A test system for simulating lunar low gravity landing

Abstract

The application provides a test system for simulating moon low-gravity landing, which comprises a general control subsystem, an inclined platform subsystem, a lift-off speed subsystem, a protection subsystem, a measurement subsystem, a simulator and a simulated landing surface subsystem, the general control subsystem, the inclined platform subsystem, the protection subsystem and the simulated landing surface subsystem are installed on the ground, the measurement subsystem is installed on the top of the protection subsystem, the lift-off speed subsystem is installed in the middle of the protection subsystem, the lift-off speed pull rod of the lift-off speed subsystem is connected with the electromagnetic iron connecting piece of the simulator through an electromagnet, so that the cooperation between the lift-off speed subsystem and the simulator is realized, the landing leg assembly of the simulator acts on the inclined platform subsystem, and the planar air cushion of the simulator acts on the inclined platform subsystem. The application realizes the landing test of the simulator under different speed combinations and different terrains.

Description

Technical Field

[0001] This invention belongs to the field of simulated landing, and in particular relates to a test system for simulating low-gravity landing on the moon. Background Technology

[0002] Deep space probes and Earth-orbiting spacecraft share many similarities in environmental adaptability and testing considerations, but they also have differences. In particular, the unique characteristics of the space environment, entry environment, landing environment, and celestial surface environment in orbiting and landing missions necessitate solving a series of specific technical challenges in ground-based environmental simulation testing, as well as constructing and improving relevant environmental testing facilities. Environmental testing and verification work is integrated throughout the entire development process of the project; different development stages require different environmental tests to achieve different testing objectives.

[0003] Taking into account benefits, schedule, and feasibility, it is necessary to verify the probe on the ground in special environments as much as possible. For deep space probe landers, the biggest difference from Earth is the effect of gravitational acceleration. The gravitational acceleration on the Moon is one-sixth that on Earth. Therefore, lunar landers cannot be directly tested and verified under Earth's gravity. It is necessary to build a simulated low-gravity lunar environment to verify the landing performance of the lunar lander.

[0004] Previous lunar low-gravity simulated landings have mostly employed suspension methods, primarily verifying the hard landing performance of landers. Impact energy was assessed by evaluating the crushing of aluminum honeycomb structures, and these methods were largely functional verifications, making it difficult to control boundary conditions. For actively controlled landing legs to provide landing cushioning, the suspension method often struggles to effectively follow the high-dynamic landing process and introduces additional impacts on the landing cushioning process. Therefore, it is necessary to develop a test system to simulate lunar low-gravity landings and meet the requirements for ground landing cushioning tests of the landing legs.

[0005] Currently, there are no patents related to experimental systems simulating lunar low-gravity landings. Patent CN103662109B describes a device for simulating lunar microgravity, used to assist in the deployment testing of solar panels, masts, and robotic arms on a lunar rover. It includes a moving mechanism, a structural frame, a servo mechanism, a suspension mechanism, and a counterweight mechanism, all of which combine to form a low-gravity simulation device. It is suitable for Earth-like ground verification tests of mechanism deployment but cannot simulate lunar low-gravity landing tests. Summary of the Invention

[0006] In view of this, the present invention aims to propose an experimental system for simulating lunar low-gravity landing, so as to realize simulator landing tests under different speed combinations and different terrains, realistically and equivalently simulate lunar gravitational acceleration, and realize the probe simulator to land at different vertical and horizontal speeds. The landing terrain can be set with working conditions such as slopes, craters, and protrusions.

[0007] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0008] A test system for simulating low-gravity lunar landing, characterized by comprising a comprehensive control subsystem, an inclined platform subsystem, a launch and acceleration subsystem, a protection subsystem, a measurement subsystem, a simulator, and a simulated landing surface subsystem.

[0009] The integrated control subsystem, inclined platform subsystem, protection subsystem, and simulated landing surface subsystem are installed on the ground. The measurement subsystem is installed on the top of the protection subsystem, and the acceleration subsystem is installed in the middle of the protection subsystem. The acceleration rod of the acceleration subsystem is connected to the electromagnet connector of the simulator through an electromagnet, so as to realize the cooperation between the acceleration subsystem and the simulator.

