Suspension-supported dual-stage composite on-orbit free boundary simulation attitude monitoring and control method

Abstract

The present invention discloses a suspension-supported two-stage composite on-orbit free boundary simulation attitude monitoring and control method, comprising a spacecraft upper component, a spacecraft lower component, a rigid suspension frame, a rigid foundation, an elastic suspension spring, a spacecraft upper component limit block, a spacecraft transfer auxiliary arm, a spacecraft lower component limit block and an elastic support spring, wherein the spacecraft lower component is connected to the rigid foundation via the spacecraft lower component support block, the spacecraft upper component is connected to the spacecraft lower component via the spacecraft upper component support block, and a vibration reduction and isolation device is provided between the spacecraft upper component and the spacecraft lower component. In the present invention, for the on-orbit free boundary simulation of the suspension and support two-stage composite, the axial force, deformation and lifting amount of each spring are monitored and controlled, so that the upper and lower components of the spacecraft with eccentric center of mass are completely unloaded by gravity and always maintain a horizontal state, so that the spacecraft meets the requirements of conducting micro-vibration experiments on the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft dynamics testing, and in particular to a suspension-supported dual-stage composite on-orbit free boundary simulation attitude monitoring and control method. Background Art

[0002] The free boundary simulation system is a key device for ground-based microvibration testing of spacecraft. It enables low-stiffness gravity unloading along the gravity vector, thereby offsetting the introduction of the spacecraft's own gravity. It also establishes low-frequency free boundary conditions, eliminating the impact of inconsistent space-Earth mechanical environments on the accuracy of ground-based microvibration testing and on-orbit imaging quality testing, providing fundamental testing conditions for ground-based microvibration testing of spacecraft. The suspended, dual-stage, composite on-orbit free boundary simulation system is the core equipment for ground-based microvibration testing of two-stage spacecraft. Therefore, a suitable attitude monitoring and control method must be developed to address the ground-based testing requirements for verifying the spacecraft's on-orbit dynamic characteristics and microvibration environment. Summary of the Invention

[0003] The purpose of the present invention is to solve the above problems and to propose a suspension-supported two-stage composite on-orbit free boundary simulation attitude monitoring and control method.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A suspension-supported two-stage composite on-orbit free-boundary simulated attitude monitoring and control method includes a spacecraft upper component, a spacecraft lower component, a rigid suspension frame, a rigid foundation, an elastic suspension spring, a spacecraft upper component limit block, a spacecraft transfer auxiliary arm, a spacecraft lower component limit block and an elastic support spring.

[0006] Preferably, the spacecraft lower assembly is connected to a rigid foundation via a spacecraft lower assembly support block, and the spacecraft upper assembly is connected to the spacecraft lower assembly via a spacecraft upper assembly support block.

[0007] Preferably, a vibration isolation device is provided between the upper component of the spacecraft and the lower component of the spacecraft, and four spacecraft transfer auxiliary arms arranged along the circumferential direction are connected to the outer walls of the upper component of the spacecraft and the lower component of the spacecraft. The gravity of the upper component of the spacecraft is G1, and the gravity of the lower component of the spacecraft is G2. The limit block of the upper component of the spacecraft and the limit block of the lower component of the spacecraft are both equipped with axial displacement sensors.

[0008] Preferably, the steps include:

[0009] S1. The spacecraft is hoisted into position;

[0010] S2, gravity unloading and attitude monitoring control of spacecraft components;

[0011] S3, gravity unloading and attitude monitoring control of the lower components of the spacecraft;

[0012] S4. Conduct the experiment.

[0013] Preferably, the gravity unloading and attitude monitoring control of the components on the spacecraft in step S2 includes the following steps:

[0014] S2.1. Assemble the elastic suspension springs and raise the top of the elastic suspension springs until the upper assembly on the spacecraft is completely gravity-unloaded. Remove the upper assembly support blocks on the spacecraft. Four sets of elastic suspension springs are provided, distributed circumferentially around the outer periphery of the upper assembly on the spacecraft.

