Drop test method and device suitable for lunar penetrator

Abstract

The invention discloses a drop test method and device suitable for a lunar penetrator, and relates to the technical field of lunar penetrators. The method comprises the following steps: S1, hoisting a penetrator main body; s2, releasing the penetrator main body, and adjusting the falling posture of the penetrator main body; and S3, the damage condition of the dangerous source equipment is checked. The penetrating device structurally comprises a penetrating device body with a control module and an attitude control mechanism, a lifting device is arranged above the penetrating device body, a falling base capable of simulating the ground environment of the moon is arranged below the penetrating device body, and shooting monitoring devices are further arranged on the periphery of the falling base. According to the drop test method and device suitable for the lunar penetrator provided by the invention, drop safety verification of dangerous source equipment of the lunar penetrator can be realized on the ground.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of moon penetrator, and particularly relates to a drop test method and device suitable for moon penetrator. BACKGROUND

[0002] In recent years, extraterrestrial object exploration has become a hot spot of international deep space exploration activities, and landing exploration modes include soft landing exploration mode and hard landing exploration mode. The soft landing exploration mode mainly relies on a reverse thrust engine to reduce the terminal velocity to zero to achieve soft landing, and this mode has small landing impact and can carry relatively rich functional operation tools and exploration loads, but the system structure is complex and the engineering cost is high. The hard landing exploration mode is to impact the surface of a planet at a high speed and penetrate to a certain depth to facilitate the exploration of the star soil at a certain depth. Compared with the traditional soft landing exploration, the hard landing exploration has the characteristics of simple structure, good integrability and flexible function configuration, and is an efficient means to realize in-situ exploration of extraterrestrial objects, and will be an important development direction of future extraterrestrial object exploration tasks.

[0003] As a hard landing exploration mode, if the moon penetrator cannot fly normally on the moon surface and falls accidentally, the dangerous source equipment (such as a pyrotechnic product and an engine) carried by the moon penetrator may cause safety risks to other payloads (such as a lander implementing soft landing). Therefore, a drop test method on the ground needs to be designed to verify the drop safety of the dangerous source equipment. However, there is no similar precedent for reference at home, and the moon penetrator projects developed internationally also have no description of similar design methods. SUMMARY

[0004] The purpose of the present application is to provide a drop test method suitable for moon penetrator, which can realize the drop safety verification of the dangerous source equipment of the moon penetrator on the ground.

[0005] Another technical problem to be solved by the present application is to provide a device capable of realizing the above method.

[0006] The technical solution of the previous technical problem solved by the present application is: a drop test method suitable for moon penetrator, comprising the following steps: S1, hoisting the penetrator body to a predetermined height above the drop base through a hoisting device; S2, the hoisting device is stationary to release the penetrator body, and in the process of free fall of the penetrator body, the control module and the attitude control mechanism on the penetrator body are used to control the attitude of the penetrator body, so that the penetrator body can fall to the drop base according to the predetermined attitude; S3, after the penetrator body is stable, the damage of the dangerous source equipment on the penetrator body is checked by a pre-set shooting monitoring device to verify the drop safety.

[0007] As a further improvement of the present invention, the attitude closed-loop control principle of the control module in step S2 is as follows: the attitude control loop of the control module first outputs continuous control commands based on the actual attitude angle deviation information collected by the MEMS gyroscope; then, the continuous control commands are discretized through the PWPF technology of the control module to form discretized control commands, which are then sent to the attitude control mechanism; subsequently, the attitude deviation is eliminated through the operation of the attitude control mechanism; finally, the actual attitude angle deviation change is fed back to the attitude control loop of the control module by the MEMS gyroscope to complete the closed-loop control.

[0008] As a further improvement of the present invention, the attitude control loop adopts the control method of "attitude angle + integral + damping", the outer loop is the attitude angle control loop, the middle loop is the integral compensation loop, and the inner loop is the angular velocity damping loop.

[0009] As a further improvement of the present invention, the control law equation for the "attitude angle + integral + damping" control method is as follows: u cont (t)=K p ·e(t)+K i ·∫t 0e(t)dt+K d ·q(t); Among them, u cont (t) is the continuous control command output at time t; θ ref θ is the target attitude angle of the input command; θ is the actual attitude angle measured by the MEMS gyroscope; q(t) = dθ(t) / dt is the angular velocity at time t measured by the MEMS gyroscope; e(t) = θ ref K(t)-θ(t) is the attitude angle deviation at time t; p It is the external loop attitude angle proportional gain; K i It is the mid-loop integral gain, K d It is the differential gain of the angular velocity of the damping term in the inner loop; The outer loop calculates the attitude deviation e(t) and generates the basic correction command; the middle loop integrates e(t) to eliminate steady-state error; the inner loop directly reads q(t) to suppress body oscillation; and synthesizes u... cont (t), generating continuous control variables.

