Reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft

Abstract

The application provides a reconfigurable intelligent mobile air-floating microgravity test platform for large spacecrafts, comprising an air-floating electromagnetic force compensation platform, a zero-stiffness support unit, a servo platform and a planar motor. The application has the beneficial effects that: two-stage leveling cooperative control based on dynamic game realizes reasonable configuration of the control strategy of the whole system in the dynamic leveling process, and ensures that the response time and radial disturbance and other operation problems of the system are coordinated and optimized in the cooperative game process on the premise of realizing the best horizontal performance of the platform at each time.

Description

Technical Field

[0001] This invention belongs to the field of aerospace microgravity simulation structure design, and in particular relates to a reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft. Background Technology

[0002] In the current complex international situation, exploration and application in the aerospace field have significant strategic importance and will also have a profound impact on all aspects of national economy and people's livelihood. The gravitational environment of spacecraft in orbit differs greatly from that on the Earth's surface, resulting in significant differences in the dynamic models of space mechanisms. Insufficient prediction and control of the dynamic environment can directly lead to the failure of space missions. Therefore, in order to verify the various performance indicators of spacecraft, comprehensive and systematic testing and evaluation on the ground are necessary. However, large deployable mechanisms such as robotic arms, solar panels, and satellite antennas are generally very large in size. These deployable mechanisms are in a retracted and folded state at the time of spacecraft launch and unfold into their final form according to instructions when entering the predetermined orbit. Whether these mechanisms can be successfully deployed is directly related to the success or failure of space missions. Therefore, it is necessary to develop microgravity simulation technology for rapid assembly of large-scale, low-drag, low-stiffness, and low-disturbance systems, and to conduct simulation experiments of related technologies on the ground in advance.

[0003] Commonly used microgravity simulation test platforms include fixed air-floating platforms, mobile support platforms, and mobile air-floating platforms. Fixed air-floating platforms have many advantages such as low friction and high precision, but the volume of the test piece is always limited by the size of the support platform. Mobile platforms have become a research hotspot in the field of microgravity simulation tests for spacecraft both domestically and internationally. Mobile air-floating platforms provide a good solution for microgravity simulation tests of large-size spacecraft deployment mechanisms, overcoming the physical limitations of large-size, high-precision air-floating platforms. However, new problems have also arisen that urgently need to be solved: during the movement of the servo air-floating platform, due to the change in the tilt angle of the air-floating platform, the supporting plane of the air-floating platform is not perpendicular to the direction of gravity, resulting in platform sideslip. Considering the low friction characteristics of the air film, the air bearing can easily slip off the air-floating platform. Summary of the Invention

[0004] In view of this, the present invention aims to propose a reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft, in order to overcome the shortcomings of the prior art.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] A reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft includes an air-floating electromagnetic force compensation platform, a zero-stiffness support unit, a servo platform, and a planar motor. The air-floating electromagnetic force compensation platform is mounted on top of the servo platform via the zero-stiffness support unit, and the planar motor is mounted on top of the air-floating electromagnetic force compensation platform. The test object is mounted above the planar motor. The servo platform is used to perform the primary macro-leveling task, and the air-floating electromagnetic force compensation platform achieves the secondary micro-leveling process through the planar motor unit. The zero-stiffness support unit is used to cooperate with the air-floating electromagnetic force compensation platform to achieve radial and vertical constant force unloading.

[0007] Furthermore, it also includes a movable air flotation platform, which is installed below the servo platform.

[0008] Furthermore, it also includes an airbag, which is installed inside the servo platform and is used to protect the mechanical structure.

[0009] Furthermore, the air-float electromagnetic force compensation platform achieves a two-stage fine-tuning leveling process through a planar motor, and its control strategy is as follows:

[0010] By inflating the air bearing of the planar motor;

[0011] The planar motor windings are controlled to generate a rotating magnetic field, which in turn induces eddy currents on the magnetically conductive plate of the planar motor to generate electromagnetic force.

