A micro-satellite attitude control simulator based on magnetic levitation and zero gravity

Abstract

The invention discloses a micro-satellite attitude control simulator based on magnetic levitation and zero gravity, comprising a simulated satellite, a control mechanism, a suspension mechanism, a platform assembly and a base; the suspension mechanism has a fixing device and an optical target, the fixing device is used to fix the simulated satellite; the platform assembly is used to provide the suspension mechanism with the magnetic force required for suspension, and the platform assembly has an optical camera module and an attitude measurement module, the optical camera module is used to record the relative position information of the suspension mechanism and feed it back to the attitude measurement module; the fixing device has a leveling component for keeping the center of mass consistent with the center of the suspension mechanism, and the control mechanism is configured to at least analyze the attitude movement of the suspension mechanism and draw an analysis graph according to the information fed back by the attitude measurement module; the micro-satellite attitude control simulator based on magnetic levitation and zero gravity has a simple structure, less restriction on the rotational freedom degree and low cost.

Description

Technical Field

[0001] The invention relates to the technical field of simulation equipment, and in particular to a micro-satellite attitude control simulator based on magnetic levitation zero gravity. Background Art

[0002] With the rapid development of aerospace technology, the demand for spacecraft development has increased dramatically, and more and more universities and research institutions have begun to carry out relevant aerospace professional knowledge education and scientific research. With the rapid development of technologies such as computers, new materials, micro-nano, micro-electronic machinery, and high-density energy, the weight and size of micro-satellites have been significantly reduced. Microsatellites have many advantages such as low cost, light weight, short development cycle, and low price. The various technologies involved in the development of microsatellites have also become the research focus of this field. The development process of microsatellites must go through stages such as concept research, overall scheme design, key technology research, ground experiments, and flight experiments. Due to the particularity of satellite launch and its working environment, space missions have the characteristics of high risk and high cost, so ground experiments have become an indispensable part of the development of spacecraft. By simulating the space microgravity environment on the ground and completing the ground simulation of the microsatellite attitude control system, problems in satellite design and manufacturing can be discovered and solved in advance, ensuring that the satellite can operate normally and stably when entering orbital space.

[0003] At present, there are many methods for simulating microgravity, such as the drop tower method, parabolic flight method, water flotation method, suspension method and air flotation method. However, the cost of the drop tower method, parabolic flight method and water flotation method is too high, and most universities and research institutions cannot afford it. The suspension method for simulating microgravity space has the characteristics of short construction period and low cost, but its complex mechanical structure requires a large area of ​​land; therefore, it is necessary to improve it. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a micro-satellite attitude control simulator based on magnetic levitation and zero gravity, which has a simple structure, less restriction on rotational freedom and low cost.

[0005] To solve the above problems, the present invention adopts the following technical solutions:

[0006] At least one embodiment of the present disclosure provides a micro-satellite attitude control simulator based on magnetic levitation and zero gravity, comprising a simulated satellite, a control mechanism, a suspension mechanism, a platform assembly and a base; the suspension mechanism has a fixing device and an optical target, and the fixing device is used to fix the simulated satellite; the platform assembly is used to provide the suspension mechanism with the magnetic force required for suspension, and the platform assembly has an optical camera module and an attitude measurement module, and the optical camera module is used to record the relative position information of the suspension mechanism and feed it back to the attitude measurement module; the base is used to support the platform assembly; wherein the fixing device has a leveling component for keeping the center of mass consistent with the center of the suspension mechanism, and the control mechanism is configured to at least analyze the attitude movement of the suspension mechanism and draw analysis graphics based on the information fed back by the attitude measurement module.

[0007] In the micro-satellite attitude control simulator based on magnetic levitation and zero gravity provided by at least one embodiment of the present disclosure, the base includes: an upper table, a lower table, support legs and a support frame; the support legs are fixedly arranged on the bottom surface of the lower table; the support frame is arranged between the upper table and the lower table, and the two ends of the support frame are fixedly connected to the upper table and the lower table respectively.