[0010] As a further improvement of the present invention, the PWPF technology is a pulse width modulation and frequency modulation technology. The input signal is converted into signals with different pulse widths and pulse frequencies by switching the gate through PWPF technology and then output.

[0011] The technical solution of the present invention to solve the second technical problem is: a drop test device suitable for a lunar penetrator, comprising a penetrator body with a control module and an attitude control mechanism, a lifting device above the penetrator body that can lift and release the penetrator body, a drop base below the penetrator body that can simulate the lunar ground environment, and a shooting monitoring device around the drop base for checking the damage of hazardous source equipment on the penetrator body.

[0012] As a further improvement of the present invention, one end of the penetrator body is connected to the lifting device, and the other end is provided with a hazard source device. The control module and the attitude control mechanism are sequentially arranged in the middle part along the axial direction of the penetrator body. The attitude control mechanism includes multiple nozzles that are symmetrically arranged around the axis of the penetrator body. The input end of each nozzle is connected to the output end of an electric explosion valve through a gas pipe, and the input end of the electric explosion valve is connected to the output end of a high-pressure gas cylinder located inside the penetrator body. Each gas pipe is equipped with a solenoid valve.

[0013] As a further improvement of the present invention, the lifting device includes a lifting frame, the bottom of which is provided with: a first lifting ring located directly above the drop base and a second lifting ring located on one side of the first lifting ring; The lifting device also includes a lifting rope that passes through the first lifting ring and the second lifting ring in sequence, with one end connected to the penetrator body via a lifting fixture; the other end of the lifting rope is connected to a lifting mechanism for winding the lifting rope, and a release mechanism capable of cutting the lifting rope is provided on the lifting rope located between the first lifting ring and the second lifting ring.

[0014] As a further improvement of the present invention, the drop base includes an outer frame with a top opening and a rectangular structure, the outer frame contains simulated lunar soil, and the upper end of the outer frame is covered with a cushioning material.

[0015] As a further improvement of the present invention, the shooting and monitoring device includes a first high-speed camera, a second high-speed camera, a regular camera, and a hazardous source equipment monitor arranged around the drop base; the first high-speed camera, the second high-speed camera, the regular camera, and the hazardous source equipment monitor are all provided with explosion-proof steel plates on the side near the drop base.

[0016] Technical effect Compared with the prior art, the advantages of the drop test method and equipment of the present invention for lunar penetrators are as follows: Using this test method and equipment, the fall of a lunar penetrator can be simulated on the ground, and the lunar penetrator can be controlled to fall in any predetermined posture. This allows for effective verification of the fall safety of the lunar penetrator carrying hazardous equipment on the ground. It has the advantages of low test implementation difficulty, low cost, and low test safety risk.

[0017] The invention will become clearer from the following description, taken in conjunction with the accompanying drawings, which are used to explain embodiments of the invention. Attached Figure Description

[0018] 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the test equipment of the present invention; Figure 2 This is a schematic diagram of the posture control mechanism of the present invention; Figure 3 This is a schematic diagram of the attitude closed-loop control principle in this invention; Figure 4 This is a schematic diagram of the drop-out base in this invention; Figure 5 This is a schematic diagram of the layout of the imaging and monitoring device in this invention.

[0020] The components are as follows: 1-Penetrating device body; 2-Control module; 3-Attitude control mechanism; 4-Hazardous source equipment; 5-Lifting fixture; 6-Lifting rope; 7-No. 1 lifting ring; 8-Release mechanism; 9-No. 2 lifting ring; 10-Lifting mechanism; 11-Lifting frame; 12-Drop base; 13-High-pressure gas cylinder; 14-Electro-explosive valve; 15-Gas pipeline; 16-Solenoid valve; 17-Nozzle; 18-Outer frame; 19-Simulated lunar soil; 20-Buffer material; 21-No. 1 high-speed camera; 22-No. 2 high-speed camera; 23-Ordinary camera; 24-Hazardous source equipment monitor; 25-Explosion-proof steel plate; 26-Explosion-proof wall; 27-Safe area. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0023] Example This invention discloses a drop test method suitable for lunar penetrators, comprising the following steps: S1. The penetrator body 1 is hoisted to a predetermined height above the drop base 12 using a hoisting device; S2. The lifting device releases the penetrator body 1 at rest. During the free fall of the penetrator body 1, the control module 2 and attitude control mechanism 3 on the penetrator body 1 control its attitude so that the penetrator body 1 can fall onto the drop base 12 in a predetermined attitude. S3. After the penetrator body 1 is stabilized, the damage to the hazardous source equipment 4 on the penetrator body 1 is checked by the pre-set shooting and monitoring device to verify the fall safety.