[0012] An analytical model of electromagnetic force under the interaction of the electromagnetic field of the motor and the eddy current field is established.

[0013] The distribution of the planar motor winding current density on the iron core surface is obtained by two-dimensional Fourier decomposition in polar coordinates.

[0014] To further analyze the influence of magnetic field coupling of a planar motor on the overall electromagnetic force, an analytical model of the electromagnetic force under the interaction of the motor's electromagnetic field and eddy current field is established. Two-dimensional Fourier decomposition in polar coordinates is used to obtain the distribution of the motor winding current density on the iron core surface. The subdomain method is then used to solve the differential equation satisfied by the vector magnetic potential, constructing an air gap magnetic field distribution based on the superposition of harmonics of various orders. Its basic electromagnetic relationship is expressed as follows:

[0015]

[0016]

[0017] In the formula, i represents the divided regions, v represents the velocity of the magnetic-air hybrid levitation planar motor; when v = 0, the planar motor is stationary; when v ≠ 0, the planar motor is in motion; A is the vector magnetomotive force, J m Let σ be the eddy current density, σ be the conductivity, μ0 be the free permeability, and μ be the free permeability. iω is the relative permeability, and ω is the angular velocity of the magnetic field.

[0018] An analytical model of the coupled eddy current field and electromagnetic field is constructed using an analytical method to obtain the distribution law of the overall electromagnetic force vector with respect to time and space. The electromagnetic force is expressed as:

[0019]

[0020] In the formula, represents the eddy current density vector generated by the windings of the planar motor, and represents the magnetic flux density vector of the eddy current magnetic field of the planar motor in the air gap. This represents the eddy current density vector generated by the eddy current field. Let A represent the magnetic flux density vector of the planar motor electromagnetic field in the air gap, where A is the vector magnetomotive force, F1 is the electromagnetic force generated by the planar motor, F2 is the electromagnetic force of the eddy current field, and σ is the conductivity.

[0021] Furthermore, the servo platform undertakes the primary macro-leveling task, while the air-bearing electromagnetic force compensation platform achieves the secondary micro-leveling process through a planar motor. Game analysis of the dynamic leveling process is conducted based on a two-stage collaborative leveling strategy. The game analysis includes:

[0022] The participants in the game are: a cooperative alliance composed of the servo platform and the air-float electromagnetic force compensation platform;

[0023] The decisions of the game participants are: the tilt angle of the servo platform and the magnitude of the electromagnetic compensation force of the air-float electromagnetic force compensation platform in the cooperative alliance;

[0024] The payoff function for the game participants is: the system's response time and the magnitude of radial disturbance during the dynamic balancing process;

[0025] Nash equilibrium is the optimal solution of the dynamic leveling cooperative control strategy at any given time.

[0026] Constraint boundaries: tilt direction restriction, force compensation threshold of the air-float electromagnetic force compensation platform, and servo platform angle adjustment threshold.

[0027] Furthermore, the Shapley value method is used to allocate the additional revenue of the cooperative alliance. The Shapley value is calculated according to the following formula:

[0028]

[0029] in, Let |A| represent the Shapley value, which is the reward allocated to participant i in the consortium S. A is a subset of S, and |A| represents the rank of set A.

[0030] Furthermore, during the dynamic leveling process, the servo platform and the air-bearing electromagnetic force compensation platform achieve Nash equilibrium.

[0031] Furthermore, during the dynamic balancing process, if the servo platform and the air-bearing electromagnetic force compensation platform cooperate to produce a balancing performance superior to that of non-cooperative platforms, then there is a possibility that the participants will move towards cooperation and achieve Pareto equilibrium through a binding agreement.

[0032] Furthermore, the zero-stiffness support unit includes a positive stiffness main load-bearing subunit and a negative stiffness subunit. The positive stiffness main load-bearing subunit provides a large static load-bearing capacity, while the negative stiffness subunit reduces the dynamic stiffness of the system.

