Ultra-quiet platform closed-loop simulation system combining physical and digital simulation

Abstract

The present invention discloses a closed-loop simulation system combining an actual super-quiet platform and digital simulation. The closed-loop simulation system includes an on-board product and a ground test system implemented by digital simulation. The on-board product includes an ultra-quiet platform electromechanical device and an ultra-quiet platform controller, and the ground test system includes a dynamic simulation computer, a voice coil motor drive current acquisition module, a vibration angular velocity gyroscope simulation module, an eddy current sensor simulation module, an on-board integrated electronic simulation module, and a simulation module for satellite platform sensors and actuators. Based on the simulation system, the function verification of the ultra-quiet platform controller, the joint test of the ultra-quiet platform controller and the ultra-quiet platform electromechanical device, the actual effect verification of vibration and pointing with the addition of a vibration interference source, and the joint test of the whole star performance with the addition of on-board integrated electronic objects can be carried out. By adopting the variable structure of the simulation system, the four-stage closed-loop test of the satellite development process can be realized, and various scenarios can be flexibly matched.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft control technology, and in particular to a closed-loop simulation system combining physical and digital simulation of an ultra-quiet platform. Background Art

[0002] As the payloads on future advanced spacecraft, such as high-resolution earth observation, large-scale stereo mapping, laser communication, and deep space observation, become increasingly sophisticated, requirements for satellite platforms are being placed on ultra-high pointing accuracy, ultra-high stability, and agile maneuverability.

[0003] The main factor restricting the ultra-precision and ultra-stability of satellite platforms is the platform interference caused by active and flexible components, especially for agile and maneuverable remote sensing satellites. In addition to the use of high-torque actuators to control the vibration caused by torque gyroscopes or high-torque flywheels, the refrigerators used in infrared sensors also cause vibration. The random disturbances and vibrations in various frequency bands generated by these components when working greatly affect the pointing accuracy and attitude stability of the satellite platform, and are the main cause of load vibration. Flexible components such as solar panels and large deployable antennas not only cause interference to the satellite platform, but their low-frequency modes also greatly limit the bandwidth of the control system, resulting in the inability to perform the control system performance.

[0004] To solve the problem of satellite platform interference, the ultra-quiet platform can be used to suppress and isolate disturbances. However, the ultra-quiet platform needs to be coordinated with the control system of the satellite platform for compound control. It is a difficult task to conduct multi-level verification tests on the ground to complete the principle and performance verification of the entire system.

[0005] The shortcomings of existing simulation verification schemes include: (1) Most of them adopt the physical test method, placing the ultra-quiet platform and the load on the three-axis air-floating table for experiments, which requires the configuration of complex equipment, has a long experimental cycle, is extremely costly and has poor flexibility. It can only be carried out after the system design is completed. If there is any change, it needs to be changed and then verified. (2) The closed-loop simulation computer mostly uses PXI chassis, and the communication with the satellite computer mostly uses serial bus, which is slow and has poor real-time performance, making it difficult to achieve higher time synchronization accuracy and simulation calculation accuracy. (3) Since the control cycle of the ultra-quiet platform is very short, at the millisecond level, while the control cycle of the satellite control system is at the hundredth of a second level, the collaborative simulation of the two usually uses their own dynamic modules to cooperate with their own closed loops. When the ultra-quiet platform and the satellite control system are collaboratively simulated, the two modules use serial communication or high-speed bus to exchange data. Due to the large amount of data, the real-time performance of the collaborative simulation is poor, which affects the accuracy and authenticity of the simulation. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention proposes a closed-loop system that combines the actual ultra-quiet platform and the system's fully digital simulation. Simulation tests and verification of closed-loop control are carried out during the early design of the actual ultra-quiet platform. The actual system has the characteristics of low cost, high real-time performance and high simulation accuracy. The verification test process is convenient, which improves the efficiency of the entire design process.