[0024] like Figure 3 As shown, the attitude closed-loop control principle of control module 2 in step S2 is as follows: the attitude control loop of control module 2 first outputs continuous control commands based on the actual attitude angle deviation information collected by the MEMS gyroscope; then, the continuous control commands are discretized through the PWPF technology of control module 2 to form discretized control commands, which are then sent to attitude control mechanism 3; after that, the attitude deviation is eliminated through the operation of attitude control mechanism 3; finally, the actual attitude angle deviation change is fed back to the attitude control loop of control module 2 by the MEMS gyroscope to complete the closed-loop control.

[0025] The attitude control loop employs an "attitude angle + integral + damping" control method—the outer loop is the attitude angle control loop, the middle loop is the integral compensation loop, and the inner loop is the angular velocity damping loop. This "attitude angle + integral + damping" control method can eliminate static errors, suppress overshoot, and enhance system stability. Its control law equation is: u cont (t)=K p ·e(t)+K i ·∫t 0e(t)dt+K d ·q(t); Among them, u cont (t) is the continuous control command output at time t; θ ref θ is the target attitude angle of the input command; θ is the actual attitude angle measured by the MEMS gyroscope; q(t) = dθ(t) / dt is the angular velocity at time t measured by the MEMS gyroscope; e(t) = θ ref K(t)-θ(t) is the attitude angle deviation at time t; p It is the external loop attitude angle proportional gain; K i It is the mid-loop integral gain, K d It is the differential gain of the angular velocity of the damping term in the inner loop.

[0026] In this embodiment, the outer loop calculates the attitude deviation e(t) and generates the basic correction command; the middle loop integrates e(t) to eliminate steady-state error; the inner loop directly reads q(t) to suppress body oscillation; and synthesizes u... cont(t), generating continuous control variables.

[0027] Regarding PWPF technology, it stands for Pulse Width Modulation and Frequency Modulation. PWPF technology converts the input signal into signals with different pulse widths and frequencies through switching gates, and then outputs them. Specifically, it converts the continuous signal u... cont (t) is converted into a switching pulse sequence for solenoid valve 16. First, it is linearly filtered by a linear filter; then, it is output as a pulse sequence by a hysteresis comparator—a high level is output when the pulse is greater than the opening threshold, opening solenoid valve 16; a low level is output when the pulse is less than the closing threshold, closing solenoid valve 16.

[0028] Regarding the specific structure of the drop test equipment, such as Figure 1 , 5 As shown, this invention discloses a drop test device suitable for a lunar penetrator. The device includes a penetrator body 1 with a control module 2 and an attitude control mechanism 3. A lifting device capable of hoisting and releasing the penetrator body 1 is located above it, and a drop base 12 simulating the lunar surface environment is located below it. A camera monitoring device for inspecting the damage to the hazardous source equipment 4 on the penetrator body 1 is also provided around the drop base 12. In this embodiment, one end of the penetrator body 1 is connected to the lifting device, and the other end is equipped with the hazardous source equipment 4. The control module 2 and the attitude control mechanism 3 are sequentially arranged along the axial direction of the penetrator body 1 in its central part.

[0029] Regarding the specific structure of the attitude control mechanism 3, such as Figure 2 As shown, the attitude control mechanism 3 includes multiple nozzles 17 arranged symmetrically around the axis of the penetrator body 1. The input ends of each nozzle 17 are connected to the output end of an electric explosion valve 14 via an air pipe 15, and the input end of the electric explosion valve 14 is connected to the output end of a high-pressure gas cylinder 13 located inside the penetrator body 1. In this embodiment, each air pipe 15 is equipped with a solenoid valve 16.

