Semi-physical simulation platform for simulating reaction torque of single-board solar wing

Abstract

The invention discloses a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing, and particularly relates to the field of spacecraft ground tests. Comprising a rigid base and an upper computer, four supporting columns are arranged on the rigid base, a driving motor, a circular grating, a torque sensor and a loading motor are sequentially arranged in the four supporting columns from bottom to top, the driving motor is electrically connected with a high-stability controller, the driving motor is used for controlling a sun orientation device, the driving motor is connected with the circular grating, and the loading motor is connected with the circular grating. The circular grating is connected with a torque sensor, the torque sensor is connected with a loading motor, and the loading motor is electrically connected with a temperature sensor; the upper computer is used for dynamic modeling and real-time resolving of the large-flexibility solar cell wing, and the upper computer is electrically connected with the high-stability controller. According to the technical scheme, the problem that the ground driving performance of the sun orientation device cannot be tested in an existing test is solved, and the reaction torque of the single-plate solar wing on the sun orientation device can be accurately simulated.

Description

Technical Field

[0001] The invention relates to the field of spacecraft ground tests, and in particular to a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing. Background Art

[0002] The energy source of high-orbit meteorological satellites is the flexible single-board solar wing connected to the satellite body. The flexible single-board solar wing has the characteristics of large flexibility, large inertia, rigid-flexible coupling, and dense modes, but this also causes the solar orientation device to be subjected to large torque and high-frequency response variable load during the driving process. When conducting full physical tests on the ground, it is difficult to test the driving performance of the solar orientation device. Therefore, it is necessary to design a semi-physical simulation platform for the solar wing drive mechanism to simulate the driving process of the solar cell sailboard by the solar orientation device, and to improve the relevant structural design by applying variable load torque to it in the simulation test, so as to maintain the stable operation of the high-orbit meteorological satellite. Summary of the invention

[0003] The present invention aims to provide a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing, thereby solving the problem that existing experiments cannot test the ground driving performance of a solar orientation device.

[0004] In order to achieve the above object, the technical solution of the present invention is as follows: a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing, comprising a rigid base and a host computer,

[0005] The rigid base is provided with four symmetrically distributed support columns, and the four support columns are sequentially provided with a drive motor, a circular grating, a torque sensor and a loading motor from bottom to top, the drive motor is connected to the support column through a first placement plate, and the centers of the first placement plate and the rigid base are respectively provided with coaxial through holes, and the through holes are used to place the drive motor, the drive motor is electrically connected to a high-stability controller, and the drive motor is used to control a solar orientation device, one side of the drive motor is connected to a circular grating through a first coupling flange, the circular grating is connected to a torque sensor, and the torque sensor is connected to the loading motor through a second coupling flange, and the loading motor is electrically connected to a temperature sensor, and the temperature sensor is used to monitor the temperature of the loading motor when it is working, and the temperature sensor, the circular grating, the torque sensor, and the loading motor are all electrically connected to the high-stability controller, and the data generated during the simulation process is collected through the high-stability controller, and the loading motor is controlled to perform real-time loading simulation and upload the angle value to the host computer;

[0006] The host computer is used for dynamic modeling and real-time solution of the flexible solar cell wing. The host computer is electrically connected to the high-stability controller, and the host computer is used to monitor, display and process the data collected by the high-stability controller.

[0007] Furthermore, each of the support columns is covered with a reinforcement frame, and only one side of the reinforcement frame is provided with an opening that matches the support column.

[0008] Furthermore, the high stability controller is used to implement a dual-loop PID controller and direct torque control.