[0007] The closed-loop simulation system combining the actual super-quiet platform and digital simulation includes the actual on-board product and the ground test system realized by digital simulation. The on-board product includes the super-quiet platform electromechanical device and the super-quiet platform controller, and the ground test system includes a dynamic simulation computer, a voice coil motor drive current acquisition module, a vibration angular velocity gyro simulation module, an eddy current sensor simulation module, a satellite-borne integrated electronic simulation module, and a simulation module of the satellite platform sensor and actuator.

[0008] The ultra-quiet platform controller is fixed to the ultra-quiet platform electromechanical device, interacts with the onboard integrated electronic simulation module through a bus, and collaboratively completes integrated control of pointing and vibration reduction.

[0009] The voice coil motor driving current acquisition module acquires the motor control signal output by the ultra-quiet platform controller and inputs it into the dynamics simulation computer for closed-loop calculation.

[0010] The output of the vibration angular velocity gyro simulation module simulates the angular velocity value collected by the vibration angular velocity gyro fixed on the ultra-quiet platform electromechanical device. The angle value can reflect the vibration condition of the ultra-quiet platform. It is input into the ultra-quiet platform controller so that the ultra-quiet platform controller controls the pointing direction of the ultra-quiet platform to achieve vibration suppression and precise pointing.

[0011] The eddy current sensor simulation module simulates the eddy current sensor configured on the actuator of the ultra-quiet platform electromechanical device. Its output value simulates the eddy current value output by the eddy current sensor that changes with the length of the actuator support rod and is transmitted to the ultra-quiet platform controller.

[0012] The dynamic simulation computer is used to simulate the output values ​​of various sensors and the values ​​of the forces and torques of various actuators, to simulate the dynamics and kinematics of the satellite environment, satellite platform and ultra-quiet platform, to complete the simulation of the closed-loop system, and to communicate with the ultra-quiet platform controller through the EtherCat bus to ensure the real-time performance of the simulation calculation.

[0013] The simulation module of the satellite platform sensor and actuator includes a CMG (Control Moment Gyroscopes) simulation module, a star sensor simulation module and a fiber optic gyroscope simulation module, wherein the CMG simulation module simulates the control moment gyroscope component used by the satellite platform, the star sensor simulation module simulates the star sensor component used by the satellite platform, and the fiber optic gyroscope simulation module simulates the fiber optic gyroscope component used by the satellite platform, and the output data is transmitted to the onboard integrated electronic simulation module.

[0014] The onboard integrated electronic simulation module is used to simulate the satellite platform controller, run the satellite platform's attitude control algorithm, and exchange data with the ultra-quiet platform controller through the EtherCat bus to complete collaborative control.

[0015] Use the above closed-loop simulation system to perform simulation verification of the following four scenarios:

[0016] Scenario 1: Use the ultra-quiet platform controller and ground test system to verify the software and hardware design of the ultra-quiet platform controller, and verify the correctness of the satellite platform control and ultra-quiet platform control scheme and parameter design through closed-loop simulation.

[0017] Scenario 2: Use a complete onboard product and ground test system to verify the functional performance of the ultra-quiet platform's electromechanical devices.

[0018] Scenario 3: Install the ultra-quiet platform controller and ultra-quiet platform electromechanical device to the entire satellite, add the physical products of the control moment gyro group and vibration angular rate gyro of the satellite platform as the vibration interference source, and verify the actual effects of vibration and pointing.

[0019] Scenario 4: Use the actual onboard integrated electronics to replace the onboard integrated electronics simulation module in the simulation system to conduct a joint test of the electrical and control performance of the entire star.

[0020] The present invention has the following beneficial effects:

[0021] 1. Closed-loop test verification can be carried out in the four stages of satellite development. The variable structure of the simulation system is used to support the design verification of the ultra-quiet platform, the design verification of the coordinated control of the satellite and the ultra-quiet platform, and the design verification of the AIT test phase of the entire satellite; the variable structure is used to flexibly match various experimental scenarios.