[0033] Compared with existing technologies, the reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft described in this invention has the following advantages:

[0034] (1) The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft described in this invention achieves reasonable configuration of the control strategy of the entire system during dynamic leveling based on two-level leveling cooperative control of dynamic game, ensuring that the system's response time and radial disturbance and other operational issues are coordinated and optimized in the cooperative game process while achieving the best horizontal performance of the platform at each moment.

[0035] (2) The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft described in this invention achieves more accurate and effective sliding force compensation in the two-stage leveling process based on the multi-objective optimized planar motor topology design.

[0036] (3) The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft described in this invention achieves high-precision orientation of the magnetic field based on the electromagnetic force fluctuation suppression technology of dynamic decoupling, maintains the stability of the magnetic flux amplitude, avoids the current spike phenomenon caused by the fluctuation of the magnetic flux amplitude, and realizes precise and stable compensation of the electromagnetic force of the air-floating platform mechanism.

[0037] (4) The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft described in this invention ensures that the unloading accuracy does not decrease with the increase of load by using the vertical height adaptive technology based on magnetostrictive zero stiffness, thus realizing the vertical height adaptive of the reconfigurable intelligent support platform. Attached Figure Description

[0038] 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:

[0039] Figure 1 This is a schematic diagram of the structure with a movable air flotation platform according to an embodiment of the present invention;

[0040] Figure 2This is a schematic diagram of the overall structure of the present invention excluding the movable air flotation platform, as described in an embodiment of the invention.

[0041] Figure 3 This is a schematic diagram of the planar motor winding structure according to an embodiment of the present invention.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Test object; 2. Air-float electromagnetic force compensation platform; 3. Zero stiffness support unit; 4. Servo platform; 5. Airbag; 6. Planar motor; 7. Movable air-float platform. Detailed Implementation

[0044] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0045] 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.

[0046] 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.

[0047] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] like Figures 1 to 3As shown, the reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft includes an air-floating electromagnetic force compensation platform 2, a servo platform 4, and a planar motor 6. The servo platform 4 undertakes the primary macro-leveling task, while the air-floating electromagnetic force compensation platform 2 achieves the secondary micro-leveling process through the planar motor 6. Based on the two-stage collaborative leveling strategy, dynamic game analysis is performed to achieve real-time collaborative control of the optimal strategy under complex motion environments. The zero-stiffness support unit 3, in conjunction with the air-floating electromagnetic force compensation platform 2, achieves radial and vertical constant force unloading and completes the adaptive adjustment of vertical height, ensuring the dynamic stability of the entire motion process.

[0049] The technical effects of this invention are as follows:

[0050] Two-level leveling collaborative control based on dynamic game theory achieves reasonable configuration of the entire system control strategy during dynamic leveling, ensuring that while achieving the best platform performance at each moment, operational issues such as system response time and radial disturbance are coordinated and optimized during the cooperative game process.

[0051] Based on multi-objective optimization, the planar motor topology design achieves more accurate and effective downward force compensation during the two-stage leveling process.

[0052] The electromagnetic force fluctuation suppression technology based on dynamic decoupling achieves high-precision orientation of the magnetic field, maintains stable magnetic flux amplitude, avoids current spikes caused by magnetic flux amplitude fluctuations, and realizes precise and stable electromagnetic force compensation for the air-floating platform mechanism.

[0053] The vertical height adaptive technology based on magnetostrictive zero stiffness ensures that the unloading accuracy does not decrease as the load increases, thus realizing the vertical height adaptive capability of the reconfigurable intelligent support platform.

[0054] Example 1

[0055] Figure 1 The diagram shows the overall structure of the mobile air-floating platform 7. The platform has overcome key technologies such as dynamic leveling and downward force compensation. Furthermore, it integrates a zero-stiffness module with an intelligent mobile platform, achieving active following and dynamic leveling of the deployment mechanism through intelligent environmental sensing technology. This solves the "space-ground consistency" problem in the dynamics experiments of ultra-large aerospace structures, freeing ground-based microgravity deployment experiments of ultra-large aerospace structures from the size limitations of ultra-large air-floating worktables.