[0010] The simulator's landing leg assembly acts on the tilting platform subsystem; the simulator's planar air cushion acts on the tilting platform subsystem.

[0011] Furthermore, the acceleration subsystem includes a linear module, a module adapter, an acceleration rod, and an electromagnet. The linear module is fixedly installed on the truss of the protection subsystem. One end of the acceleration rod is connected to the moving end of the linear module through the module adapter, and the other end of the acceleration rod is equipped with an electromagnet.

[0012] Furthermore, the simulated landing surface subsystem includes a simulated landing surface and a landing surface support frame, the landing surface support frame being capable of adjusting the position of the simulated landing surface.

[0013] Furthermore, the tilting platform subsystem includes a simulated tilting platform and a platform support frame capable of adjusting the tilt angle of the simulated tilting platform.

[0014] Furthermore, the simulator includes a landing leg assembly, a frame, an IMU, air-bearing ball bearings, and a connecting column, forming an attitude control platform and a translational platform.

[0015] Four landing leg assemblies are evenly arranged on the frame. An air-bearing ball bearing is provided in the middle of the frame. An IMU is provided above the air-bearing ball bearing. The lower part of the air-bearing ball bearing is connected to the translation platform through a connecting column.

[0016] The frame also includes a control component, and the landing leg assembly and IMU are connected to the control component.

[0017] Furthermore, the landing leg component includes a landing leg body, an interface adapter, and a six-dimensional force sensor. The landing leg body is connected to the frame in sequence through the interface adapter and the six-dimensional force sensor.

[0018] Furthermore, a high-speed camera target is also provided on the air-bearing ball bearing.

[0019] Furthermore, the angle between the simulated tilting platform and the horizontal plane is 9.59°, and the angle between the simulated landing surface and the vertical plane is also 9.59°; the angle between the simulated tilting platform and the simulated landing surface is 90°.

[0020] Furthermore, the translational platform includes a constant force mechanism, a base, and a planar air cushion. The connecting column is connected to the constant force mechanism, and the bottom of the constant force mechanism is provided with a base, on which several planar air cushions are provided. The connecting column is provided with an electromagnet connector.

[0021] A method of using a test system for simulating low-gravity lunar landing includes the following steps:

[0022] S1. Adjust the inclined platform subsystem and the simulated landing surface subsystem;

[0023] S2, hoisting simulator;

[0024] S3. Adjust the state of the simulated landing surface;

[0025] S4. Simulates a state where only vertical velocity is falling.

[0026] S5. Simulate a state with both horizontal and vertical velocity;

[0027] S6. Data Acquisition.

[0028] Compared with existing technologies, the experimental system for simulating low-gravity lunar landing described in this invention has the following advantages:

[0029] (1) The experimental system for simulating low-gravity landing on the moon described in this invention adopts the motion mode of the probe simulator sliding down an approximately frictionless plane. By adjusting the tilt angle of the inclined plane, the acceleration of sliding down the inclined plane is kept consistent with the acceleration of landing on the lunar surface, thereby realizing the simulation of lunar landing.

[0030] (2) The experimental system for simulating lunar low-gravity landing described in this invention ensures that the probe simulator can achieve landing simulation at a certain horizontal speed under its action, thereby reproducing the working conditions of real on-orbit composite motion, and simulating landing more accurately and realistically.

[0031] (3) The experimental system for simulating low-gravity lunar landing described in this invention can be equivalent to the mass and inertia of a real probe, with all six degrees of freedom fully released, and the landing effect is highly consistent with the real on-orbit landing.

[0032] (4) The experimental system for simulating low-gravity lunar landing described in this invention uses air-bearing ball bearings, constant force mechanisms and planar air cushions to release six degrees of freedom in six directions. Its friction loss is very small, and it can simulate the on-orbit attitude change at the moment of landing in a relatively realistic way. Attached Figure Description

[0033] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0034] Figure 1 This is a front view of a test system for simulating low-gravity lunar landing, as described in an embodiment of the present invention.

