Layered control system for motion simulation platform and control method thereof

Abstract

The invention discloses a layered control system for a motion simulation platform and a control method thereof. The system comprises a task interface layer, a coordination control layer, a power driving layer and a physical execution layer, the task interface layer is composed of a task design and planning module, a modular function interface module and a real-time task management system; the coordination control layer is composed of an instruction analysis module, a precision motion control module, a data acquisition module and a data processing module. The power driving layer is composed of a power distribution protection module, an efficient driving circuit module and a functional circuit support module. The physical execution layer is composed of an orbital motion execution mechanism, a posture adjustment execution mechanism and a target satellite simulation motion mechanism; through division and cooperation of the four layers, high-precision simulation of complex multi-satellite confrontation tasks can be achieved, the system has the advantages of modularization, expandability, high reliability and the like, and the problems that an existing simulation system is insufficient in expandability, limited in control precision and poor in real-time response capacity are solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spacecraft ground simulation test, and relates to a hierarchical control system and method for a motion simulation platform. BACKGROUND

[0002] With the increase in the number of spacecraft and the complexity of space missions, mission requirements such as multi-satellite formation flight, on-orbit rendezvous and docking, inter-satellite cooperation and confrontation are emerging. In order to meet the requirements of related research and verification, ground motion simulation platforms have gradually become an important support means for mission rehearsal, control algorithm verification and scheme optimization.

[0003] However, the existing motion simulation platforms still have obvious deficiencies in terms of function and performance. Firstly, the task interface function is limited, and there is a lack of standardized external interface, making it difficult to integrate with other simulation systems or upper task planning systems. Secondly, the coordination control layer design is not perfect, and the trajectory planning and attitude control algorithm is relatively single, making it difficult to meet the requirements of high precision and real-time in complex multi-satellite confrontation scenarios. Thirdly, the coupling degree between the power driving layer and the physical execution layer is too high, and the power management and driving circuit optimization are insufficient, resulting in low energy utilization efficiency and limited driving performance and stability. Fourthly, the physical execution mechanism has insufficient capability in simulating the dynamic motion of target stars, and it is difficult to realistically present the changes in complex orbits and attitudes.

[0004] Therefore, it is urgent to propose a multi-satellite confrontation motion simulation control system and method using a hierarchical modular architecture, which effectively decouples and collaborates the functions of task interface, coordination control, power driving and physical execution, in order to improve the scalability, control accuracy and task adaptability of the system, and thus meet the needs of complex multi-satellite confrontation motion simulation. SUMMARY

[0005] The purpose of the present application is to address the problems of imperfect interface, limited control accuracy, insufficient energy utilization efficiency and weak target star simulation capability of existing ground motion simulation platforms, and to propose a hierarchical control system and method for a motion simulation platform. Through hierarchical modular architecture design, the system can effectively decouple and collaborate the functions of task interface, coordination control, power driving and physical execution, thereby improving the scalability, control accuracy and task adaptability of the system.

[0006] The technical scheme adopted by the present application is: a hierarchical control system for a motion simulation platform, comprising a task interface layer, a coordination control layer, a power driving layer and a physical execution layer;

[0007] The task interface layer comprises a task design and planning module, a modular functional interface module and a real-time task management system, and is used for realizing task input, interface integration and real-time task scheduling;

[0008] The coordination control layer includes an instruction analysis module, a precision motion control module, a data acquisition module, and a data processing module, which are used to analyze task requirements and control orbits and attitudes, acquire data, and perform feedback processing.

[0009] The power drive layer includes a power distribution protection module, an efficient drive circuit module, and a functional circuit support module, which are used for power management, drive control, and signal processing to ensure system energy utilization efficiency and operational stability.

[0010] The physical execution layer includes an orbit motion execution mechanism, an attitude adjustment execution mechanism, and a target star simulation motion mechanism, which are used to complete orbit motion adjustment, attitude control, and target star dynamic motion simulation.