[0009] Furthermore, the high stability controller adopts terminal sliding film control with ESO, and regards the part outside the control amount as the total disturbance, which includes internal disturbance and external disturbance and gain estimation deviation of the control amount. The total disturbance f is

[0010] The expanded state equation after expanding the total disturbance f into a state variable of the system is:

[0011]

[0012] ESO is: After using the pole placement method,

[0013] Furthermore, the calculation model used by the host computer includes the central rigid body-solar sail panel rotation equation 、 Solar panel vibration equations and dynamic equations;

[0014] Central rigid body-solar sail panel rotation equation: Where β represents the angular displacement vector of rotation,

[0015] Solar panel vibration equation: In the formula is the moment of inertia matrix of the solar wing, F a =[F a,1 F a,2 … F a,s ] is the vibration coupling matrix, is the modal matrix, ω is the angular velocity, and η represents the generalized modal coordinates of the solar wing; the dynamic equation is

[0016] Where M is the reaction torque, which is actually the reaction torque of the solar array on the drive mechanism; ξ is the modal damping ratio; Ω is the diagonal matrix of modal frequencies, and Ω 2 =Λ.

[0017] Compared with the prior art, this solution has the following beneficial effects:

[0018] 1. The semi-physical simulation platform of the present invention is based on rapid prototyping technology, subsystem closed-loop control strategy, and designed with control parameter setting and debugging functions, which can monitor the output speed, output angle, load torque, loading motor current, and voltage in real time. At the same time, the flexible load dynamics model in the microgravity environment after calibration is used instead of the real object, which well solves the influence of gravity, air resistance and other factors in the microgravity environment under the ground environment.

[0019] 2. The present invention adopts high-precision angular velocity and torque measurement technology, selects sensors with the highest accuracy level for measurement, and repeatedly considers and avoids the influence of other factors on the measurement, thereby realizing semi-physical loading of high-precision torque.

[0020] 3. The present invention establishes a flexible solar cell wing dynamic model and real-time solution, which can calculate in real time the alternating torque of the flexible load on the high-stability control device in the high vacuum and microgravity environment of space, and control the loading motor to load in real time.

[0021] 4. The present invention establishes a high-rigidity gapless mechanical support and transmission system, which can accurately simulate the load torque value of a single-board flexible solar wing, and provides an effective solution for stability testing, driving performance testing, and disturbance characteristic testing of a drive motor and a high-stability controller used to control a solar orientation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing according to the present invention;

[0023] Figure 2 It is a side view of a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing according to the present invention;

[0024] Figure 3 It is a hardware connection diagram of a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing according to the present invention;

[0025] Figure 4 It is a system modeling diagram of a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing according to the present invention;

[0026] Figure 5 It is a control block diagram of a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing according to the present invention;

[0027] Figure 6 is the relative installation position of the flexible solar wing and the satellite in this embodiment;

[0028] Figure 7 is a graph of the following experimental data for a 10 NM step torque signal in this embodiment;

[0029] Figure 8 1 is a graph of experimental data of following 1 Hz, 5 Hz and 10 Hz sinusoidal torque signals in this embodiment;

[0030] Fig. 9 It is a follow-up experimental data diagram of the torsional vibration torque signal of the solar wing in this embodiment. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below through specific embodiments:

[0032] The figure marks in the drawings of the specification include: rigid base 1, support column 2, reinforcement frame 3, drive motor 4, circular grating 5, torque sensor 6, loading motor 7, first placement plate 8, through hole 9, support tube 10, flange 11, first coupling flange 12, second placement plate 13, connecting plate 14, second coupling flange 15, third placement plate 16.

[0033] Example

[0034] like Figures 1 to 9 As shown, a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing includes a rigid base 1 and a host computer. The four corners of the bottom of the rigid base 1 are connected to rubber pads by screws. The upper surface of the rigid base 1 is provided with four symmetrically distributed support columns 2. The outer wall of each support column 2 is bolted to a reinforcement frame 3. Only one side of the reinforcement frame 3 is provided with an opening that matches the support column 2. The reinforcement frame 3 is bolted to the rigid base 1. The rigid base 1, the support column 2 and the reinforcement frame 3 together constitute the installation base of the present solution, which ensures that the entire simulation platform maintains high rigidity and high strength, and is not easily affected by resonance. The four support columns 2 are provided with a driving motor 4, a circular grating 5, a torque sensor 6 and a loading motor 7 from bottom to top. The driving motor 4 is used to connect and drive the solar orientation device. The driving motor 4 is electrically connected to a high-stability controller. The high-stability controller is the actual model of the product being tested. The high-stability controller realizes precise and stable control of the driving motor 4 through a limit switch. In this embodiment, the temperature sensor, circular grating 5, torque sensor 6, loading motor 7, driver, and the controller of the loading motor 7 are all electrically connected to the high-stability controller. The data generated in the simulation process is collected through the high-stability controller, and the loading motor 7 is controlled to perform real-time loading simulation, and the angle value measured by the encoder electrically connected to the loading motor 7 is uploaded to the host computer.