[0022] 2. The simulation system has powerful multi-core computing capabilities and highly integrated multi-core parallel computing. Through memory data exchange, the dynamics of the ultra-quiet platform and the dynamics of the entire satellite are uniformly calculated in one core, with good real-time and synchronization as well as high simulation calculation accuracy. The real-time network EtherCat is used for data communication between the dynamics computer and the ultra-quiet platform controller and the onboard integrated electronic simulation module, which also ensures the good synchronization and real-time performance of the entire simulation system as well as high calculation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is the block diagram of the closed-loop test system for the ultra-quiet platform;

[0024] Figure 2 This is the block diagram of the ultra-quiet platform system;

[0025] Figure 3 It is a hardware block diagram of the ground test system in the embodiment;

[0026] Figure 4 Schematic diagram of the position relationship of the ultra-static platform coordinate system in the embodiment;

[0027] Figure 5 Schematic diagram of the position relationship of the super-quiet platform in the embodiment;

[0028] Figure 6 This is the block diagram of the ultra-quiet platform joint test system;

[0029] Figure 7 This is the block diagram of the physical test of the ultra-quiet platform;

[0030] Figure 8 This is the block diagram of the whole satellite electrical performance joint test. DETAILED DESCRIPTION

[0031] The present invention will be further explained below with reference to the accompanying drawings;

[0032] like Figure 1 As shown, the closed-loop simulation system of the ultra-quiet platform combining physical and digital simulation includes an ultra-quiet platform electromechanical device, an ultra-quiet platform controller, a dynamics simulation computer, a voice coil motor drive current acquisition module, a vibration angular velocity gyroscope simulation module, an eddy current sensor simulation module, a satellite-borne integrated electronic simulation module, a power supply module, a CMG (Control Moment Gyroscopes) simulation module, a star sensor simulation module, and a fiber optic gyroscope simulation module.

[0033] The ultra-quiet platform electromechanical device and the ultra-quiet platform controller are designed based on the Stewart platform. Figure 2As shown, the ultra-quiet platform electromechanical device is equipped with actuators 1 to 6, and each actuator is provided with an eddy current sensor and a voice coil motor. The output data of the eddy current sensor is simulated and generated by the eddy current sensor simulation module, and after the signal processing of the eddy current sensor circuit, it is sent to the ultra-quiet platform controller through the 422 serial port. The vibration angular velocity gyroscope is fixed on the ultra-quiet platform electromechanical device, and outputs the angular velocity value that can reflect the vibration of the ultra-quiet platform electromechanical device to the ultra-quiet platform controller. The ultra-quiet platform controller exchanges data with the onboard integrated electronic simulation module through the EtherCat bus, and the calculated control signal is sent to the actuator on the ultra-quiet platform electromechanical device to control the extension and contraction of the voice coil motor on each actuator.

[0034] Design a ground test system based on Zynq UltraScale+MPSoc, and make full use of the multi-core and FPGA resources of the SOC chip to simulate the values ​​of various sensors and actuators. Figure 3 As shown, the application processing unit (APU) uses a quad-core Cortex TM -A53 processor, frequency is 1.5GHz. Core A53_1 is used for Linux system scheduling, and completes data display and reception of external simulation experiment instructions; core A53_2 is used to store experimental data locally and send it to the background network database through the network, and receive telemetry data from the ultra-quiet platform controller and the onboard integrated electronic simulation module. Core A53_3 is used for dynamic calculations to realize the function of a dynamic simulation computer. Core A53_4 is used to realize the function of the onboard integrated electronic simulation module and simulate the control of the satellite platform. In addition, the SOC has two Cortex TM -R5 processor, with a lower frequency. R5_1 is used to package the simulation data of the actuator and sensor modules, so that the data format conforms to the communication protocol of the simulated device, and exchanges data with the onboard integrated electronic simulation module through the FPGA resources of the SOC. R5_2 is used to simulate the data packaging and solution of the eddy current sensor and voice coil motor, and interacts the data with the ultra-quiet platform controller through the FPGA.