[0011] As a preference, the task design and planning module uses a trajectory planning algorithm to convert user input task requirements into orbit and attitude control instructions. The modular functional interface module provides standardized API interfaces to achieve data interaction and task integration with external systems. The real-time task management system is used for task scheduling, operational state monitoring, and dynamic task adjustment to support complex multi-task concurrent execution.

[0012] As a preference, the trajectory planning algorithm used by the task design and planning module includes at least one of the A* algorithm, the RRT algorithm, or the model predictive control (MPC) algorithm.

[0013] As a preference, the instruction analysis module is used to convert task planning results into orbit motion and attitude control instruction sequences. The precision motion control module uses model predictive control (MPC), collaborative optimization control, or adaptive control algorithms to achieve high-precision adjustment of orbits and attitudes. The data acquisition module includes displacement sensors, speed sensors, and attitude sensors to obtain system operational parameters in real time. The data processing module is used to complete data cleaning, structured storage, and cloud synchronization, and supports subsequent analysis.

[0014] As a preference, the power distribution protection module includes a power distribution circuit, an overload protection circuit, and an isolation circuit to ensure power stability and safety. The efficient drive circuit module uses vector control (FOC) and model predictive control algorithms to achieve efficient motor driving and dynamic response optimization. The functional circuit support module includes signal conditioning circuits and communication interface circuits to improve signal transmission anti-interference and stability.

[0015] Preferably, the orbital motion actuator uses a combination of a ball screw and a servo motor to achieve precise motion adjustment in the orbital direction; the attitude adjustment actuator uses a combination of a harmonic reducer and a servo motor to achieve high-precision adjustment of the three-axis attitude; and the target star simulation motion mechanism combines the flight control system with the visual SLAM method to achieve hovering and dynamic motion simulation of the target star.

[0016] The control method of the hierarchical control system for the motion simulation platform described above includes: the user inputs the orbit and attitude task through the task interface layer and generates the task trajectory; the coordination control layer parses the task and performs orbit and attitude control; the data acquisition module acquires the operating parameters in real time and feeds them back through the data processing module; the power drive layer converts the control commands into drive signals and drives the actuators; the physical execution layer continuously acquires displacement, velocity and attitude parameters through the data acquisition module during execution to achieve precise execution of the task and status feedback, complete orbital motion, attitude adjustment and target star simulation, and realize simulation through closed-loop feedback.

[0017] The beneficial effects of this invention are:

[0018] 1. Through a layered and modular architecture, the functions of each layer of the system (task interface layer, coordination and control layer, power drive layer, and physical execution layer) are decoupled, improving the system's scalability and flexibility. Each layer can be independently optimized and replaced to meet different task requirements, greatly improving the system's adaptability.

[0019] 2. The coordinated control layer combines model predictive control (MPC) with cooperative optimization algorithms, which can provide high-precision orbit and attitude control in complex multi-satellite adversarial scenarios, ensuring high reliability and accuracy of simulation results.

[0020] 3. The power drive layer optimizes motor drive efficiency through high-efficiency drive circuit modules and vector control (FOC) algorithms, thereby improving energy utilization, extending system uptime, and ensuring the stability of each execution module.

[0021] 4. The target star simulation mechanism in the physical execution layer, combined with visual SLAM technology and flight control system, can realistically simulate the dynamic movement of the target star and interference targets, enhancing the platform's combat capability and mission execution complexity.

[0022] 5. Through a closed-loop control mechanism, the system can adjust the trajectory and attitude in real time to ensure the accurate execution of each simulation task, optimize the feedback data, reduce error accumulation, and improve the accuracy and stability of task execution.

[0023] 6. The task interface layer seamlessly connects with external task planning platforms through standardized API interfaces, supports dynamic adjustment and modular integration of tasks, and can easily add new functional modules in complex task scenarios, improving the system's flexibility and scalability.

[0024] 7. The system can handle multiple tasks concurrently, supports real-time feedback and adjustment of tasks, and meets the dual requirements of real-time performance and task accuracy in complex multi-satellite combat tasks.