[0035] Figure 2 This is a top view of a test system for simulating low-gravity lunar landing, as described in an embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram illustrating the principle of the simulator-based experiment described in an embodiment of the present invention;

[0037] Figure 4 This is a front view of the simulator described in an embodiment of the present invention;

[0038] Figure 5 This is a side view of the simulator as described in an embodiment of the present invention.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1. Integrated Control Subsystem; 2. Inclined Platform Subsystem; 3. Acceleration Subsystem; 31. Linear Module; 32. Module Adapter; 33. Acceleration Rod; 34. Electromagnet; 4. Protection Subsystem; 5. Measurement Subsystem; 6. Simulator; 61. Landing Legs; 62. Interface Adapter; 63. Six-Dimensional Force Sensor; 64. Frame; 65. IMU; 66. High-Speed ​​Camera Target; 67. Controller Assembly; 68. Air Float Bearing; 69. Connecting Column; 610. Electromagnet Connector; 611. Constant Force Mechanism; 612. Base; 613. Planar Air Cushion; 614. Protective Support; 615. Counterweight; 7. Simulated Landing Surface Subsystem. Detailed Implementation

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0045] An experimental system for simulating low-gravity lunar landing, such as Figures 1-5 As shown, it includes an integrated control subsystem 1, an inclined platform subsystem 2, a speed-up subsystem 3, a protection subsystem 4, a measurement subsystem 5, a simulator 6, and a simulated landing surface subsystem 7.

[0046] The integrated control subsystem 1, inclined platform subsystem 2, protection subsystem 4 and simulated landing surface subsystem 7 are installed on the ground. The measurement subsystem 5 is installed on the top of the protection subsystem 4, and the acceleration subsystem 3 is installed in the middle of the protection subsystem 4. The acceleration rod 33 of the acceleration subsystem 3 is connected to the electromagnet connector 610 of the simulator 6 through the electromagnet 34, so as to realize the cooperation between the acceleration subsystem 3 and the simulator 6.

[0047] The landing leg 61 component of the simulator 6 acts on the inclined platform subsystem 2; the planar air cushion 613 of the simulator 6 acts on the inclined platform subsystem 2.

[0048] Preferably, the acceleration subsystem 3 includes a linear module 31, a module adapter 32, an acceleration lever 33, and an electromagnet 34. The linear module 31 is fixedly installed on the truss of the protection subsystem 4. One end of the acceleration lever 33 is connected to the moving end of the linear module 31 through the module adapter 32, and the other end of the acceleration lever 33 is equipped with the electromagnet 34. Vertical speed is achieved by free sliding on an inclined plane, while horizontal speed is achieved through a horizontal acceleration system. The module lever drives the simulator 6 to move, and after reaching a certain speed, the electromagnet 34 releases to provide horizontal speed.

[0049] Preferably, the simulated landing surface subsystem 7 includes a simulated landing surface and a landing surface support frame. The landing surface support frame can adjust the position of the simulated landing surface. The simulated landing surface subsystem 7 mainly consists of a pitch adjustment mechanism, a yaw adjustment mechanism, a sliding adjustment mechanism, a landing simulation block, a base 612, and a skin. The simulated landing surface provides the landing environment for the landing legs 61 of the probe simulator 6. The landing surface adjustment mechanism can continuously adjust the slope angle to simulate various terrains such as different angles, different heights, pits, and protrusions.

[0050] Preferably, the tilting platform subsystem 2 includes a simulated tilting platform and a platform support frame capable of adjusting the tilt angle of the simulated tilting platform.

[0051] Preferably, the simulator 6 comprises a landing leg assembly 61, a frame 64, an IMU 65, an air-bearing ball bearing 68, and a connecting column 69, forming an attitude control platform and a translational platform.

[0052] Four landing leg assemblies 61 are evenly arranged on the frame 64. An air-bearing ball bearing 68 is provided in the middle of the frame 64. An IMU 65 is provided on the upper part of the air-bearing ball bearing 68. The lower part of the air-bearing ball bearing 68 is connected to the translation platform through a connecting column 69.