[0035] The eddy current sensor simulation module simulates the eddy current sensor value caused by the position change of the ultra-quiet platform actuator and transmits it to the ultra-quiet platform controller. The voice coil motor drive current acquisition module collects the motor control signal given by the ultra-quiet platform controller and inputs it to the dynamics simulation computer for closed-loop calculation. The vibration angular velocity gyro simulation module outputs the angular velocity signal to the ultra-quiet platform controller as its measurement value to reflect the vibration situation. The CMG simulation module simulates the control torque gyro component used by the satellite platform, the star sensor simulation module simulates the star sensor component used by the satellite platform, and the fiber optic gyro simulation module simulates the fiber optic gyro component used by the satellite platform, and packages the above dynamic outputs into communication data that conforms to the communication protocol of the single-machine device.

[0036] It should be noted that shared memory is used for data exchange between multiple processor cores to ensure the real-time data transmission. The EtherCat bus is used for data exchange between the onboard integrated electronic simulation module and the ultra-quiet platform controller, in which the onboard integrated electronic simulation module is the host, the ultra-quiet platform controller is the slave, and the dynamics simulation computer is connected to the EtherCat bus as a bus slave node.

[0037] The onboard integrated electronic simulation module simulates the control function of the satellite platform and sends the attitude quaternion, angular velocity and gyro error compensation value of the vibration angular velocity gyro to the ultra-quiet platform controller. The ultra-quiet platform controller sends the data of the eddy current sensor to the onboard integrated electronic simulation module for the attitude solution of the ultra-quiet platform. The onboard integrated electronic simulation module runs the attitude control algorithm of the satellite platform, and calculates the management of various flight modes, the combined attitude determination of the star sensor and the fiber optic gyro, and the control of the CMG according to the fiber optic gyro and star sensor data output by the dynamic simulation computer.

[0038] The dynamics simulation computer simulates the dynamics and kinematics of the satellite environment, satellite platform and super-quiet platform, gives the simulated values ​​of various sensor measurements and the values ​​of the forces and torques of various actuators, and completes the simulation of the closed-loop system. The specific steps are as follows:

[0039] Step 1: Figure 4 As shown, define O I -x I y I z I is the inertial coordinate system, O b -x b y b z b is the star body coordinate system, the star body is a central rigid body and does not include loads. p -x p y p z p is the load coordinate system. Figure 5As shown, the length vector of the i-th actuator rod is It is expressed as:

[0040]

[0041] Among them, l i represents the length of the i-th actuator support rod, i = 1, 2, ..., 6, when the spring is in its natural position, l i is zero; represents the projection of the vector direction of the i-th support rod in the inertial system; It represents the projection of the vector direction from the origin of the inertial system to the center of mass of the load in the inertial system; Represents the transformation matrix from the load coordinate system to the inertial coordinate system; It represents the projection of the load center of mass and the hinge vector direction on the i-th support rod in the load coordinate system; It represents the projection of the vector direction from the origin of the inertial system to the mass center of the star in the inertial system; Represents the transformation matrix from the satellite body coordinate system to the inertial coordinate system; It represents the projection of the star body's center of mass and the vector direction of the hinge point under the ith support rod in the star body's coordinate system.

[0042] Define the generalized position of the load in the load coordinate system

[0043]

[0044] in is the projection of the load centroid position in the load system; is the projection of the load angular velocity in the load coordinate system The time integral of

[0045] Define the generalized position of the star body in the star body coordinate system

[0046]

[0047] in, is the position of the star body's center of mass in the star body system; Represents the projection of the star body angular velocity in the star body coordinate system time integral.