[0025] 8. The system features a graphical user interface and task management functions, making it easy for users to configure, schedule, and monitor tasks. At the same time, the protective frame structure effectively avoids non-target interference or misoperation, improving the system's security. It is suitable for various scenarios such as scientific research, engineering verification, and teaching and training. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the system architecture of the hierarchical control system of the motion simulation platform of the present invention;

[0027] Figure 2 This is a schematic diagram of the physical execution layer in the hierarchical control system of the motion simulation platform of the present invention.

[0028] Figure 3 This is a flowchart illustrating the main controller operation of the hierarchical control system of the motion simulation platform of the present invention.

[0029] Figure 4 This is a flowchart illustrating the distributed sub-controller operation of the hierarchical control system of the motion simulation platform of the present invention. Detailed Implementation

[0030] The technical solution of the present invention will now be clearly and completely described in conjunction with specific embodiments and accompanying drawings.

[0031] like Figure 1 As shown, a hierarchical control system for a motion simulation platform includes a task interface layer 1, a coordination control layer 2, a power drive layer 3, and a physical execution layer 4.

[0032] The task interface layer 1 consists of a task design and planning module 11, a modular functional interface module 12, and a real-time task management system 13, which are used to realize task input, external system integration, and task scheduling management.

[0033] The coordination control layer 2 consists of an instruction parsing module 21, a precision motion control module 22, a data acquisition module 23, and a data processing module 24, which are used to parse task requirements, control trajectory and attitude accuracy, and acquire and provide feedback.

[0034] The power drive layer 3 consists of a power distribution and protection module 31, a high-efficiency drive circuit module 32, and a functional circuit support module 33, providing power management, drive control, and signal conditioning.

[0035] The physical execution layer 4 consists of an orbital motion actuator 41, an attitude adjustment actuator 42, and a target star simulation motion mechanism 43, and is used to simulate the relative motion and spatial behavior in multi-star combat missions.

[0036] The task interface layer 1 receives external task requirements and transforms them into control commands. It exchanges data and integrates tasks with an external task planning system through the modular functional interface module 12. The task design and planning module 11 generates trajectory and attitude adjustment commands that meet the task requirements based on user-input task requirements and in conjunction with trajectory planning algorithms (such as A* algorithm, RRT algorithm, or Model Predictive Control (MPC) algorithm). The real-time task management system 13 receives task commands and schedules the execution of each module to ensure successful task completion.

[0037] The coordination control layer 2 is the core control unit of this invention, responsible for translating task requirements into specific control commands and ensuring precise adjustment of the trajectory and attitude. The command parsing module 21 parses the control signals from the task commands input from the task interface layer 1. The precision motion control module 22 ensures the real-time performance and high precision of the trajectory and attitude adjustment through model predictive control (MPC) and collaborative optimization algorithms. The data acquisition module 23 collects motion state data from various components of the system in real time, and the data processing module 24 analyzes and processes the collected data, providing feedback signals to the system.

[0038] The power drive layer 3 ensures a stable power supply to each module through the power distribution and protection module 31, and also has overload protection to prevent power fluctuations from affecting system stability. The high-efficiency drive circuit module 32 combines vector control (FOC) and model predictive control (MPC) algorithms to achieve high efficiency and precise response in motor drive, ensuring smooth movement of all actuators. The functional circuit support module 33 provides conditioning and filtering functions for signal transmission, ensuring stable data transmission throughout the system.

[0039] The physical execution layer 4 is the core part of the system for performing physical tasks, including the orbital motion actuator 41, the attitude adjustment actuator 42, and the target star simulation motion mechanism 43. The orbital motion actuator 41 provides high-precision planar motion control through a combination of ball screws and servo motors; the attitude adjustment actuator 42 achieves precise three-axis attitude adjustment through a combination of harmonic reducers and servo motors; and the target star simulation motion mechanism 43 combines the flight control system with visual SLAM technology to simulate the dynamic motion and relative disturbances of the target star, thereby realizing space mission simulation.

[0040] like Figure 2As shown, the distributed communication topology of the control execution structure in the physical execution layer 4 is further provided, which covers the structural connection relationship of the servo driver, main control system, switch, display terminal and platform bus.