[0008] In the micro-satellite attitude control simulator based on magnetic levitation and zero gravity provided by at least one embodiment of the present disclosure, the platform component also has: a power supply module, an electronic circuit module, an electromagnetic coil module, a current control module and a communication module; the power supply module is used to provide corresponding power support for the entire component; the electromagnetic coil module is used to generate the magnetic force required to suspend the suspension mechanism; the current control module is used to generate current flowing through the electromagnetic coil module and thus generate feedback control force; the communication module is configured to be connected to the control mechanism.

[0009] In the micro-satellite attitude control simulator based on magnetic levitation and zero gravity provided by at least one embodiment of the present disclosure, the suspension mechanism is arranged between the upper table and the lower table.

[0010] In the micro-satellite attitude control simulator based on magnetic levitation and zero gravity provided by at least one embodiment of the present disclosure, the suspension mechanism also has: a sphere and a magnetic suspension frame; the optical target is arranged on the outer wall surface of the sphere; the magnetic suspension frame has a ball device, and the magnetic suspension frame is located in the center of the sphere and coincides with the plane of the maximum diameter of the sphere; wherein the ball device is in contact with the inner wall surface of the sphere, the fixing device is arranged in the sphere, and the ball device is fixedly arranged on the magnetic suspension frame.

[0011] In the magnetic levitation zero-gravity based micro-satellite attitude control simulator provided in at least one embodiment of the present disclosure, two fixing devices are configured, and the two fixing devices are arranged opposite to each other.

[0012] In the magnetic levitation zero-gravity micro-satellite attitude control simulator provided by at least one embodiment of the present disclosure, the fixing device further has a telescopic component, and the telescopic component is configured to be fixedly connected to the inner wall of the sphere.

[0013] The beneficial effects of the present invention are:

[0014] 1. The structure is simple, the modules are clear, and the magnetic levitation platform is used to simulate the microgravity environment in space. It can be used for ground physical simulation experiments of micro-satellite attitude control.

[0015] 2. The production cost is low and mass production can be achieved.

[0016] 3. Not only can high-precision control of three-axis posture in a zero-gravity environment be achieved, but also, compared with a three-axis air-floating turntable, the three-axis rotation angle of the disclosed solution is less restricted, and can cope with various scenarios of large-angle posture rotation.

[0017] 4. Equipped with a retractable fixture, it is possible to test micro-satellites of different sizes, making the test simple and the switching convenient.

[0018] 5. The center of mass position can be adjusted by equipping the fixing device with a leveling component.

[0019] 6. It has broad application prospects, less noise and low cost. It can also be used for teaching demonstrations, popular science experiments, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 It is a partial stereoscopic diagram of the micro-satellite attitude control simulator based on magnetic levitation and zero gravity disclosed in the present invention.

[0022] Figure 2 It is a schematic diagram of the partial structure of the suspension mechanism in the present disclosure.

[0023] Figure 3 It is a partial stereoscopic diagram of the micro-satellite attitude control simulator based on magnetic levitation and zero gravity disclosed in the present invention.

[0024] Figure 4 This is a three-dimensional diagram of the micro-satellite attitude control simulator based on magnetic levitation and zero gravity disclosed in the present invention after the suspension mechanism is disassembled.

[0025] Figure 5 for Figure 2 Enlarged view of point A in the middle.

[0026] Figure 6 It is a three-dimensional diagram of the fixing device in the present disclosure.

[0027] Figure 7 2 is a view of a fixing device in the present disclosure.

[0028] Figure 8 2 is a view of a fixing device in the present disclosure.

[0029] Fig. 9 A block diagram of module connections in the present disclosure.

