A reconfigurable ground test system and method with triangular prism modules

Abstract

The application discloses a reconfigurable ground test system and method with a triangular prism as a module, belongs to the technical field of reconfigurable system design, and is based on reconfigurable system technology, and a reconfigurable ground system with a triangular prism as a module is designed. Since the module is a triangular prism and the rotating surface is an inclined surface, the module can form various configurations to cope with different task scene requirements, and meanwhile, various reconfiguration algorithms can be verified, thereby laying a foundation for real spacecraft design. In addition, the module is subjected to ground tests to ensure the feasibility of the model, provides a new idea for the field of spaceflight, and can form a research framework in which theory and tests are mutually examined.

Description

Technical Field

[0001] This invention belongs to the field of reconfigurable system design technology, specifically relating to a reconfigurable ground test system and method using triangular prisms as modules. Background Technology

[0002] As space missions continue to expand in scale and diversify in type, spacecraft systems are facing increasingly higher requirements for mission flexibility and environmental adaptability. Traditional spacecraft often employ fixed configurations and single-function modes, with their topology and operational capabilities largely defined during the design phase. This makes it difficult to meet the demands of complex space environments, multi-mode mission switching, and multi-target collaborative applications. Furthermore, fixed configurations impose constraints on structural load-bearing capacity, launch vehicle capabilities, and on-orbit operational status, hindering mission expansion and functional upgrades.

[0003] Reconfigurable spacecraft, through the introduction of modular design and configuration reconfiguration technology, enable the system to combine, replace, and reconfigure modules according to mission changes, significantly improving the system's scalability, mission adaptability, and resource utilization efficiency. These systems possess on-orbit replacement, maintenance, and upgrade capabilities, and have outstanding advantages such as "multi-mission compatibility, adjustable configuration, and scalable functionality," making them an important development direction for future space missions.

[0004] In the development of reconfigurable spacecraft, building a comprehensive ground-based test system is of critical engineering significance. First, a ground-based test platform allows for system-level verification of configuration reconfiguration mechanisms, module interaction methods, control strategies, and collaborative functions in a controlled environment, helping to identify problems early in the engineering development process. Second, ground-based batch verification of modules can improve their versatility and interchangeability, reduce overall development costs, and accelerate the process.

[0005] Therefore, ground test systems are an indispensable infrastructure in the development of reconfigurable spacecraft. They are not only an important means of verifying new technologies, but also a key link in ensuring system reliability, reducing development risks, and improving engineering benefits. They have important engineering value in promoting the transition of reconfigurable spacecraft from conceptual research to engineering application. Summary of the Invention

[0006] This invention provides a reconfigurable ground test system and method using triangular prisms as modules. The system can be transformed into multiple configurations to adapt to different mission scenarios, and can verify various algorithms and lay the foundation for the design of truly modular spacecraft.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A reconfigurable ground-based experimental system using triangular prism modules is proposed. Composed of multiple triangular prism modules, the initial configuration is a straight line. Depending on mission requirements, the entire system can be configured differently by rotating specific modules and angles to accomplish various space missions.

[0009] Each triangular prism module includes a triangular prism shell, a Zigbee chip and MCU integrated board, a motor, a motor driver board, an angle sensor, and a power supply; adjacent modules are connected by motors that connect through mating holes, and the modules are driven to rotate by the operation of the motors.

[0010] The triangular prism is provided with docking holes on both sides where it connects to the adjacent module. One side is used to dock with the motor of the module, and the other side is used to dock with the motor of the adjacent module, so as to realize the connection between the two modules.

[0011] The triangular prism module has a square groove on the inner side of the side without the mating hole, which is used to embed the motor driver board, Zigbee chip and MCU integrated board, and power supply.

[0012] The angle sensor is mounted on the motor output shaft, so that the feedback read is closest to the actual rotation angle, which is convenient for closed-loop control; and the angle sensor is electrically connected to the external control system.

[0013] The power supply is for the motor driver board and the motor; the Zigbee chip is electrically connected to the MCU integrated board and the motor driver board, and the motor driver board is electrically connected to the angle sensor.

[0014] The testing method for the above system includes the following steps:

[0015] S1: Adjust the height of the suspension device to keep the suspension platform level; hang the reconfigurable system on the suspension rope;

[0016] S2: Connect the entire system to the control computer, connect the Zigbee coordinator to the computer, turn on the Zigbee chips and MCU integrated boards of all modules; turn on the power of all modules;

[0017] S3: Input the desired configuration into the computer, run the program to calculate the rotation angle of each module, and output the angle that each module should rotate; wait for the signal to be transmitted to the motor, and the module will start to rotate;

[0018] S5: Rotation complete; assess the feasibility of the final configuration.