[0048] Define the load Jacobian matrix J p and the star Jacobian matrix J b :

[0049]

[0050] represents the projection of the vector direction of the i-th support rod in the load coordinate system, Represents the projection of the vector direction of the i-th support rod in the star body coordinate system.

[0051] Define the Stewart platform displacement constraint:

[0052]

[0053] δl is the differential change of the support rod, and the active force F of the support rod m =[F m1 F m2 F m3 F m4 F m5 F m6 ] T , the active and passive forces F of the i-th support rod i =F mi -K i ·l i -C i ·i i . Among them, F mi is the active control force of the i-th support; K i is the stiffness coefficient of the i-th support rod; C i is the damping coefficient of the ith support rod, i i is the change rate of the strut length.

[0054] The spring stiffness matrix K and damping matrix C are:

[0055]

[0056] Step 2: Calculate the active and passive forces F of the support rod:

[0057]

[0058] Define the generalized force of the load system generated by the platform towards the load mass center

[0059]

[0060] in, is the projection of the resultant force of the platform acting on the load center of mass in the load system, It is the projection of the resultant moment acting at the center of mass of the load on the load system.

[0061] The platform generates a generalized force on the star body towards the center of mass of the star body

[0062]

[0063] in, is the projection of the resultant force acting on the center of mass of the star body on the star body system, is the projection of the resultant moment acting on the center of mass of the star body in the star body system, so:

[0064]

[0065] Step 3: Calculate the load dynamics model:

[0066]

[0067] in, is the load mass matrix, m p is the load mass. I is the projection of the load center of mass in the inertial system; p is the inertia tensor of the load relative to the load coordinate system; It is the projection of the resultant force of the platform acting on the load's center of mass in the inertial system; is the projection of the gravitational force on the load in the inertial system; is the projection of the disturbance force acting on the load in the inertial system; is the projection of the disturbance torque acting on the load in the load coordinate system.

[0068] Step 4: Calculate the star body dynamics model:

[0069]

[0070] in is the star mass matrix, m b is the mass of the star itself. I is the projection of the star's mass center position in the inertial system; b is the rotational inertia of the star body relative to the star body coordinate system; is the projection of the resultant force of the platform on the mass center of the satellite in the inertial system, is the projection of the gravitational force on the star in the inertial system; is the projection of the disturbance force on the star body in the inertial system; is the projection of the control on the active star body in the inertial system; is the projection of the disturbance torque on the star body in the star system; It is the projection of the control torque acting on the star body on the star system.

[0071] Step 5: Calculate the change in the actuator length based on the model of the flexible link in the actuator and the voice coil motor control voltage output by the ultra-quiet platform controller to participate in the dynamics calculation.

[0072] According to the load Jacobian matrix J p 、Star Jacobian matrix Jb and the differential change of the support rod δl, calculate the relative position and attitude of the load and the satellite body and The outputs of the star sensor and the eddy current displacement sensor are calculated through relative position and attitude, and are used as simulation data output by the star sensor simulation module and the eddy current sensor simulation module respectively.

[0073] Calculate the reaction force of the actuator by the active force and passive force By using the load dynamics model and the satellite body dynamics model, the output of the vibration angular rate gyro is calculated according to the satellite's attitude and the installation position of the vibration angular rate gyro, which is used as the angular velocity signal output by the vibration angular rate gyro simulation module.

[0074] The closed-loop simulation method combining physical and digital simulation of the ultra-quiet platform uses the above closed-loop simulation system to perform simulation verification of the following four scenarios:

[0075] Scenario 1: Desktop joint test of the ultra-quiet platform, using only the ultra-quiet platform controller and ground test system, using the on-board integrated electronic simulation module to simulate the control of the entire satellite platform, verifying the software and hardware design of the ultra-quiet platform controller, and verifying the correctness of the satellite platform control and ultra-quiet platform control schemes and parameter designs through closed-loop simulation.