[0030] In the figure:

[0031] 10. Simulate satellite;

[0032] 20. Control agency;

[0033] 30. Suspension mechanism; 31. Ball; 32. Magnet suspension frame; 33. Fixing device; 34. Ball device; 331. Clamping component; 332. Leveling component; 333. Telescopic component; 334. First guide rail; 335. Second guide rail; 336. Third guide rail;

[0034] 40. Platform assembly; 41. Optical camera module; 42. Attitude measurement module; 43. Power module; 44. Electromagnetic coil module; 45. Current control module; 46. Communication module; 441. First permanent magnet ring; 442. Electromagnetic coil;

[0035] 50. base; 51. upper table; 52. lower table; 53. supporting feet; 54. supporting frame. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0037] In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right side", "left end", "above", "back", "middle", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be the usual meanings understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprising" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0038] In addition, in the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms such as installation, connection and connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Example

[0040] like Figures 1 to 9 As shown, a micro-satellite attitude control simulator based on magnetic levitation and zero gravity according to at least one embodiment of the present disclosure includes a simulated satellite 10, a control mechanism 20, a suspension mechanism 30, a platform assembly 40 and a base 50.

[0041] Furthermore, the base 50 includes: an upper table 51, a lower table 52, a support leg 53 and a support frame 54; the support leg 53 is fixedly arranged on the bottom surface of the lower table 52; the support frame 54 is arranged between the upper table 51 and the lower table 52, and the two ends of the support frame 54 are respectively fixedly connected to the upper table 51 and the lower table 52. The suspension mechanism 30 is arranged between the upper table 51 and the lower table 52.

[0042] Furthermore, the platform assembly 40 has: an optical camera module 41, a posture measurement module 42, a power module 43, an electromagnetic coil module 44, a current control module 45 and a communication module 46; the power module 43 is used to provide corresponding power support for the entire assembly; the electromagnetic coil module 44 is used to generate the magnetic force required to suspend the suspension mechanism 30; the current control module 45 is used to generate a current flowing through the electromagnetic coil module 44 and then generate a feedback control force; the communication module 46 is configured to be connected to the control mechanism 20, and the optical camera module 41 is fixedly configured on the upper table 51, and the optical camera module 41 faces the suspension mechanism 30.

[0043] Furthermore, the electromagnetic coil module 44 includes a first permanent magnet ring 441 and five electromagnetic coils 442, and the electromagnetic coils 442 include an iron core (not shown) and a coil (not shown). When the coil is energized, the magnetic lines of force form a closed loop through the energized coil, the iron core, the air gap, and the adsorbable magnetic conductor. Since the magnetic flux passing through the iron core has much less resistance than passing through the air, most of the magnetic flux will flow into the iron core in a concentrated manner, the iron core is magnetized, and a magnetic field is formed around it, thereby suspending the suspension mechanism 30.

[0044] The suspension mechanism 30 comprises: a sphere 31, a magnetic suspension frame 32 and a fixing device 33; an optical target (not shown) is arranged on the outer wall of the sphere 31; the magnetic suspension frame 32 has a ball device 34, and the magnetic suspension frame 32 is located at the center of the sphere 31 and coincides with the plane of the maximum diameter of the sphere 31; wherein the ball of the ball device 34 contacts the inner wall of the sphere 31, the fixing device 33 is arranged in the sphere 31, and the ball device 34 is fixedly arranged on the magnetic suspension frame 32. Two fixing devices 33 are arranged, and the two fixing devices 33 are arranged opposite to each other.

[0045] Further, four ball devices 34 are provided, and the four ball devices 34 are distributed in a ring array; illustratively, the ball devices 34 are bull's eye universal wheels.

[0046] Furthermore, the magnetic suspension frame 32 is a second permanent magnetic ring, wherein the outer diameter of the second permanent magnetic ring is 720 mm, the inner diameter is 520 mm, the inner diameter of the sphere 31 is 740 mm, and the outer diameter is 760 mm; during operation, the magnetic suspension frame 32 can maintain a stable suspension state by the magnetic force generated by the platform assembly 40, and the magnetic suspension frame maintains a horizontal state, thereby providing a supporting force to offset the gravity of the contacting sphere 31 and keeping it in a suspended state together.