[0035] The driving motor 4 is connected to the first placement plate 8 through a flange 11. The center of the first placement plate 8 and the center of the rigid base 1 are both provided with a coaxial through hole 9. The two through holes 9 are used to place the driving motor 4. The four corners of the first placement plate 8 are provided with openings that match the support columns 2. The first placement plate 8 is bolted with multiple support tubes 10. The multiple support tubes 10 are bolted between two adjacent support columns 2. The installation position of the flange 11 on the first placement plate 8 can be adjusted during installation to ensure that the loading motor 7 is coaxially arranged with the driving motor 4 to improve the loading accuracy of the torque. The top of the driving motor 4 is connected to the circular grating 5 through the first coupling flange 12. In this embodiment, the circular grating 5 feeds back the position signal to the high stability controller through the differential RS422 interface. The circular grating 5 is connected between the four support columns 2 through the second placement plate 13 and the support tube 10. The second placement plate 13 is bolted to the support tube 10, and the support tube 10 is bolted between the adjacent support columns 2. The circular grating 5 is connected to the torque sensor 6. The torque sensor 6 is symmetrically provided with L-shaped connecting plates 14. The two connecting plates 14 are bolted together with a support rod, and the support rod is bolted between the two support columns 2 located at the rear side. The input shaft of the torque sensor 6 is connected to the second coupling flange 15. The output shaft of the torque sensor 6 is connected to the circular grating 5. The torque difference between the input shaft and the output shaft is measured and transmitted to the high stability controller through the RS232 interface.

[0036] The second coupling flange 15 is connected to the output shaft of the loading motor 7, and the loading motor 7 is bolted with a third placement plate 16, which is connected between four support columns 2 through multiple support tubes 10, and the third placement plate 16 is bolted to the support tube 10, and the support tube 10 is bolted between adjacent support columns 2. A temperature sensor is provided inside the loading motor 7, and the temperature sensor is used to monitor the temperature of the loading motor 7 when it is working; the loading motor 7 is also electrically connected to a driver, and the loading motor 7 receives the torque signal through the driver, and the driver drives the loading motor 7 to perform periodic torque loading to simulate the reaction torque of the solar wing. In this embodiment, the loading motor 7 can be adjusted horizontally on the support tube 10 through the third placement plate 16 and bolts, the torque sensor 6 can be assembled on the support tube 10 for horizontal and vertical adjustment through the connecting plate 14, and the drive motor 4 can be adjusted longitudinally through the first placement plate 8 and the flange 11, and the position adjustment of the loading motor 7 relative to the product to be tested in the two-dimensional direction is achieved through mutual cooperation.

[0037] The host computer is electrically connected to the high-stability controller, and is used to monitor, display and process the data collected by the high-stability controller. In this embodiment, the host computer can implement a real-time distributed control solution, and use the MATLAB interface and API interface to exchange information with the high-stability controller in real time. It is the main operating platform and monitoring platform, and is designed using C#Winform technology. The host computer is used for dynamic modeling and real-time solution of large flexible solar cell wings, and calculates the alternating torque of the flexible load on the high-stability controller in the high vacuum and microgravity environment of space; wherein, the calculation model used by the host computer includes the central rigid body-solar sail panel rotation equation, the solar sail panel vibration equation and the dynamic equation;

[0038] Central rigid body-solar sail panel rotation equation: Where β represents the angular displacement vector of rotation,

[0039] Solar panel vibration equation: In the formula is the moment of inertia matrix of the solar wing, F a =[F a,1 F a,2 …F a,s ] is the vibration coupling matrix, is the modal matrix, ω is the angular velocity, and η represents the generalized modal coordinates of the solar wing

[0040] The kinetic equation is

[0041] Where M is the reaction torque, which is actually the reaction torque of the solar array on the drive motor 4; ξ is the modal damping ratio; Ω is the diagonal matrix of modal frequencies, and Ω 2 =Λ.