[0015] S2.2. Since the shape of the upper component of the spacecraft is not a completely regular cylinder, the center of mass of the upper component is not at the center of the projection surface circle. The suspension points 1, 2, 3, and 4 of the suspension springs are not completely symmetrical. Therefore, the tension of each of the four sets of elastic suspension springs is not one-fourth of that of the upper component of the spacecraft. It is necessary to calculate the tension f of the four sets of elastic suspension springs when they are completely unloaded based on force balance, moment balance, and specific requirements. h1 、f h2 、f h3 and f h4 , and monitor whether the force of each group of springs meets the requirements. If not, the motor needs to adjust each group of springs until the requirements are met;

[0016] S2.3. Calculate the elongation l of the four sets of elastic suspension springs according to Hooke's law h1 、l h1 、l h3 and l h4 , monitor whether the elongation of each group of springs meets the requirements. If not, the motor needs to slightly adjust each group of springs until the requirements are met. At this time, the spacecraft transfer auxiliary arm contacts the lower limit of the spacecraft upper component limit block, but there is no force between them;

[0017] S2.4. Synchronously lift the tops of the four sets of elastic suspension springs and monitor the distance between each spacecraft transfer auxiliary arm and the upper and lower limit blocks of the spacecraft upper component. After lifting, make each spacecraft transfer auxiliary arm leave the lower limit block of the spacecraft upper component until the set distance δ1.

[0018] Preferably, the gravity unloading and attitude monitoring control of the lower component of the spacecraft in step S3 includes the following steps:

[0019] S3.1. Assemble the elastic support springs and raise the bottom of the elastic support springs until the lower spacecraft assembly is completely gravity-unloaded. Remove the support blocks of the lower spacecraft assembly. There are eight sets of elastic support springs, distributed circumferentially along the bottom of the lower spacecraft assembly.

[0020] S3.2. Since the shape of the lower assembly of the spacecraft is not a completely regular cylinder, the center of mass of the lower assembly is not at the center of the projection surface circle. The support points 1, 2, 3, 4, 5, 6, 7, and 8 of the support springs are not completely symmetrical. Therefore, the thrust of each of the eight sets of elastic support springs is not one-eighth of that of the lower assembly of the spacecraft. The thrust f of the eight sets of elastic support springs when they are completely unloaded needs to be calculated based on force balance, moment balance, and specific requirements. s1 、f s2 、f s3 、f s4 、f s5 、f s6 、f s7 and f s8 , and monitor whether the force of each group of springs meets the requirements. If not, the motor needs to adjust each group of springs until the requirements are met;

[0021] S3.3. Calculate the compression of the eight sets of elastic support springs l according to Hooke's law s1 、l s2 、l s3 、l s4 、l s5 、l s6 、l s7 、l s8 , monitor whether the compression amount of each group of springs meets the requirements. If not, it is necessary to slightly adjust each group of springs through the motor until the requirements are met. At this time, the spacecraft transfer auxiliary arm contacts the lower limit of the spacecraft lower component limit block, but there is no force between them;

[0022] S3.4. Synchronously lift the bottoms of the eight sets of elastic support springs and monitor the distance between each spacecraft transfer auxiliary arm and the upper and lower limit blocks of the spacecraft lower assembly. After lifting, each spacecraft transfer auxiliary arm will leave the lower limit block of the spacecraft lower assembly until the set distance δ2.

[0023] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0024] 1. This application aims at the on-orbit free boundary simulation of a two-stage composite suspension and support system, and monitors and controls the axial force, deformation, and lift of each spring, so that the upper and lower components of the spacecraft with an eccentric center of mass are completely gravity-unloaded and always maintain a horizontal state, so that the spacecraft meets the requirements of micro-vibration experiments on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It shows a schematic structural diagram of a suspended support double-stage composite on-track free boundary simulation unloading before providing an embodiment of the present invention;

[0026] Figure 2 It shows a schematic structural diagram of a suspended support double-stage composite on-track free boundary simulated unloading according to an embodiment of the present invention;

[0027] Figure 3 A schematic diagram showing the locations of the suspension points and the center of mass of components on a spacecraft according to an embodiment of the present invention is shown;

[0028] Figure 4 A schematic diagram of the support points and the center of mass position of the lower component of the spacecraft provided according to an embodiment of the present invention is shown.