[0076] Scenario 2: Ultra-quiet platform joint test, a physical verification test involving the ultra-quiet platform controller and the ultra-quiet platform electromechanical device, verifying the functional performance of the ultra-quiet platform electromechanical device through closed-loop simulation, such as Figure 6 shown.

[0077] Scenario 3: Install the ultra-quiet platform controller and the ultra-quiet platform electromechanical device to the entire satellite in a mechanical suspension manner, add the physical products of the control moment gyro group and the vibration angular velocity gyro of the satellite platform as the vibration interference source, and verify the actual effects of vibration and pointing, such as Figure 7 shown.

[0078] Scenario 4: Use the onboard integrated electronic object to replace the onboard integrated electronic simulation module in the simulation system, connect it to the ground test system, and conduct a joint test of the electrical performance and control performance of the entire star. Figure 8 shown.

Claims

1. The closed-loop simulation system combining physical and digital simulation of the ultra-quiet platform is characterized by: Including on-board products and ground test systems realized through digital simulation; The on-board products include an ultra-quiet platform electromechanical device and an ultra-quiet platform controller, and the ground test system includes a dynamics simulation computer, a voice coil motor drive current acquisition module, a vibration angular velocity gyro simulation module, an eddy current sensor simulation module, an on-board integrated electronic simulation module, and a simulation module for satellite platform sensors and actuators; The dynamics simulation computer is used to simulate the dynamics and kinematics of the satellite environment, satellite platform and super-static platform; The ultra-quiet platform controller is fixed to the ultra-quiet platform electromechanical device and interacts with the onboard integrated electronic simulation module to collaboratively complete the integrated control of pointing and vibration reduction; The dynamics simulation computer calculates the change value of the actuator length according to the model of the flexible link in the actuator and the control voltage of the voice coil motor output by the ultra-quiet platform controller, and participates in the calculation of dynamics; according to the load Jacobian matrix J p 、Star Jacobian matrix J b and the differential change of the support rod δl, calculate the relative position and attitude of the load and the satellite body and The outputs of the star sensor and eddy current displacement sensor are calculated through relative position and posture, which are used as the simulation data output by the star sensor simulation module and the eddy current sensor simulation module respectively; the reaction force of the actuator is calculated through the active force and passive force of the actuator Using the load dynamics model and the satellite body dynamics model, the output of the vibration angular rate gyro is calculated according to the satellite's attitude and the installation position of the vibration angular rate gyro, which is used as the angular velocity signal output by the vibration angular rate gyro simulation module. The specific calculation method is: Step 1: Define O I -x I y I z I is the inertial coordinate system, O b -x b y b z b is the star body coordinate system, the star body is a central rigid body and does not include loads; p -x p y p z p is the load coordinate system; the length vector of the i-th actuator support rod is It is expressed as: Among them, l i represents the length of the i-th actuator support rod, i = 1, 2, ..., 6, when the spring is in its natural position, l i is zero; represents the projection of the vector direction of the i-th support rod in the inertial system; It represents the projection of the vector direction from the origin of the inertial system to the center of mass of the load in the inertial system; Represents the transformation matrix from the load coordinate system to the inertial coordinate system; It represents the projection of the load center of mass and the vector direction of the hinge point on the i-th support rod in the load coordinate system; It represents the projection of the vector direction from the origin of the inertial system to the mass center of the star body in the inertial system; Represents the transformation matrix from the satellite body coordinate system to the inertial coordinate system; It represents the projection of the center of mass of the star body and the vector direction of the lower hinge point of the ith support rod in the star body coordinate system; Define the generalized position of the load in the load coordinate system in is the projection of the load centroid position in the load system; is the projection of the load angular velocity in the load coordinate system The time integral of Define the generalized position of the star body in the star body coordinate system in, is the position of the star body's center of mass in the star body system; Represents the projection of the star body angular velocity in the star body coordinate system The time integral of Define the load Jacobian matrix J p and the star Jacobian matrix J b : represents the projection of the vector direction of the i-th support rod in the load coordinate system, represents the projection of the vector direction of the ith support rod in the star body coordinate system; Define the Stewart platform displacement constraint: δl is the differential change of the support rod, and the active force F of the support rod m =[F m1 F m2 F m3 F m4 F m5 F m6 ] T , the active and passive forces F of the i-th support rod i =F mi -K i ·l i -C i ·i i ; where F mi is the active control force of the ith support rod; K i is the stiffness coefficient of the i-th support rod; C i is the damping coefficient of the ith support rod, i i is the change rate of the strut length; The spring stiffness matrix K and damping matrix C are: Step 2: Calculate the active and passive forces F of the support rod: Define the generalized force of the load system generated by the platform towards the load mass center in, is the projection of the resultant force of the platform acting on the load center of mass in the load system, is the projection of the resultant moment acting on the load center of mass on the load system; The platform generates a generalized force on the star body towards the center of mass of the star body in, is the projection of the resultant force acting on the center of mass of the star body on the star body system, is the projection of the resultant moment acting on the center of mass of the star body on the star body system: Step 3: Calculate the load dynamics model: in, is the load mass matrix, m p is the load mass; I is the projection of the load center of mass in the inertial system; p is the inertia tensor of the load relative to the load coordinate system; It is the projection of the resultant force of the platform acting on the load's center of mass in the inertial system; is the projection of the gravitational force on the load in the inertial system; is the projection of the disturbance force acting on the load in the inertial system; is the projection of the disturbance torque acting on the load in the load coordinate system; Step 4: Calculate the star body dynamics model: in is the star mass matrix, m b is the mass of the star itself; I is the projection of the star's mass center position in the inertial system; b is the rotational inertia of the star body relative to the star body coordinate system; is the projection of the resultant force of the platform on the mass center of the satellite in the inertial system, is the projection of the gravitational force on the star in the inertial system; is the projection of the disturbance force on the star body in the inertial system; is the projection of the control on the active star body in the inertial system; is the projection of the disturbance torque on the star body in the star system; It is the projection of the control torque acting on the star body on the star system.