[0047] Furthermore, the fixing device 33 includes a clamping part 331, a leveling part 332 and a telescopic part 333, the telescopic part 333 is a telescopic rod, and the clamping part 331 adopts a four-claw clamp; the leveling part 332 includes a first guide rail 334, a second guide rail 335 and a third guide rail 336, the first guide rail 334 and the second guide rail 335 are both assembled on the four-claw clamp, and the third guide rail 336 is assembled on the telescopic rod, the telescopic part 333 is configured to be fixedly connected to the inner wall of the sphere 31, and the leveling part 332 changes the weight distribution by adjusting the position of the slider to achieve the leveling effect; the sphere 31, the fixing device 33 and the simulated satellite 10 are fixedly connected together, and the magnetic suspension frame 32 contacts the smooth spherical surface inside the sphere 31 through four balls, and the magnetic suspension frame 32 provides a constant supporting force for the fixed part of the sphere 31, so the fixed part of the sphere 31 and the simulated satellite 10 can realize three-degree-of-freedom rotation in a microgravity environment. The retractable structure is used to grab and fix simulated satellites of different sizes such as 1U, 2U and 3U, which has good flexibility and is suitable for simulated satellites of different sizes.

[0048] Furthermore, the four-jaw clamp is provided with a first embedding groove (not shown) and a second embedding groove (not shown), and the first guide rail 334 and the second guide rail 335 are respectively embedded in the first embedding groove and the second embedding groove; the telescopic component 333 is provided with a third embedding groove (not shown), and the third guide rail 336 is embedded in the third embedding groove, and the first guide rail 334 and the second guide rail 335 are distributed in a cross shape, and the first guide rail 334 and the second guide rail 335 are both perpendicular to the third guide rail 336, and the first guide rail 334, the second guide rail 335 and the third guide rail 336 all adopt servo electric guide rails.

[0049] Furthermore, the control mechanism 20 includes a computer (not shown) and a controller (not shown) for ground control simulation. The controller is connected to the suspension mechanism and the platform assembly, etc. The controller sends a control instruction to the current control module, and the current control module receives the control instruction to adjust the current of the magnetic coil so that the suspension unit maintains a stable suspension state. The position information of the fixed connection part of the sphere 31 and the measured satellite is measured in real time by an optical camera.

[0050] In some embodiments, the first guide rail 334 , the second guide rail 335 , and the third guide rail 336 are all electrically connected to the controller and controlled by the controller.

[0051] In some embodiments, the telescopic rod is an electric telescopic rod, which is electrically connected to the controller and controlled by the controller.

[0052] The principle of the present disclosure will be further described below in conjunction with the installation and test verification method of a micro-satellite attitude control simulator based on magnetic levitation zero gravity in at least one embodiment of the present disclosure;

[0053] The process and steps of installing and testing a micro-satellite attitude control simulator based on magnetic levitation and zero gravity according to at least one embodiment of the present disclosure include:

[0054] Step 1: Before installation, sort out and improve the parts of the entire equipment to ensure that there are no omissions or duplications in the required parts. Analyze the structure of each position and determine the assembly requirements to prevent the scrapping of parts due to improper assembly sequence.

[0055] Step 2: Assemble and install in the order of base 50 first and then body assembly 40 to ensure the reliability and stability of base 50, body assembly 40, suspension mechanism 30 and leveling component 332 to prevent problems caused by unstable installation during the experiment.

[0056] Step 3: Install the current control module to ensure the normal operation of each control link and communication link to ensure its stable operation.

[0057] Step 4: After confirming that all parts of the system function normally, fix the satellite under test on two fixing devices to form a fixed connection with the sphere 31. Then, turn on the power to enter the microgravity mode. The magnetic suspension frame 32 can maintain a stable suspension state due to the magnetic force generated by the platform assembly 40, and the sphere 31 and the satellite under test are suspended at the same time. Then start the leveling work to ensure that its center of mass is located at the center of the universal ball. Use the optical camera module 41 to calibrate the initial position and attitude of the satellite under test of the suspension mechanism 30 to determine the initial state.