[0053] The frame 64 is also equipped with a control component, and the landing leg 61 assembly and IMU 65 are connected to the control component.

[0054] Preferably, the landing leg 61 includes a landing leg 61 body, an interface adapter 62, and a six-dimensional force sensor 63. The landing leg 61 body is connected to the frame 64 in sequence through the interface adapter 62 and the six-dimensional force sensor 63.

[0055] Preferably, the air-bearing ball bearing 68 is also provided with a high-speed camera target.

[0056] Preferably, the angle between the simulated tilting platform and the horizontal plane is 9.59°, and the angle between the simulated landing surface and the vertical plane is also 9.59°; the angle between the simulated tilting platform and the simulated landing surface is 90°.

[0057] Preferably, the translational platform includes a constant force mechanism 611, a base 612, and a planar air cushion 613. The connecting column 69 is connected to the constant force mechanism 611. The bottom of the constant force mechanism 611 is provided with a base 612, and the base 612 is provided with a plurality of planar air cushions 613. The connecting column 69 is provided with an electromagnet connector 610.

[0058] A method of using a test system for simulating low-gravity lunar landing includes the following steps:

[0059] S1. Adjust the inclined platform subsystem 2 and the simulated landing surface subsystem 7. First, perform the overall system assembly. Then, use a laser tracker to precisely measure the truss of the acceleration subsystem 3, the simulated landing surface, and the simulated inclined platform. First, determine the placement position of the inclined platform and adjust the tilt angle of the inclined platform to 9.59°. Using the inclined platform as a reference, adjust the acceleration subsystem 3 and the simulated landing surface so that the long side of the straight template of the acceleration system is parallel to the long side of the inclined platform, and the simulated landing surface is perpendicular to the plane of the inclined platform.

[0060] S2, hoisting simulator 6; supply air to the air float bearing 68 and the flat air cushion 613 in simulator 6, and hoist simulator 6 onto the inclined platform. Since it is on the inclined platform, simulator 6 slides down the inclined platform as a whole. The electromagnet 34 in the speed-up subsystem 3 is energized to attract simulator 6, so that simulator 6 is stationary on the inclined platform.

[0061] S3. Adjust the state of the simulated landing surface; based on the test verification conditions, determine the state of the simulated landing surface, adjust the pitch and yaw angles of the simulated landing surface, and design the pits and protrusions of the landing block.

[0062] S4. Simulate a vertical descent only. If only a vertical descent occurs, adjust the simulated landing surface by adjusting the distance between the landing leg 61 and the landing surface. This distance is the straight-line distance corresponding to the simulator 6 reaching a certain set speed with a gravitational acceleration of 1 / 6g. Electromagnet 34 is released, and the landing leg 61 lands with the set vertical speed. The gravitational acceleration is 1 / 6g, which is the gravitational acceleration of the moon. The probe simulator 6 moves on the platform via the planar air cushion 613, providing 1 / 6 of the gravity experienced by the probe simulator 6 during landing.

[0063] S5. Simulate a state with both horizontal and vertical speeds; if both horizontal and vertical speeds are present, after adjusting the distance to the simulated landing surface, the linear module 31 of the acceleration subsystem 3 drives the simulator 6 to the acceleration start position, and then the linear module 31 drives the simulator 6 to accelerate. When a certain set horizontal speed is reached, the electromagnet 34 is automatically released. At this time, the simulator 6 performs parabolic motion on the inclined platform, and has both horizontal and vertical speeds at the moment of landing.

[0064] S6. Data Acquisition: After the test conditions are set and adjusted, turn on the high-speed camera, IMU65, and six-dimensional force sensor 63 in the measurement system to acquire data. The test start command is issued, and test data is acquired.

[0065] S7. After the landing test is completed, analyze and process the data from the high-speed camera, IMU65, six-dimensional force sensor 63, etc. Then, the simulator 6 is pulled up by a winch, and the electromagnet 34 in the acceleration subsystem 3 is energized to attract the electromagnet connector 610 of the simulator 6, and the test is repeated.