[0019] Beneficial effects: This invention provides a reconfigurable ground testing system and method using triangular prisms as modules, which has the following advantages compared with the prior art: This invention is based on reconfigurable system technology and designs a reconfigurable ground system with triangular prisms as modules. Since the modules are triangular prisms and the rotation surfaces are inclined planes, they can form a variety of configurations to meet the needs of different mission scenarios. At the same time, it can also verify various reconfiguration algorithms, laying the foundation for the design of real spacecraft. This invention has also conducted ground tests to ensure the feasibility of the model, providing new ideas for the aerospace field and forming a research framework that verifies both theory and experiment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the initial configuration of a reconfigurable system using triangular prisms as modules in an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of a reconfigurable system transformation configuration using triangular prisms as modules in an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the second reconfigurable system transformation configuration using triangular prisms as modules in an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of a single triangular prism module in an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the overall test system for the reconfigurable system in an embodiment of the present invention;

[0025] Figure 6 This is a flowchart illustrating the signal transmission process of the reconfigurable system test in an embodiment of the present invention.

[0026] Figure 7 This is a page view showing the rotation angle of the final configuration input to Final JointAngels during the evaluation process in this embodiment of the invention.

[0027] Figure 8 This is a schematic diagram of the model folding process during the evaluation process in an embodiment of the present invention. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments:

[0029] A reconfigurable system using triangular prisms as modules, such as Figure 1 As shown, the reconfigurable system can transform into multiple configurations to adapt to different mission scenarios, enabling the verification of various algorithms and laying the foundation for true modular spacecraft design. The reconfigurable system is composed of multiple triangular prism modules, with an initial configuration of a straight line.

[0030] like Figure 4As shown, each triangular prism module mainly includes an outer triangular prism frame and a docking interface, and houses a Zigbee chip and MCU integrated board, a motor, a motor driver board, an angle sensor, and a battery. The two sides of the triangular prism connected to adjacent modules have docking holes; one side is used to dock with the motor of this module, and the other side is used to dock with the motor of the adjacent module, thus achieving connection between the two modules. The inner side of the side of the triangular prism module without docking holes has a square groove for embedding the motor driver board, Zigbee chip and MCU integrated board, and power supply. The angle sensor is mounted on the motor output shaft, providing feedback that is closest to the actual rotation angle, facilitating closed-loop control. The angle sensor is electrically connected to the external control system. The power supply powers the motor driver board and the motor. The Zigbee chip, MCU integrated board, and motor driver board are electrically connected, and the motor driver board is electrically connected to the angle sensor.

[0031] like Figure 2 and Figure 3 As shown, the reconfigurable system described above can be transformed into different configurations to complete various space missions. This embodiment illustrates two configurations.

[0032] like Figure 5 and Figure 6 As shown, the experimental method for the above-mentioned reconfigurable system includes the following steps: (1) The system is suspended by the suspension rope of the suspension mechanism to simulate a microgravity environment. The height of the suspension device is adjusted to keep the suspension platform horizontal. (2) Hang the reconfigurable system on the suspension rope; (3) Connect the entire system to the control computer; (4) Connect the Zigbee coordinator to the computer and turn on the Zigbee chips and MCU integrated board of all modules; (5) Turn on the power to all modules to supply power to the motor drive board and servo motor; (6) Input the initial configuration into the computer. With desired configuration Let the module rotation angle be denoted as . There are modules, then there are A motor drives rotation, and the rotation angle can only be [value missing]. Integer multiples of: , , , in, The rotation angle of the current configuration. .

[0033] According to the greedy algorithm, the objective function is first defined, which is usually defined as the angular distance between the current configuration and the desired configuration: , in, This is a weighting coefficient used to adjust the priority of module angular distance for different tasks. , where is the angular distance between the current rotation angle and the target angle.

[0034] Next, each joint is rotated sequentially, with collision detection performed during the rotation. If a collision is detected, the current state is updated. Until the collision is resolved, given a very small number. ,when At that time, it was considered that the target configuration had been achieved.

[0035] Finally, output the angle by which each module should be rotated.

