration information includes frequency and amplitude; Based on the vibration information, the vibration source (9) is driven to vibrate using the vibration source drive unit (10) to simulate the vibration characteristics of the satellite.

6. The method according to claim 2, characterized in that, The ground-based semi-physical testing system further includes a support (11), a low-frequency suspension (12), and an elastic suspension (13); the low-frequency suspension (12) is fixed to the support (11), one end of the elastic suspension (13) is connected to the bottom end of the low-frequency suspension (12), and the other end is connected to the load mounting platform (5); the method further includes: The low-frequency suspension (12) eliminates the high-frequency interference generated by the ground semi-physical test system; The elastic suspension (13) provides vertical movement space for the load mounting platform (5), the active pointing ultra-quiet platform and the Stewart platform (6); The load mounting platform (5) is provided with an equivalent load based on the elastic suspension (13); after the theoretical driving force generated by the load mounting platform actuator on the load mounting platform (5) is calculated, the equivalent driving force output by the VIPPS drive unit (2) is calculated based on the equivalent relationship between the equivalent load and the theoretical load.

7. The method according to claim 6, characterized in that, The formula for calculating the equivalent driving force is: Among them, F p The equivalent driving force output by the VIPPS drive unit (2) is F, the theoretical driving force is m, the theoretical mass on the satellite is J. p For the theoretical Jacobian matrix, Let I be the transpose of the theoretical Jacobian matrix, I be the theoretical load inertia, m0 be the equivalent ground load mass, and J be the load mass. p0 Install the corresponding Jacobian matrix on the ground. The corresponding Jacobian matrix transpose is used for ground installation, and I0 is the ground equivalent load inertia.

8. The method according to claim 6, characterized in that, The load mounting platform (5) includes a first mounting plate and a first adapter plate; one side of the first mounting plate is connected to the elastic suspension (13), and the other side is connected to the upper mounting surface of the first adapter plate; the lower mounting surface of the first adapter plate is connected to the side of each of the first actuating rods (3) away from the Stewart platform (6). The method further includes: Replace the lower mounting surface of the first adapter plate according to the actual interface of the different first actuator rods (3).

9. The method according to claim 1, characterized in that, The semi-physical testing system also includes a second adapter plate; the upper mounting surface of the second adapter plate is connected to the side of each of the first actuators (3) away from the load mounting platform (5), and the lower mounting surface of the second adapter plate is connected to the upper end surface of the Stewart platform (6); Replace the upper mounting surface of the second adapter plate according to the actual interface of the different first actuator rods (3).

10. A semi-physical testing system for an actively oriented ultra-quiet platform, characterized in that, The system includes the active pointing ultra-quiet platform, the load mounting platform (5), the six-degree-of-freedom Stewart platform (6), the central control unit (8), the Stewart platform driver (7), and the host computer (1); the active pointing ultra-quiet platform includes a VIPPS drive unit (2), multiple first actuators (3) and a micrometer sensor (4); one end of each first actuator (3) is connected to the load mounting platform (5), and the other end is connected to the top of the Stewart platform (6); The host computer (1) is electrically connected to the VIPPS drive unit (2), the central control unit (8), and the Stewart platform (6), respectively. The host computer (1) is used to execute the following at any given time: S1, based on the difference between the first relative pose and the reference relative pose between the payload mounting platform (5) and the Stewart platform (6) at this moment, the pose of the Stewart platform (6) is adjusted using the Stewart platform driver (7), and S2 is executed; the reference relative pose at each moment is obtained by the central control unit (8) simulating the satellite. S2, for the adjusted Stewart platform (6), recalculate the second relative pose between the load mounting platform (5) and the Stewart platform (6), and execute S3; S3, based on the difference between the second relative pose and the reference relative pose, the pose of the load mounting platform (5) is adjusted using the VIPPS drive unit (2), and S4 is executed; S4, for the adjusted load mounting platform (5), recalculate the third relative pose between the load mounting platform (5) and the Stewart platform (6); use the third relative pose as the first relative pose between the load mounting platform (5) and the Stewart platform (6) at the next moment, and return to execute S1 until the test ends.

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