[0030] When in use, the attitude control mechanism 3 controls the pitch attitude of the penetrator body 1 through nozzles ① and ② 17; and controls the yaw attitude of the penetrator body 1 through nozzles ③ and ④ 17. In the initial state, the gas in the high-pressure gas cylinder 13 is in front of the electric explosion valve 14; when attitude control is required, the control module 2 sends a command to the electric explosion valve 14 to open the electric explosion valve 14, and the gas in the high-pressure gas cylinder 13 flows through the gas pipeline 15 to the four solenoid valves 16; at this time, the control module 2 opens and closes the solenoid valves 16 as needed according to the preset drop attitude; when the solenoid valves 16 are opened, the gas in the gas pipeline 15 is ejected through the corresponding nozzle 17, generating thrust and controlling the penetrator body 1 to the predetermined attitude.

[0031] Regarding the specific structure of the lifting device, such as Figure 1As shown, the lifting device includes a lifting frame 11. The bottom of the lifting frame 11 is provided with a first lifting ring 7 located directly above the drop base 12 and a second lifting ring 9 located to one side of the first lifting ring 7. Furthermore, the lifting device also includes a lifting rope 6 that passes sequentially through the first lifting ring 7 and the second lifting ring 9, with one end connected to the penetrator body 1 via a lifting fixture 5. The other end of the lifting rope 6 is connected to a lifting mechanism 10 for winding the lifting rope 6, and a release mechanism 8 capable of cutting the lifting rope 6 is provided on the lifting rope 6 located between the first lifting ring 7 and the second lifting ring 9. In this embodiment, the lifting mechanism 10 is located on the ground.

[0032] In use, the penetrator body 1 is hoisted to a predetermined height by the hoisting fixture 5, and then the release mechanism 8 is activated to cut the hoisting rope 6, releasing the penetrator body 1 to rest. The penetrator body 1 then falls freely under the influence of gravity. During the free fall, the penetrator body 1 uses its built-in control module 2 and attitude control mechanism 3 to control its attitude, ensuring that the penetrator body 1 falls to the drop base 12 in any predetermined posture. After the penetrator body 1 stabilizes following the fall, the safety of the fall is verified by checking whether the hazardous source equipment 4 is damaged using a monitoring device.

[0033] In this embodiment, as Figure 4 As shown, the drop base 12 includes a rectangular outer frame 18 with an opening at the top. The outer frame 18 is a wooden board structure, and simulated lunar soil 19 is contained inside. Furthermore, the upper part of the outer frame 18 is covered with cushioning material 20 to prevent damage to the outer frame 18 when the penetrator body 1 falls and lies flat.

[0034] In addition, regarding the camera monitoring device, such as Figure 5 As shown, the monitoring device includes a first high-speed camera 21, a second high-speed camera 22, a regular camera 23, and a hazardous source equipment monitor 24, all arranged around the drop base 12. Each of the first high-speed camera 21, the second high-speed camera 22, the regular camera 23, and the hazardous source equipment monitor 24 is equipped with an explosion-proof steel plate 25 on the side closest to the drop base 12.

[0035] Among them, the high-speed camera 21, high-speed camera 22, and ordinary camera 23 can be adjusted in position according to the needs of the site, and are mainly used to film the falling process of the penetrator body 1. Therefore, the explosion-proof steel plate 25 on the lens side of the high-speed camera 21, high-speed camera 22, and ordinary camera 23 are all provided with shooting windows with explosion-proof glass. The hazard source equipment monitor 24 is used to detect whether the hazard source equipment 4 is damaged. In this embodiment, the hazard source equipment monitor 24 is arranged close to the drop base 12.

[0036] It is important to note that: The test site is separated from the drop test area by an explosion-proof wall 26, and the safe area 27 is behind the explosion-proof wall 26.

[0037] The present invention has been described above in conjunction with the preferred embodiments, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations made in accordance with the essence of the present invention.

Claims

1. A drop test method suitable for lunar penetrators, characterized in that, Includes the following steps: S1. The penetrator body (1) is hoisted to a predetermined height above the drop base (12) by a hoisting device; S2. The lifting device releases the penetrator body (1) in a static state. During the free fall of the penetrator body (1), the control module (2) and attitude control mechanism (3) on the penetrator body (1) control its attitude so that the penetrator body (1) can fall onto the drop base (12) in a predetermined attitude. S3. After the penetrator body (1) is stabilized, check the damage of the hazardous source equipment (4) on the penetrator body (1) using a pre-set shooting monitoring device to verify the fall safety.