[0056] In-depth research was conducted on the core mechanism of the intelligent mobile horizontal test platform. The main technical solution is realized by three parts, such as... Figure 2 As shown, it includes a servo platform 4, a planar motor 6, and a zero-rigidity support unit 3. The planar motor 6 should be inverted during actual operation. 1 is the test object, and 5 is the airbag.

[0057] Servo platform 4 undertakes the primary macro-leveling task. High reliability and high-precision control are key to achieving the initial leveling of the platform. Servo platform 4 completes the initial adjustment of the platform's levelness through the coordinated movement of multiple electric cylinders. At this stage, the platform has a certain degree of uncertainty regarding its levelness and may produce a small tilt angle within a certain observable accuracy.

[0058] The air-floating electromagnetic force compensation platform 2 achieves a two-stage fine-tuning leveling process through a planar motor 6. Optimized topology design and a high-precision compensation strategy are prerequisites for stable and reliable compensation of the platform's downward force. A typical topology is as follows: Figure 3 As shown (where a represents a double-layer concentrated winding, b represents a multi-layer concentrated winding, c represents a multi-layer non-concentrated winding, and d represents a circumferential ring winding), by filling the air bearing of the planar motor 6 with air, and then controlling the winding of the planar motor 6 to generate a rotating magnetic field, eddy currents are induced on the magnetically conductive plate to generate electromagnetic force. Dynamic leveling is achieved by compensating for the arbitrary direction force required by the electromagnetic force basis vector synthesis. Through mechanical analysis and analysis of the application scenarios, the corresponding technical indicators are determined. On the basis of retaining a certain margin, magnetic circuit analysis is carried out by means of equivalent magnetic circuit method, analytical method, magnetic network method, etc., and the structural parameters of the motor are obtained after iterative optimization. In order to further analyze the influence of the magnetic field coupling of the planar motor 6 on the overall electromagnetic force, an analytical model of electromagnetic force under the interaction of the motor electromagnetic field and eddy current field is established. The distribution of the motor winding current density on the iron core surface is obtained by two-dimensional Fourier decomposition in polar coordinates. It is proposed to use the subdomain method to solve the differential equation satisfied by the vector magnetic potential to construct the air gap magnetic field distribution based on the superposition of harmonics of various orders. Its basic electromagnetic relationship can be expressed as:

[0059]

[0060]

[0061] In the formula, i represents the divided regions, and v represents the speed of the magnetic-pneumatic hybrid levitation planar motor. When v = 0, the motor is stationary; when v ≠ 0, the motor is in motion.

[0062] An analytical model of the coupled eddy current field and electromagnetic field is constructed using an analytical method to obtain the distribution law of the overall electromagnetic force vector with time and space. The electromagnetic force can be expressed as:

[0063]

[0064] In the formula, The vector representing the eddy current density generated by the motor windings, and the vector representing the magnetic flux density of the eddy current magnetic field in the air gap, are both vectors. This represents the eddy current density vector generated by the eddy current field. This represents the magnetic flux density vector of the motor's electromagnetic field in the air gap.

[0065] Simultaneous research on the dynamic game problem of the two-stage leveling mechanism enables real-time coordinated control of the optimal strategy under complex motion environments. In the intelligent platform leveling system, the servo platform 4 and the air-floating electromagnetic force compensation platform 2 cooperate, sharing information before making configuration decisions for leveling commands. The two control mechanisms can be considered a cooperative alliance, with all leveling configurations aimed at maximizing the overall performance of the platform. For this dynamic cooperative game model, the configuration of the leveling control methods of each sub-mechanism of the intelligent platform system can be used as a reference for decision-making within the cooperative alliance. In the cooperative game, the control methods of each leveling device are decided simultaneously based on exchanged information and cooperative leveling; therefore, the game can be described as follows:

[0066] (1) The participants in the game are: the servo platform 4 and the air-floating electromagnetic force compensation platform 2 form a cooperative alliance;

[0067] (2) The decisions of the game participants are: the tilt angle of the servo platform and the magnitude of the electromagnetic compensation force of the air-floating platform in the cooperative alliance;

[0068] (3) The payoff function of the game participants is: the system's response time and the magnitude of radial disturbance during the dynamic balancing process;

[0069] (4) Nash equilibrium is the optimal solution of the dynamic leveling and cooperative control strategy at any time.