[0041] The system comprises multiple servo drives corresponding to various execution modules, including the lower platform motion unit, the upper platform motion unit, and the robotic arm. These drives are connected to the EtherCAT controller via an EtherCAT industrial Ethernet network, enabling high-speed, real-time communication. The EtherCAT controller receives control commands from the main control system and issues precise motion control commands to each drive, while simultaneously transmitting status information from each module back for feedback loop support.

[0042] The main control system further communicates and interacts with the host computer via a switch, supporting functions such as task configuration, parameter updates, and status reading. The host computer, as the system's scheduling and monitoring terminal, can perform task distribution, data processing, and task playback. The system also includes a microcontroller module (microcontroller) and a parameter board, used to collect key parameters of the underlying actuators, including force sensor signals, motor status information, and real-time feedback posture.

[0043] In addition, to enhance user experience and task visualization, the system integrates a display terminal and a monitoring display platform. Through a human-computer interaction interface, it displays information such as system operating status, task execution progress, and alarm prompts, assisting users in efficient management and maintenance.

[0044] Through the above topology design, this system achieves efficient joint control and modular management of physical execution units, and has high real-time performance, high reliability and scalability. It is particularly suitable for multi-mechanism collaborative control applications in complex multi-star adversarial motion simulation scenarios.

[0045] like Figure 3 As shown, the main controller workflow of this invention includes key steps such as system initialization, device self-test, task assignment, and fault handling. The specific workflow is as follows:

[0046] First, the system enters the initialization phase, completing the system initialization and device initialization steps in sequence. After the system completes the basic software and hardware loading, it performs status detection on various actuators and sensor modules to determine whether each device is in normal working condition.

[0047] If all devices are in normal condition, proceed to the parameter configuration stage, set control parameters and working mode according to task requirements, and complete task preparation.

[0048] The system then continuously monitors control commands issued by the host computer or scheduling system. If a control command is received, the main controller immediately parses it and sends it to the corresponding sub-control unit. At the same time, the system monitors whether the sub-unit returns a response signal in a timely manner.

[0049] If a valid response is received from the sub-control unit, the controller will store the operation result and status parameters locally and update them synchronously to the monitoring display platform to achieve data traceability and visualization.

[0050] If no response is received within the specified time, or if an abnormal state is detected, the fault handling process will be initiated, automatically switching to fault mode and reporting the fault information to the host computer and monitoring platform, so that maintenance personnel can quickly locate the problem.

[0051] Through the above process control logic, the main controller realizes closed-loop management of task scheduling, ensuring that the system has good stability, real-time performance and maintainability, and can adapt to the continuous control requirements in complex simulation task environments.

[0052] like Figure 4 As shown in the diagram, the distributed sub-controller workflow of this invention illustrates the complete operational logic of the sub-control unit after receiving a task instruction. The workflow mainly includes key steps such as initialization, self-test, instruction recognition, mode switching, and data reporting, as detailed below:

[0053] After the system is powered on, the sub-controller enters the microcontroller initialization process to complete the configuration of the underlying hardware resources and protocol interfaces; then it performs initialization operations on the connected devices to ensure that external execution components, sensor interfaces, etc. are ready.

[0054] After the equipment initialization is complete, the system performs a status self-check on the connected devices to determine whether they are in normal working condition. If any device malfunction is detected, the system immediately enters fault mode and triggers the fault reporting process, uploading the error status to the main control system or monitoring platform for timely response and handling.

[0055] If all devices are functioning normally, the system switches to working mode and continuously listens for commands issued by the main control system or dispatch terminal. If a control command is detected, the sub-controller will automatically enter control mode, drive the target device to run according to the specified strategy, and report the current status of the device in real time during operation, completing the closed-loop feedback of the execution status.

[0056] If the received command is a configuration instruction, the system will enter configuration mode, parse and execute the corresponding parameter setting operation, store the parameter value locally after completion, and upload the configuration status to the main control system to ensure the validity and traceability of the task setting.

[0057] This distributed control process features a highly modular and stable design, enabling it to flexibly respond to various task commands issued by the main control system. At the same time, through fault judgment mechanisms, dual-channel control / configuration processing paths, and operational status reporting mechanisms, it effectively improves the reliability, responsiveness, and transparency of sub-control units, making it suitable for complex simulation systems with multi-node and high-concurrency control.