[0029] Legend:

[0030] 1. Spacecraft upper component; 2. Vibration isolation device; 3. Spacecraft upper component support block; 4. Spacecraft lower component; 5. Spacecraft lower component support block; 6. Rigid suspension frame; 7. Rigid foundation; 8. Elastic suspension spring; 9. Spacecraft upper component limit block; 10. Spacecraft transfer auxiliary arm; 11. Spacecraft lower component limit block; 12. Elastic support spring; 21. Center of mass of upper component; 22. Suspension point one; 23. Suspension point two; 24. Suspension point three; 25. Suspension point four; 31. Center of mass of lower component; 32. Support point one; 33. Support point two; 34. Support point three; 35. Support point four; 36. Support point five; 37. Support point six; 38. Support point seven; 39. Support point eight. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0032] See also Figure 1-4 , the present invention provides a technical solution:

[0033] A suspension-supported two-stage composite on-orbit free-boundary simulated attitude monitoring and control method is disclosed, comprising an upper spacecraft component 1, a lower spacecraft component 4, a rigid suspension frame 6, a rigid foundation 7, an elastic suspension spring 8, an upper spacecraft component limit block 9, a spacecraft transfer auxiliary arm 10, a lower spacecraft component limit block 11 and an elastic support spring 12. The lower spacecraft component 4 is connected to the rigid foundation 7 through the lower spacecraft component support block 5, the upper spacecraft component 1 is connected to the lower spacecraft component 4 through the upper spacecraft component support block 3, a vibration reduction and isolation device 2 is arranged between the upper spacecraft component 1 and the lower spacecraft component 4, four spacecraft transfer auxiliary arms 10 arranged in a circumferential direction are connected to the outer walls of the upper spacecraft component 1 and the lower spacecraft component 4, the gravity of the upper spacecraft component 1 is G1, the gravity of the lower spacecraft component is G2, and the upper spacecraft component limit block 9 and the lower spacecraft component limit block 11 are both provided with axial displacement sensors.

[0034] A suspension-supported dual-stage composite on-orbit free boundary simulation attitude monitoring and control method includes the following steps:

[0035] S1. Hoist the spacecraft into position and install the lower assembly support block 5 of the spacecraft. The lower surface of the lower assembly support block 5 of the spacecraft is fixedly connected to the rigid foundation 7. At least three lower assembly support blocks 5 of the spacecraft are selected, and four to eight are recommended. Hoist the entire spacecraft onto the lower assembly support block 5 of the spacecraft. Fix the upper assembly limit block 9 and the lower assembly limit block 11 of the spacecraft to the rigid suspension frame 6. Four upper assembly limit blocks 9 and four lower assembly limit blocks 11 are provided, distributed circumferentially along the upper assembly 1 and the lower assembly 4 of the spacecraft respectively.

[0036] S2, gravity unloading and attitude monitoring control of spacecraft component 1;

[0037] S3, gravity unloading and attitude monitoring control of the lower component 4 of the spacecraft;

[0038] S4. Carry out the test, detect the limit and unloading conditions according to the force sensor and displacement sensor, install the modal test exciter after checking that everything is correct, carry out micro-vibration test or other dynamic experiments; after the test is completed, organize and record the data.

[0039] Specifically, such as Figure 1 、 Figure 2 and Figure 3 As shown, the gravity unloading and attitude monitoring control of the spacecraft component 1 in step S2 includes the following steps:

[0040] S2.1. Assemble elastic suspension springs 8 and raise the top of elastic suspension springs 8 to completely gravity unload the spacecraft upper assembly 1. Remove the spacecraft upper assembly support block 3. Four groups of elastic suspension springs 8 are provided, distributed circumferentially around the outer periphery of the spacecraft upper assembly 1.

[0041] S2.2. Since the shape of the upper component 1 of the spacecraft is not a completely regular cylinder, the center of mass 21 of the upper component is not at the center of the projection surface circle. The suspension points 1 22, 23, 3, 4, and 25 of the suspension springs are not completely symmetrical. Therefore, the tension of each of the four sets of elastic suspension springs 8 is not one-fourth of that of the upper component 1 of the spacecraft. It is necessary to calculate the tension f of the four sets of elastic suspension springs 8 when they are completely unloaded based on force balance, moment balance, and specific requirements. h1 、f h2 、f h3 and f h4 , and monitor whether the force of each group of springs meets the requirements. If not, the motor needs to adjust each group of springs until the requirements are met;

[0042] According to the force balance and moment balance, the tension f of the four sets of elastic suspension springs 8 when they are completely unloaded can be obtained. h1 、f h2 、f h3 and f h4 The following relationship is satisfied:

[0043] f h1 +f h2 +f h3 +f h4 =G1

[0044] f h1 x h1 +f h2 x h2 +f h3 x h3 +f h4 x h4 =G1x1

[0045] f h1 y h1 +f h2 y h2 +f h3 y h3 +f h4 y h4 =G1y1

[0046] Among them, x h1 、x h2 、x h3 、x h4 They represent the x-direction coordinate values of the suspension point 1 22, suspension point 23, suspension point 3 24 and suspension point 4 25 of the elastic suspension spring 8 on the spacecraft transfer auxiliary arm 10, x1 represents the x-direction coordinate value of the upper component mass center 21, y h1 、y h2 、y h3 、y h4They respectively represent the y-direction coordinate values of the suspension point 1 22, the suspension point 23, the suspension point 3 24 and the suspension point 4 25 of the elastic suspension spring 8 on the spacecraft transfer auxiliary arm 10, and y1 represents the y-direction coordinate value of the center of mass 21 of the upper assembly;

[0047] Require:

[0048] Calculate the tension f of the four sets of elastic suspension springs 8 when they are completely unloaded h1 、f h2 、f h3 and f h4 , and monitor whether the force of each group of springs meets the requirements. If not, the motor needs to adjust each spring until it meets the requirements;

[0049] S2.3. Calculate the elongation l of the four sets of elastic suspension springs 8 according to Hooke's law h1 、l h1 、l h3 and l h4 :

[0050]

[0051] Among them, k h1 、k h2 、k h3 、k h4 Respectively represent the stiffness of the four sets of elastic suspension springs 8;

[0052] The sum of the original length and elongation of each group of springs and the length of the corresponding suspension wire rope is required to be equal. The elongation of each group of springs is monitored to see if it meets the requirements. If not, the motor is used to slightly adjust each group of springs until the requirements are met. At this time, the spacecraft transfer auxiliary arm 10 contacts the lower limit of the spacecraft upper component limit block 9, but there is no force between them.

[0053] S2.4. Synchronously lift the top of the four sets of elastic suspension springs 8 and monitor the distance between each spacecraft transfer auxiliary arm 10 and the upper and lower limit blocks 9 of the spacecraft upper component. After lifting, each spacecraft transfer auxiliary arm 10 will leave the lower limit block 9 of the spacecraft upper component until the set distance δ1. The spacecraft upper component 1 will be completely unloaded and kept horizontal, meeting the experimental requirements.

[0054] Specifically, such as Figure 1 、 Figure 2 and Figure 4 As shown, the gravity unloading and attitude monitoring control of the lower component 4 of the spacecraft in step S3 includes the following steps:

[0055] S3.1. Assemble the elastic support springs 12 and raise the bottom of the elastic support springs 12 until the lower spacecraft assembly 4 is completely gravity-unloaded. Remove the lower spacecraft assembly support block 5. There are eight groups of elastic support springs 12, distributed circumferentially along the bottom of the lower spacecraft assembly 4.

[0056] S3.2. Since the shape of the lower assembly 4 of the spacecraft is not a completely regular cylinder, the center of mass 31 of the lower assembly is not at the center of the projection surface circle. The support points 1 32, 2 33, 34, 4 35, 5 36, 6 37, 7 38, and 8 39 of the support springs are not completely symmetrical. Therefore, the thrust of each of the eight groups of elastic support springs 12 is not one-eighth of that of the lower assembly 4 of the spacecraft. The thrust f of the eight groups of elastic support springs 12 when they are completely unloaded needs to be calculated based on force balance, moment balance, and specific requirements. s1 、f s2 、f s3 、f s4 、f s5 、f s6 、f s7 and f s8 , and monitor whether the force of each group of springs meets the requirements. If not, the motor needs to adjust each group of springs until the requirements are met;

[0057] According to the force balance and moment balance, the thrust f of the eight sets of elastic support springs 12 when they are completely unloaded can be obtained. s1 、f s2 、f s3 、f s4 、f s5 、f s6 、f s7 and f s8 The following relations are satisfied:

[0058] f s1 +f s2 +f s3 +f s4 +f s5 +f s6 +f s7 +f s8 =G2

[0059] f s1 x s1 +f s2 x s2 +f s3 x s3 +f s4 x s4 +f s5 x s5 +f s6 x s6 +fs7 x s7 +f s8 x s8 =G2x2