[0070] (5) Constraint boundaries: tilt direction restriction, air-float platform force compensation threshold and servo platform angle adjustment threshold.

[0071] In dynamic cooperative game theory, investors on each server platform 4 will coordinate and control to maximize the overall platform performance gains. Therefore, the dynamic cooperative game problem is essentially an integration of multiple independent sub-optimization problems, where each participant or alliance optimizes independently while influencing each other. To study the fairness and stability of alliance formation and benefit distribution in this dynamic game process, the Shapley value method is used to allocate the additional benefits brought by cooperation. The Shapley value can be calculated using the following formula:

[0072]

[0073] in, Let |A| represent the Shapley value, which is the reward allocated to participant i in the consortium S. A is a subset of S, and |A| represents the rank of set A.

[0074] Since the coordinated allocation of control decisions during the dynamic balancing process determines the overall performance of the intelligent platform in completing the balancing task, servo platform 4 and air-floating electromagnetic force compensation platform 2 seek the optimal strategy from their own benefit perspective, thus forming a Nash equilibrium. When servo platform 4 and air-floating electromagnetic force compensation platform 2 achieve a better overall balancing performance for the entire system through cooperation than the non-cooperative performance, the participants may move towards cooperation. Through a binding agreement, they can form overall rationality and ultimately achieve Pareto equilibrium.

[0075] The zero-stiffness support unit 3, in conjunction with the air-bearing electromagnetic force compensation platform 2, achieves constant force unloading in the radial and vertical directions, completing adaptive adjustment of the vertical height and ensuring dynamic stability throughout the entire motion process. The zero-stiffness support unit 3 consists of a positive stiffness main load-bearing subunit (i.e.,... Figure 2 A) and negative stiffness sub-element (i.e. Figure 2 (B) Parallel configuration. The zero-stiffness unit 3 provides high load-bearing capacity, and the parallel magnetic negative stiffness mechanism effectively reduces the stiffness of the device at the equilibrium position while ensuring that the load-bearing capacity is not reduced, thereby achieving the heavy-load near-zero stiffness characteristics of the zero-stiffness support unit 3. The zero-stiffness support unit 3 uses an air bearing as a guiding mechanism to avoid the effects of friction.

[0076] 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 reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft, characterized in that: The system includes an air-floating electromagnetic force compensation platform (2), a zero-stiffness support unit (3), a servo platform (4), and a planar motor (6). The air-floating electromagnetic force compensation platform (2) is mounted on the top of the servo platform (4) via the zero-stiffness support unit (3). The planar motor (6) is mounted on the top of the air-floating electromagnetic force compensation platform (2). The test object (1) is mounted above the planar motor (6). The servo platform (4) is used to undertake the first-level macro-leveling task. The air-floating electromagnetic force compensation platform (2) realizes the second-level micro-leveling process through the planar motor (6) unit. The zero-stiffness support unit (3) is used to cooperate with the air-floating electromagnetic force compensation platform (2) to realize radial and vertical constant force unloading. The servo platform (4) undertakes the first-level macro-leveling task, and the air-floating electromagnetic force compensation platform (2) realizes the second-level fine-tuning process through the planar motor (6). Based on the two-level collaborative leveling strategy, a game analysis of the dynamic leveling process is conducted. The game analysis includes: The participants in the game are: the servo platform (4) and the air-floating electromagnetic force compensation platform (2) forming a cooperative alliance; The decisions of the game participants are: the tilt angle of the servo platform (4) and the magnitude of the electromagnetic compensation force of the air-floating electromagnetic force compensation platform (2) in the cooperative alliance; The payoff function for the game participants is: the system's response time and the magnitude of radial disturbance during the dynamic balancing process; Nash equilibrium is the optimal solution of the dynamic leveling cooperative control strategy at any given time. Constraint boundaries: tilt direction restriction, force compensation magnitude threshold of its air-floating electromagnetic force compensation platform (2) and angle adjustment threshold of servo platform (4).