[0066] This system uses the probe simulator 6 to slide down an approximately frictionless surface on an inclined plane. By adjusting the tilt angle of the inclined plane, the acceleration of sliding down the inclined plane is kept consistent with the acceleration of landing on the lunar surface, thus simulating the state of lunar landing.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A test system for simulating low-gravity lunar landing, characterized in that: It includes an integrated control subsystem, an inclined platform subsystem, a speed-up subsystem, a protection subsystem, a measurement subsystem, a simulator, and a simulated landing surface subsystem. The integrated control subsystem, inclined platform subsystem, protection subsystem, and simulated landing surface subsystem are installed on the ground. The measurement subsystem is installed on the top of the protection subsystem, and the acceleration subsystem is installed in the middle of the protection subsystem. The acceleration rod of the acceleration subsystem is connected to the electromagnet connector of the simulator through an electromagnet, so as to realize the cooperation between the acceleration subsystem and the simulator. The simulator's landing leg assembly acts on the inclined platform subsystem; the simulator's planar air cushion acts on the inclined platform subsystem; The simulator includes an attitude control platform and a translation platform, consisting of landing leg components, a frame, an IMU, air-bearing ball bearings, and connecting columns. Four landing leg assemblies are evenly arranged on the frame. An air-bearing ball bearing is provided in the middle of the frame. An IMU is provided above the air-bearing ball bearing. The lower part of the air-bearing ball is connected to the translation platform through a connecting column. The frame is also equipped with a control component, and the landing leg assembly and IMU are connected to the control component. The simulated landing surface subsystem includes a simulated landing surface and a landing surface support frame, wherein the landing surface support frame is capable of adjusting the position of the simulated landing surface; The tilting platform subsystem includes a simulated tilting platform and a platform support frame capable of adjusting the tilt angle of the simulated tilting platform. A method of using a test system for simulating low-gravity lunar landing includes the following steps: S1. Adjust the inclined platform subsystem and the simulated landing surface subsystem; S2, hoisting simulator; S3. Adjust the state of the simulated landing surface; S4. Simulates a vertical descent only. If only a vertical descent occurs, adjust the simulated landing surface, specifically the distance between the landing legs and the landing surface. This distance is the straight-line distance corresponding to the simulator reaching a certain set speed with a gravitational acceleration of 1 / 6g. The electromagnet is released, and the landing legs land at the set vertical speed. The gravitational acceleration is 1 / 6g, which is the gravitational acceleration of the moon. The probe simulator moves on the platform via a planar air cushion, providing 1 / 6 of the gravity experienced by the probe simulator during landing. S5. Simulate a state with both horizontal and vertical velocity; S6. Data Acquisition.

2. The experimental system for simulating low-gravity lunar landing according to claim 1, characterized in that: The acceleration subsystem includes a linear module, a module adapter, an acceleration rod, and an electromagnet. The linear module is fixedly installed on the truss of the protection subsystem. One end of the acceleration rod is connected to the moving end of the linear module through the module adapter, and the other end of the acceleration rod is equipped with an electromagnet.

3. The experimental system for simulating low-gravity lunar landing according to claim 1, characterized in that: The landing leg assembly includes a landing leg body, an interface adapter, and a six-dimensional force sensor. The landing leg body is connected to the frame in sequence through the interface adapter and the six-dimensional force sensor.

4. The experimental system for simulating low-gravity lunar landing according to claim 1, characterized in that: The air-bearing ball bearing is also equipped with a high-speed camera target.

5. The experimental system for simulating low-gravity lunar landing according to claim 1, characterized in that: The angle between the simulated tilting platform and the horizontal plane is 9.59°, and the angle between the simulated landing surface and the vertical plane is also 9.59°; the angle between the simulated tilting platform and the simulated landing surface is 90°.

6. The experimental system for simulating low-gravity lunar landing according to claim 1, characterized in that: The translational platform includes a constant force mechanism, a base, and a planar air cushion. The connecting column is connected to the constant force mechanism. The bottom of the constant force mechanism is provided with a base, and the base is provided with several planar air cushions. The connecting column is provided with an electromagnet connector.

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