2. The closed-loop simulation system combining physical and digital simulation of the ultra-quiet platform as claimed in claim 1, characterized in that: The system is used to perform simulation verification of the following four scenarios: Scenario 1: Use the ultra-quiet platform controller and ground test system to verify the software and hardware design of the ultra-quiet platform controller, and verify the correctness of the satellite platform control and ultra-quiet platform control scheme and parameter design through closed-loop simulation; Scenario 2: Use a complete onboard product and ground test system to verify the functional performance of the ultra-quiet platform electromechanical devices; Scenario 3: Install the ultra-quiet platform controller and the ultra-quiet platform electromechanical device on the entire satellite, add the physical products of the control moment gyro group and the vibration angular velocity gyro of the satellite platform as the vibration interference source, and verify the actual effects of vibration and pointing; Scenario 4: Use the actual onboard integrated electronics to replace the onboard integrated electronics simulation module in the simulation system to conduct a joint test of the electrical and control performance of the entire star.

3. The closed-loop simulation system combining physical and digital simulation of the ultra-quiet platform as claimed in claim 1, characterized in that: The voice coil motor drive current acquisition module is used to collect the motor control signal output by the ultra-quiet platform controller, the vibration angular velocity gyro simulation module is used to simulate the angular velocity value generated by the vibration of the ultra-quiet platform electromechanical device, and the eddy current sensor simulation module simulates the eddy current sensor value caused by the position change of the ultra-quiet platform actuator, and inputs it to the dynamic simulation computer for closed-loop calculation; the satellite platform sensor and actuator simulation module simulates and generates the force and torque values ​​of each actuator on the satellite, and transmits them to the onboard integrated electronic simulation module; The onboard integrated electronic simulation module is used to simulate the satellite platform controller and run the attitude control algorithm of the satellite platform; The dynamics simulation computer is used to simulate the dynamics and kinematics of the satellite environment, the satellite platform and the super-quiet platform, complete the simulation of the closed-loop system, and return the simulation results to the super-quiet platform controller.