[0060] f s1 y s1 +f s2 y s2 +f s3 y s3 +f s4 y s4 +f s5 y s5 +f s6 y s6 +f s7 y s7 +f s8 y s8 =G2y2

[0061] Among them, x s1 、x s2 、x s3 、x s4 、x s5 、x s6 、x s7 、x s8 They represent the x-direction coordinate values of support point 1 32, support point 2 33, support point 3 34, support point 4 35, support point 5 36, support point 6 37, support point 7 38, and support point 8 39 of the elastic support spring 12 at the bottom of the spacecraft lower component 4, x2 represents the x-direction coordinate value of the mass center 31 of the lower component, and y s1 、y s2 、y s3 、y s4 、y s5 、y s6 、y s7 、y s8 y represents the y-direction coordinate values of support point 1 32, support point 2 33, support point 34, support point 4 35, support point 5 36, support point 6 37, support point 7 38, and support point 8 39 of the elastic support spring 12 at the bottom of the spacecraft lower assembly 4, respectively; y2 represents the y-direction coordinate value of the mass center 31 of the lower assembly;

[0062] Require:

[0063] f s1 =f s2 ;f s3 =f s4 ;

[0064] Calculate the thrust f when the eight sets of elastic support springs 12 are completely unloaded s1 、f s2、f s3 、f s4 、f s5 、f s6 、f s7 and f s8 , and monitor whether the force of each group of springs meets the requirements. If not, the motor needs to adjust each spring until it meets the requirements;

[0065] S3.3. Calculate the compression of the eight sets of elastic support springs 12 using Hooke's law. s1 、l s2 、l s3 、l s4 、l s5 、l s6 、l s7 、l s8 :

[0066]

[0067] Among them, k s1 、k s2 、k s3 、k s4 、k s5 、k s6 、k s7 、k s8 Respectively represent the stiffness of eight groups of elastic support springs 12;

[0068] The difference between the original length and the compressed length of each group of springs is required to be equal. The compression of each group of springs is monitored to see if it meets the requirement. If it does not meet the requirement, the motor is used to slightly adjust each group of springs until it meets the requirement. At this time, the spacecraft transfer auxiliary arm 10 contacts the lower limit of the spacecraft lower component limit block 11, but there is no force between them.

[0069] S3.4. Synchronously lift the bottom of the eight groups of elastic support springs 12, monitor the distance between each spacecraft transfer auxiliary arm 10 and the upper and lower limit blocks 11 of the spacecraft lower component, and after lifting, make each spacecraft transfer auxiliary arm 10 leave the lower limit block 11 of the spacecraft lower component until the set distance δ2. At this time, the spacecraft lower component 4 is completely unloaded and remains horizontal, meeting the experimental requirements.

[0070] The present invention establishes a suspension-support two-stage composite on-orbit free boundary simulation attitude monitoring and control method. For the on-orbit free boundary simulation of the suspension and support two-stage composite, the axial force, deformation, and lifting amount of each spring are monitored and controlled, so that the upper and lower components of the spacecraft with an eccentric center of mass are completely gravity-unloaded and always maintain a horizontal state, so that the spacecraft meets the requirements of conducting micro-vibration experiments on the ground.

[0071] The above description of the embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A suspended support dual-stage composite on-orbit free boundary simulation attitude monitoring device, characterized in that: It includes a spacecraft upper component (1), a spacecraft lower component (4), a rigid suspension frame (6), a rigid foundation (7), an elastic suspension spring (8), a spacecraft upper component limit block (9), a spacecraft transfer auxiliary arm (10), a spacecraft lower component limit block (11) and an elastic support spring (12); The spacecraft lower component (4) is connected to a rigid foundation (7) via a spacecraft lower component support block (5), and the spacecraft upper component (1) is connected to the spacecraft lower component (4) via a spacecraft upper component support block (3); A vibration reduction and isolation device (2) is provided between the upper spacecraft component (1) and the lower spacecraft component (4). Four spacecraft transfer auxiliary arms (10) arranged in a circumferential direction are connected to the outer walls of the upper spacecraft component (1) and the lower spacecraft component (4). The gravity of the upper spacecraft component (1) is , the gravity of the lower component of the spacecraft is The spacecraft upper component limit block (9) and the spacecraft lower component limit block (11) are both provided with axial displacement sensors.