[0058] Step 5: After the leveling is completed, the satellite officially enters the microgravity environment working state. At the same time, the attitude of the satellite under test is controlled according to the mission requirements of the satellite under test. After the attitude control system of the satellite under test is started, the satellite under test performs attitude movement autonomously.

[0059] Step 6: The optical camera module 41 continuously measures the position and attitude of the sphere 31, i.e., the satellite under test, and transmits the information to the control module in real time to complete the satellite attitude determination and ground simulation experiment in the microgravity environment. The control mechanism 20 analyzes the attitude movement of the suspension mechanism 30 and draws analysis graphics based on the information fed back by the attitude measurement module 42.

[0060] Step 7. End the test and organize and analyze the test results: 1. Turn off the platform power and remove the tested satellite; 2. Analyze the test results based on the information measured and recorded during the experiment.

[0061] In the description of this specification, the description with reference to the terms "this embodiment", "some embodiments", "other embodiments" or "specific example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0062] Although the embodiments of the present application have been shown and described above, the scope of protection of the present invention is not limited thereto, and any changes or substitutions that are not conceivable through creative work should be included in the scope of protection of the present invention; unless explicitly stated, any elements, actions or instructions used in this document should not be interpreted as critical or necessary.

Claims

1. A micro-satellite attitude control simulator based on magnetic levitation and zero gravity, characterized in that: include: Simulating satellites; Controlling bodies; A suspension mechanism, comprising a fixing device and an optical target, wherein the fixing device is used to fix the simulated satellite; A platform assembly is used to provide the suspension mechanism with the magnetic force required for suspension, and the platform assembly has an optical camera module and a posture measurement module, and the optical camera module is used to record the relative posture information of the suspension mechanism and feed it back to the posture measurement module; as well as A base, used to support the platform assembly; Wherein, the fixing device has a leveling component for aligning the center of mass with the center of the suspension mechanism, and the control mechanism is configured to analyze the posture movement of the suspension mechanism and draw an analysis graph according to the information fed back by the posture measurement module; The suspension mechanism also has: A sphere, wherein the optical target is arranged on an outer wall surface of the sphere; A magnetic suspension frame having a ball bearing device, wherein the magnetic suspension frame is located at the center of the sphere and coincides with the plane of the maximum diameter of the sphere; The ball device is in contact with the inner wall surface of the sphere, the fixing device is arranged in the sphere, and the ball device is fixedly arranged on the magnet suspension frame.

2. The micro-satellite attitude control simulator based on magnetic levitation and zero gravity according to claim 1 is characterized in that: The base comprises: On the stage; Lower countertop; A support foot is fixedly arranged on the bottom surface of the lower table; as well as The support frame is arranged between the upper table and the lower table, and two ends of the support frame are fixedly connected to the upper table and the lower table respectively.

3. The micro-satellite attitude control simulator based on magnetic levitation and zero gravity according to claim 2 is characterized in that: The platform assembly also has: Power module, used to provide corresponding power support for the entire component; An electromagnetic coil module, used to generate the magnetic force required to suspend the suspension mechanism; A current control module, used for generating a current flowing through the electromagnetic coil module to generate a feedback control force; as well as The communication module is configured to be connected to the control mechanism.

4. The micro-satellite attitude control simulator based on magnetic levitation and zero gravity according to claim 3 is characterized in that: The suspension mechanism is arranged between the upper table and the lower table.

5. The micro-satellite attitude control simulator based on magnetic levitation and zero gravity according to claim 4 is characterized in that: There are two fixing devices, and the two fixing devices are arranged opposite to each other.

6. The micro-satellite attitude control simulator based on magnetic levitation and zero gravity according to claim 5 is characterized in that: The fixing device also has a telescopic component, and the telescopic component is configured to be fixedly connected to the inner wall of the sphere.

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