[0058] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A hierarchical control system for a motion simulation platform, characterized in that, It includes a task interface layer (1), a coordination and control layer (2), a power drive layer (3), and a physical execution layer (4); The task interface layer (1) includes a task design and planning module (11), a modular functional interface module (12), and a real-time task management system (13), which are used to realize task input, interface integration, and real-time task scheduling. The coordination control layer (2) includes an instruction parsing module (21), a precision motion control module (22), a data acquisition module (23), and a data processing module (24), which are used to parse task requirements and control the trajectory and attitude, collect data, and perform feedback processing. The power drive layer (3) includes a power distribution protection module (31), a high-efficiency drive circuit module (32), and a functional circuit support module (33), which are used for power management, drive control, and signal processing to ensure the system's energy utilization efficiency and operational stability. The physical execution layer (4) includes an orbital motion execution mechanism (41), an attitude adjustment execution mechanism (42), and a target star simulation motion mechanism (43), which are used to complete orbital motion adjustment, attitude control, and target star dynamic motion simulation.

2. The hierarchical control system for a motion simulation platform according to claim 1, characterized in that, The task design and planning module (11) uses a trajectory planning algorithm to convert user-input task requirements into track and attitude control commands; the modular functional interface module (12) provides a standardized API interface to realize data interaction and task integration with external systems; the real-time task management system (13) is used for task scheduling, running status monitoring and dynamic task adjustment to support the concurrent execution of complex multi-tasks.

3. A hierarchical control system for a motion simulation platform according to claim 2, characterized in that, The trajectory planning algorithm used by the task design and planning module (11) includes at least one of the A* algorithm, RRT algorithm, or model predictive control algorithm.

4. A hierarchical control system for a motion simulation platform according to claim 3, characterized in that, The instruction parsing module (21) is used to convert the task planning results into a sequence of instructions for orbital motion and attitude control; the precision motion control module (22) uses model predictive control, collaborative optimization control or adaptive control algorithms to achieve high-precision adjustment of orbit and attitude; the data acquisition module (23) includes displacement sensors, velocity sensors and attitude sensors, used to acquire system operating parameters in real time; the data processing module (24) is used to clean, structure, and synchronize the acquired data to the cloud, and support subsequent analysis.

5. A hierarchical control system for a motion simulation platform according to claim 4, characterized in that, The power distribution protection module (31) includes a power distribution circuit, an overload protection circuit, and an isolation circuit to ensure power stability and safety; the high-efficiency drive circuit module (32) adopts a vector control algorithm and a model predictive control algorithm to achieve high-efficiency motor drive and dynamic response optimization; the functional circuit support module (33) includes a signal conditioning circuit and a communication interface circuit to improve the anti-interference and stability of signal transmission.

6. A hierarchical control system for a motion simulation platform according to claim 5, characterized in that, The orbital motion actuator (41) uses a combination of ball screw and servo motor to achieve precise motion adjustment of the orbital direction; the attitude adjustment actuator (42) uses a combination of harmonic reducer and servo motor to achieve high-precision adjustment of three-axis attitude; the target star simulation motion mechanism (43) combines flight control system and visual SLAM method to achieve hovering and dynamic motion simulation of target star.

7. A control method for a hierarchical control system for a motion simulation platform based on claims 1, 2, 3, 4, 5, or 6, characterized in that, include: The user inputs the orbit and attitude task through the task interface layer (1) and generates the task trajectory; the coordination control layer (2) parses the task and performs orbit and attitude control; the data acquisition module (23) acquires the running parameters in real time and feeds them back through the data processing module (24); the power drive layer (3) converts the control command into the drive signal and drives the actuator; the physical execution layer (4) continuously acquires the displacement, velocity and attitude parameters through the data acquisition module (23) during the execution process, realizes the accurate execution of the task and status feedback, completes the orbit motion, attitude adjustment and target star simulation, and realizes the simulation through closed-loop feedback.

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