4. A closed-loop simulation system combining physical and digital simulation of an ultra-quiet platform as claimed in any one of claims 1 to 3, characterized in that: The simulation modules of the satellite platform sensor and actuator include a CMG simulation module, a star sensor simulation module and a fiber optic gyroscope simulation module, wherein the CMG simulation module simulates the control moment gyro component used by the satellite platform, the star sensor simulation module simulates the star sensor component used by the satellite platform, and the fiber optic gyroscope simulation module simulates the fiber optic gyroscope component used by the satellite platform.

5. The closed-loop simulation system combining physical and digital simulation of an ultra-quiet platform as claimed in any one of claims 1 to 3, characterized in that: The ultra-quiet platform electromechanical device and ultra-quiet platform controller are designed based on the Stewart platform. Six actuators are configured on the ultra-quiet platform electromechanical device. Each actuator is provided with an eddy current sensor and a voice coil motor. The output data of the eddy current sensor is generated by an eddy current sensor simulation module, and the voice coil motor receives the control signal output by the ultra-quiet platform controller to complete the extension and retraction.

6. The closed-loop simulation system combining physical and digital simulation of an ultra-quiet platform as claimed in any one of claims 1 to 3, characterized in that: The vibration angular velocity gyro simulation module, the eddy current sensor simulation module, the onboard integrated electronic simulation module, and the simulation modules of the satellite platform sensor and actuator transmit data via the 422 serial port.

7. The closed-loop simulation system combining physical and digital simulation of an ultra-quiet platform as claimed in any one of claims 1 to 3, characterized in that: The ground test system is designed based on Zynq UltraScale+MPSoc; The application processing unit uses a quad-core Cortex TM -A53 processor, core A53_1 is used for Linux system scheduling, and completes data display and reception of external simulation experiment instructions; core A53_2 is used to store experimental data locally and send it to the background network database through the network, and receive telemetry data from the ultra-quiet platform controller and the onboard integrated electronic simulation module; core A53_3 is used to realize the function of the dynamic simulation computer; core A53_4 is used to realize the function of the onboard integrated electronic simulation module; SOC has two Cortex TM -R5 processor, where R5_1 is used to implement the functions of the simulation modules of the satellite platform sensors and actuators, and to exchange data with the onboard integrated electronic simulation module; R5_2 is used to implement the voice coil motor drive current acquisition module and the eddy current sensor simulation module, and to interact with the ultra-quiet platform controller.

8. The closed-loop simulation system combining physical and digital simulation of the ultra-quiet platform as claimed in claim 7, characterized in that: Shared memory is used for data exchange between multiple processor cores to ensure the real-time performance of data transmission; EtherCat bus is used for data exchange between the onboard integrated electronic simulation module and the ultra-quiet platform controller, in which the onboard integrated electronic simulation module serves as the host, the ultra-quiet platform controller serves as the slave, and the dynamics simulation computer serves as the bus slave node connected to the EtherCat bus.

9. The closed-loop simulation system combining physical and digital simulation of the ultra-quiet platform as claimed in claim 4, characterized in that: The satellite-borne integrated electronic simulation module runs the attitude control algorithm of the satellite platform, calculates the management of various flight modes, the combined attitude determination of the star sensor and the fiber optic gyroscope, and the control of the CMG, and sends the attitude quaternion, angular velocity, and gyro error compensation value of the vibration angular velocity gyroscope to the ultra-quiet platform controller; the ultra-quiet platform controller sends the data of the eddy current sensor to the satellite-borne integrated electronic simulation module for the ultra-quiet platform attitude solution.

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