2. The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft according to claim 1, characterized in that: It also includes a movable air flotation platform (7), which is installed below the servo platform (4).

3. The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft according to claim 1, characterized in that: It also includes an airbag (5), which is installed inside the servo platform (4) and is used to protect the mechanical structure.

4. The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft according to claim 1, characterized in that: The air-floating electromagnetic force compensation platform (2) achieves a two-stage fine-tuning process through a planar motor (6), and its control strategy is as follows: By filling the air bearing of the planar motor (6) with air; The control planar motor (6) windings are excited to generate a rotating magnetic field, which in turn induces eddy currents on the magnetically conductive plate to generate electromagnetic force; An analytical model of electromagnetic force under the interaction of the electromagnetic field of the motor and the eddy current field is established. The distribution of the winding current density of the planar motor (6) on the iron core surface is obtained by two-dimensional Fourier decomposition in polar coordinates; To further analyze the influence of magnetic field coupling of a planar motor on the overall electromagnetic force, an analytical model of the electromagnetic force under the interaction of the motor's electromagnetic field and eddy current field is established. Two-dimensional Fourier decomposition in polar coordinates is used to obtain the distribution of the motor winding current density on the iron core surface. The subdomain method is then used to solve the differential equation satisfied by the vector magnetic potential, constructing an air gap magnetic field distribution based on the superposition of harmonics of various orders. Its basic electromagnetic relationship is expressed as follows: (1) (2) In the formula, i Indicates the division of regions, v Indicates the speed of motion of the magnetic-pneumatic hybrid levitation planar motor (6); when v When =0, the planar motor (6) is in a stationary state; when v When ≠0, the planar motor (6) is in motion; For vector magnetic potential, The current density in the eddy current field is... For electrical conductivity, The permeability of free space, The relative permeability, It is the angular velocity of the magnetic field; An analytical model of the coupled eddy current field and electromagnetic field is constructed using an analytical method to obtain the distribution law of the overall electromagnetic force vector with respect to time and space. The electromagnetic force is expressed as: (3) In the formula, This represents the eddy current density vector generated by the winding of the planar motor (6). This represents the magnetic flux density vector of the eddy current magnetic field of the planar motor (6) in the air gap. This represents the eddy current density vector generated by the eddy current field. This represents the electromagnetic field density vector of the planar motor (6) in the air gap. For vector magnetic potential, The electromagnetic force generated by the planar motor The electromagnetic force of the eddy current field. is the electrical conductivity.

5. The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft according to claim 1, characterized in that: The Shapley value method is used to distribute the additional revenue of the cooperative alliance. The Shapley value is calculated according to the following formula: (4) in, This represents the Shapley value, which is also the participant's score. i In the league S The profits allocated to it; A yes S a subset of Represents a set A Rank.

6. The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft according to claim 1, characterized in that: During the dynamic leveling process, the servo platform (4) and the air-float electromagnetic force compensation platform (2) form Nash equilibrium.

7. The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft according to claim 1, characterized in that: During the dynamic balancing process, when the servo platform (4) and the air-float electromagnetic force compensation platform (2) cooperate to produce a balancing performance that is better than that of non-cooperation, there is a possibility that the participants will cooperate and achieve Pareto equilibrium through a binding agreement.

8. The reconfigurable intelligent mobile air-floating microgravity test platform for large spacecraft according to claim 1, characterized in that: The zero-stiffness support unit (3) includes a positive stiffness main load-bearing subunit and a negative stiffness subunit. The positive stiffness main load-bearing subunit provides a large static load-bearing capacity, while the negative stiffness subunit reduces the dynamic stiffness of the system.

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