2. The drop test method for a lunar penetrator according to claim 1, characterized in that, The attitude closed-loop control principle of the control module (2) in step S2 is as follows: The attitude control loop of the control module (2) first outputs continuous control commands based on the actual attitude angle deviation information collected by the MEMS gyroscope; then, the continuous control commands are discretized by the PWPF technology of the control module (2) to form discretized control commands, and sent to the attitude control mechanism (3); then, the attitude deviation is eliminated by the operation of the attitude control mechanism (3); finally, the actual attitude angle deviation change is fed back to the attitude control loop of the control module (2) by the MEMS gyroscope to complete the closed-loop control.

3. The drop test method for a lunar penetrator according to claim 2, characterized in that, The attitude control loop adopts the "attitude angle + integral + damping" control method. The outer loop is the attitude angle control loop, the middle loop is the integral compensation loop, and the inner loop is the angular velocity damping loop.

4. The drop test method for a lunar penetrator according to claim 3, characterized in that, For the "attitude angle + integral + damping" control method, the control law equation is: u cont (t)=K p ·e(t)+K i ·∫t 0e(t)dt+K d ·q(t); Among them, u cont (t) is the continuous control command output at time t; θ ref θ is the target attitude angle of the input command; θ is the actual attitude angle measured by the MEMS gyroscope; q(t) = dθ(t) / dt is the angular velocity at time t measured by the MEMS gyroscope; e(t) = θ ref K(t)-θ(t) is the attitude angle deviation at time t; p It is the external loop attitude angle proportional gain; K i It is the mid-loop integral gain, K d It is the differential gain of the angular velocity of the damping term in the inner loop; The outer loop calculates the attitude deviation e(t) and generates the basic correction command; the middle loop integrates e(t) to eliminate steady-state error; the inner loop directly reads q(t) to suppress body oscillation; and synthesizes u... cont (t), generating continuous control variables.

5. The drop test method for a lunar penetrator according to claim 2, 3, or 4, characterized in that, The PWPF technology is a pulse width modulation and frequency modulation technology. Through the PWPF technology, the input signal is converted by opening and closing the gate and modulated into signals with different pulse widths and pulse frequencies for output.

6. A drop test device suitable for lunar penetrators, characterized in that, The device includes a penetrator body (1) with a control module (2) and an attitude control mechanism (3). A lifting device is provided above the penetrator body (1) to lift and release the penetrator body (1). A drop base (12) is provided below the penetrator body (1) to simulate the lunar ground environment. A camera monitoring device is also provided around the drop base (12) to check the damage of the hazardous source equipment (4) on the penetrator body (1).

7. The drop test apparatus for a lunar penetrator according to claim 6, characterized in that, One end of the penetrator body (1) is connected to the lifting device, and the other end is equipped with a hazard source device (4). The control module (2) and the attitude control mechanism (3) are sequentially arranged in the middle of the penetrator body (1) along the axial direction. The attitude control mechanism (3) includes multiple nozzles (17) arranged symmetrically around the axis of the penetrator body (1). The input end of each nozzle (17) is connected to the output end of the electric explosion valve (14) through an air pipe (15). The input end of the electric explosion valve (14) is connected to the output end of the high-pressure gas cylinder (13) located in the penetrator body (1). Each air pipe (15) is equipped with a solenoid valve (16).

8. The drop test apparatus for a lunar penetrator according to claim 6, characterized in that, The lifting device includes a lifting frame (11), and the bottom of the lifting frame (11) is provided with a first lifting ring (7) located directly above the drop base (12) and a second lifting ring (9) located on one side of the first lifting ring (7). The lifting device also includes a lifting rope (6) that passes through the first lifting ring (7) and the second lifting ring (9) in sequence, and one end of which is connected to the penetrator body (1) via the lifting fixture (5); the other end of the lifting rope (6) is connected to the lifting mechanism (10) for winding the lifting rope (6), and a release mechanism (8) that can cut the lifting rope (6) is provided on the lifting rope (6) located between the first lifting ring (7) and the second lifting ring (9).

9. The drop test apparatus for a lunar penetrator according to claim 6, characterized in that, The drop base (12) includes an outer frame (18) with a top opening and a rectangular structure. The outer frame (18) contains simulated lunar soil (19), and the upper part of the outer frame (18) is covered with a cushioning material (20).

10. The drop test apparatus for a lunar penetrator according to claim 6, characterized in that, The camera monitoring device includes a first high-speed camera (21), a second high-speed camera (22), a regular camera (23), and a hazardous source equipment monitor (24) arranged around the drop base (12); the first high-speed camera (21), the second high-speed camera (22), the regular camera (23), and the hazardous source equipment monitor (24) are all equipped with explosion-proof steel plates (25) on the side of the drop base (12).

Images