2. The control method of the suspended support double-stage composite on-orbit free boundary simulation attitude monitoring device according to claim 1 is characterized in that: The following steps are involved: S1. The spacecraft is hoisted into position; S2, Spacecraft Components (1) Gravity Unloading and Attitude Monitoring Control; S3, spacecraft lower assembly (4) gravity unloading and attitude monitoring control; S4. Conduct the experiment.

3. The control method of the suspended support double-stage composite on-orbit free boundary simulation attitude monitoring device according to claim 2 is characterized in that: The gravity unloading and attitude monitoring control of the spacecraft component (1) in step S2 includes the following steps: S2.1, assembling the elastic suspension spring (8) and lifting the top of the elastic suspension spring (8) to the spacecraft upper component (1) to completely unload the spacecraft upper component by gravity, and removing the spacecraft upper component support block (3), wherein the elastic suspension spring (8) is provided in four groups and distributed along the outer circumference of the spacecraft upper component (1); S2.

2. Since the shape of the upper component (1) of the spacecraft is not a completely regular cylinder, the center of mass (21) of the upper component is not at the center of the projection circle, and the suspension points 1 (22), 2 (23), 3 (24) and 4 (25) of the suspension springs are not completely symmetrical. Therefore, the tension of each of the four sets of elastic suspension springs (8) is not one-fourth of the upper component (1) of the spacecraft. It is necessary to calculate the tension of the four sets of elastic suspension springs (8) when they are completely unloaded by force balance and moment balance. , and monitor whether the force of each group of springs meets the requirements. If not, the motor needs to adjust each group of springs until the requirements are met; S2.

3. Calculate the elongation of the four sets of elastic suspension springs (8) according to Hooke's law 、 、 and , monitor whether the elongation of each group of springs meets the requirements. If not, each group of springs needs to be slightly adjusted by the motor until the requirements are met. At this time, the spacecraft transfer auxiliary arm (10) contacts the lower limit of the spacecraft upper component limit block (9) but there is no force between them; S2.

4. Synchronously lift the tops of the four sets of elastic suspension springs (8), monitor the distance between each spacecraft transfer auxiliary arm (10) and the upper and lower limit positions of the spacecraft upper component limit block (9), and after lifting, make each spacecraft transfer auxiliary arm (10) leave the lower limit position of the spacecraft upper component limit block (9) until the set distance .

4. The control method of the suspended support double-stage composite on-orbit free boundary simulation attitude monitoring device according to claim 2 is characterized in that: The gravity unloading and attitude monitoring control of the lower component (4) of the spacecraft in step S3 includes the following steps: S3.1, assembling the elastic support spring (12) and lifting the bottom of the elastic support spring (12) until the lower assembly (4) of the spacecraft is completely unloaded by gravity, and removing the support block (5) of the lower assembly of the spacecraft, wherein a total of eight groups of elastic support springs (12) are provided and distributed circumferentially along the bottom of the lower assembly (4) of the spacecraft; S3.

2. Since the shape of the lower component (4) of the spacecraft is not a completely regular cylinder, the center of mass (31) of the lower component is not at the center of the projection surface circle, and the support points 1 (32), 2 (33), 3 (34), 4 (35), 5 (36), 6 (37), 7 (38) and 8 (39) of the support springs are not completely symmetrical. Therefore, the thrust of each of the eight groups of elastic support springs (12) is not one-eighth of the lower component (4) of the spacecraft. It is necessary to calculate the thrust of the eight groups of elastic support springs (12) when they are completely unloaded by force balance and moment balance. , and monitor whether the force of each group of springs meets the requirements. If not, the motor needs to adjust each group of springs until the requirements are met; S3.

3. Calculate the compression of the eight sets of elastic support springs (12) according to Hooke's law , monitor whether the compression amount of each group of springs meets the requirements. If it does not meet the requirements, it is necessary to slightly adjust each group of springs through the motor until the requirements are met. At this time, the spacecraft transfer auxiliary arm (10) contacts the lower limit of the spacecraft lower component limit block (11) but there is no force between them; S3.

4. Synchronously lift the bottom of the eight sets of elastic support springs (12), monitor the distance between each spacecraft transfer auxiliary arm (10) and the upper limit and lower limit of the spacecraft lower component limit block (11), and after lifting, make each spacecraft transfer auxiliary arm (10) leave the lower limit of the spacecraft lower component limit block (11) until the set distance .

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