[0036] (7) Run the program that calculates the rotation angle of each module. After the computer calculates the control signal of a certain module, it transmits it to the Zigbee chip and MCU integrated board of the specified module through the Zigbee coordinator. The MCU generates low-power control instructions (such as rotation angle and speed related instructions) and sends the instructions to the motor drive board. After receiving the instructions, the motor drive board amplifies the signal. After the angle sensor of the servo motor reads the drive signal, it operates under the action of the drive signal. Through the docking mechanism on both sides, it drives the module to rotate relative to the previous module to achieve a preset angle. While the module rotates, the subsequent modules will rotate together with the module while maintaining the same relative attitude. After the signal is transmitted to the motor, the module starts to rotate.

[0037] (8) After rotation, evaluate the feasibility of the final configuration; this embodiment uses 15 modules as an example, the initial configuration is a straight line (the straight line is the default initial configuration), input the rotation angle of the final configuration to Final Joint Angels, such as Figure 7 As shown. Following the steps above, the final configuration is obtained. Figure 8 The model folding process is demonstrated.

[0038] The above are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

Claims

1. A reconfigurable ground testing system using triangular prisms as modules, characterized in that, Composed of multiple triangular prism modules, the initial configuration is a straight line. Adjacent modules are connected by a docking mechanism, which enables rotation and allows for different configurations to complete various space missions.

2. The reconfigurable ground test system based on triangular prisms as modules according to claim 1, characterized in that, Each triangular prism module includes a triangular prism shell, a Zigbee chip and MCU integrated board, a motor, a motor driver board, an angle sensor, and a power supply. The two sides of the triangular prism connected to the adjacent module are provided with mating holes for mounting the motor. The inner side of the side of the triangular prism module without mating holes is provided with a square groove for embedding the motor driver board, Zigbee chip and MCU integrated board, and power supply.

3. The reconfigurable ground test system based on triangular prisms as modules according to claim 2, characterized in that, The angle sensor is mounted on the motor output shaft and is electrically connected to an external control system.

4. The reconfigurable ground test system based on triangular prisms as modules according to claim 2, characterized in that, The power source is the motor drive board and the motor.

5. The reconfigurable ground test system based on triangular prisms as modules according to claim 2, characterized in that, The Zigbee chip is electrically connected to the MCU integrated board and the motor drive board, and the motor drive board is electrically connected to the angle sensor.

6. The test method for the reconfigurable ground test system using triangular prisms as modules as described in any one of claims 1-6, characterized in that, Includes the following steps: S1: Adjust the height of the suspension device to keep the suspension platform level; hang the reconfigurable system on the suspension rope; S2: Connect the entire system to the control computer, connect the Zigbee coordinator to the computer, turn on the Zigbee chips and MCU integrated boards of all modules; turn on the power of all modules; S3: Input the desired configuration into the computer, run the program to calculate the rotation angle of each module; output the angle that each module should rotate by; S4: After the signal is transmitted to the motor, the module starts to rotate.

7. The test method for the reconfigurable ground test system based on a triangular prism module according to claim 6, characterized in that, The specific steps for S3 are as follows: Input the initial configuration into the computer. With desired configuration Let the module rotation angle be denoted as . There are modules, then there are A motor drives rotation, and the rotation angle can only be [value missing]. Integer multiples of: ， ， ， in, The rotation angle of the current configuration. ; According to the greedy algorithm, the objective function is first defined, which is usually defined as the angular distance between the current configuration and the desired configuration: ， in, This is a weighting coefficient used to adjust the priority of module angular distance for different tasks. , which is the angular distance between the current rotation angle and the target angle; Next, each joint is rotated sequentially, with collision detection performed during the rotation. If a collision is detected, the current state is updated. Until the collision is resolved, given a very small number. ,when When the target configuration has been achieved, the rotation angle of each module is output.

8. The test method for the reconfigurable ground test system based on a triangular prism module according to claim 6, characterized in that, The signal transmission process is as follows: The desired configuration is input into the computer. After the computer calculates the control signal of a certain module, it is transmitted to the Zigbee chip and MCU integrated board of the designated module through the Zigbee coordinator. The MCU generates a low-power control command and sends the command to the motor drive board. After receiving the command, the motor drive board amplifies the signal. After the angle sensor of the servo motor reads the drive signal, it operates under the action of the drive signal. Through the docking mechanism on both sides, it drives the module to rotate relative to the previous module at a preset angle. While the module rotates, the subsequent modules will rotate together with the module while maintaining the same relative attitude. After the signal is transmitted to the motor, the module starts to rotate.

Images