[0042] In this embodiment, the loading motor 7 adopts a TDR170-0410-50 DC torque motor and a driver of a CDHD_EtherCAT bus. The loading motor 7 can achieve the reproducibility of the frequency range of 0.04Hz to 5Hz within a rotation angle of ±360°, with a loading amplitude of 1Nm-5Nm, a low-frequency range of 0.04Hz to 1Hz, and a load amplitude deviation of less than 3%; within the frequency range of 1Hz to 5Hz, the load amplitude deviation is less than 10%. The torque sensor 6 adopts a DY-2000 torque sensor, and the output interface is RS232. The torque sensor 6 is connected to the drive motor 4 and the loading motor 7 through a coupling. The DYN-200 torque sensor has an accuracy of 1% FS, and uploads data to a high-stability controller through an RS232 interface, supporting a maximum baud rate of 115200. The circular grating 5 adopts Renishaw RSM20USB115, the matching subdivision box adopts TI20KDA20A, and the reading head adopts T2001-30A. The circular grating 5 is a 24-bit position feedback element, which measures the angle of the output shaft of the loading motor 7 in real time, converts it into angular velocity and angular acceleration through a differential module and outputs it to the high-stability controller. The communication interface is a differential RS422 interface, which is converted into a 3.3V single-ended signal that can be recognized by the high-stability controller through a differential to single-ended circuit for data communication.

[0043] The high-stability controller selects Zynq-7Z020clg-4. The high-stability controller is used to realize dual-loop PID controller and direct torque control. The bandwidth of the outer-loop torque PID controller is higher than that of the inner-loop current PID controller and is 5 times or more. The high-stability controller uses the ZYNQ controller as the core, and realizes the exchange of data and control instructions between each control unit through asynchronous communication serial port, SPI communication interface, GPIO interface, etc. The high-stability controller is directly electrically connected to each sensor and loading motor 7, collects sensor information, and embeds the torque / position control closed loop into the Ucos-III real-time operating system to ensure the real-time performance of the task. The driver of the loading motor 7 selects VCII2-E03-230, the controller of the loading motor 7 selects ECI3428, and the host computer selects CT7GK. During the simulation process, the high-stability controller serves as the main controller. It is first responsible for data acquisition, collecting data information generated by components such as the torque sensor 6, circular grating 5, and temperature sensor during the simulation process. Secondly, it is responsible for controlling the loading motor 7, and realizing the position mode and torque mode servo control of the loading motor 7 through the CAN bus, EtherCAT interface, etc. Finally, it communicates with the host computer, receives torque control instructions from the host computer, and uploads the collected data to the host computer for real-time display.

[0044] The mathematical abstract representation of the driver is: input voltage u (t) To torque T m Output: Tm =K m u (t) ,K m is the proportionality coefficient between output torque and input voltage;

[0045] Kinematic equation of loading motor 7: T m =J m ω m +B m ω m +T l +T f , J m Moment of inertia, ω m Angular velocity, B m Damping coefficient, T l Load moment; T f The sum of unknown disturbance torques caused by friction nonlinearity, external uncertain disturbances, etc.;

[0046] Torque sensor 6 modeling: T l =K A (θ m -θ r ), where T l ,θ m can be measured in real time, so [x1(t),x2(t)] T =[T l ,ω m ] T ;

[0047] Combining the above three formulas, we get:

[0048]

[0049] Taking ESO into account we can further transform the equation into:

[0050]

[0051] in Respectively represent the estimation of the output angle of the driving motor 4 and the estimated loss;

[0052] The high stability controller adopts terminal sliding film control with ESO, and regards the part outside the control amount as the total disturbance, which includes internal disturbance, external disturbance and gain estimation deviation of the control amount. The total disturbance f is

[0053] The expanded state equation after expanding the total disturbance f into a state variable of the system is:

[0054]

[0055] ESO is: After using the pole placement method,

[0056] Case Study:

[0057] Through 10NM step signal, 1HZ, 5HZ, 10HZ sine wave signal and the reaction torque signal in the X-axis direction solved according to the actual flexible solar wing, the semi-physical simulation platform of this embodiment is used to conduct experiments on the torsional vibration system and the loading system under different frequencies. The two torque deviations of the torsional vibration system and the loading system after passing the startup stage and entering the stable operation state are as follows:

[0058]

[0059]

[0060] By adding an extended state observer to observe excess torque and other external disturbances, the dynamic response and torque following capabilities of this simulation platform are greatly improved. Compared with the double-ten rule required by traditional load simulators, that is, the amplitude deviation and phase angle deviation are both less than 10%, the beneficial effects of this simulation platform are far lower than the traditional evaluation criteria. Figure 7-9 As shown in the conclusion and results in the above table, by testing the above different input signals, it can be seen that their amplitude deviations are all less than 0.5%, and their phase angle deviations are all less than 5%, which are much smaller than the commonly used 10% judgment standard.

[0061] The above are only embodiments of the present invention, and the common knowledge such as the known specific structures and / or characteristics in the scheme are not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A semi-physical simulation platform for simulating the reaction torque of a single-board solar wing, characterized by: Including rigid base and host computer, The rigid base is provided with four symmetrically distributed support columns, and the four support columns are sequentially provided with a drive motor, a circular grating, a torque sensor and a loading motor from bottom to top, the drive motor is connected to the support column through a first placement plate, and the centers of the first placement plate and the rigid base are respectively provided with coaxial through holes, and the through holes are used to place the drive motor, the drive motor is electrically connected to a high-stability controller, and the drive motor is used to control a solar orientation device, one side of the drive motor is connected to a circular grating through a first coupling flange, the circular grating is connected to a torque sensor, and the torque sensor is connected to the loading motor through a second coupling flange, and the loading motor is electrically connected to a temperature sensor, and the temperature sensor is used to monitor the temperature of the loading motor when it is working, and the temperature sensor, the circular grating, the torque sensor, and the loading motor are all electrically connected to the high-stability controller, and the data generated during the simulation process is collected through the high-stability controller, and the loading motor is controlled to perform real-time loading simulation and upload the angle value to the host computer; The host computer is used for dynamic modeling and real-time solution of the flexible solar cell wing. The host computer is electrically connected to the high-stability controller, and the host computer is used to monitor, display and process the data collected by the high-stability controller.

2. A semi-physical simulation platform for simulating the reaction torque of a single-board solar wing according to claim 1, characterized in that: Each of the support columns is covered with a reinforcement frame, and only one side of the reinforcement frame is provided with an opening that matches the support column.

3. A semi-physical simulation platform for simulating the reaction torque of a single-board solar wing according to claim 1, characterized in that: The high stability controller is used to realize a dual-loop PID controller and direct torque control.

4. A semi-physical simulation platform for simulating the reaction torque of a single-board solar wing according to claim 3, characterized in that: The high stability controller adopts terminal sliding film control with ESO, and regards the part outside the control amount as the total disturbance, which includes internal disturbance, external disturbance and gain estimation deviation of the control amount. The total disturbance f is The expanded state equation after expanding the total disturbance f into a state variable of the system is: ESO is: After using the pole placement method, 5. The semi-physical simulation platform for simulating the reaction torque of a single-board solar wing according to claim 1, characterized in that: The calculation model adopted by the host computer includes the central rigid body-solar sail panel rotation equation, the solar sail panel vibration equation and the dynamic equation; Central rigid body-solar sail panel rotation equation: β where the angular displacement vector represents the rotation, Solar panel vibration equation: In the formula is the moment of inertia matrix of the solar wing, F a =[F a,1 F a,2 …F a,s ] is the vibration coupling matrix, is the modal matrix, ω is the angular velocity, and η represents the generalized modal coordinates of the solar wing; Kinetic equation: Where M is the reaction torque, which is actually the reaction torque of the solar array on the drive motor; ξ is the modal damping ratio; Ω is the diagonal matrix of modal frequencies, and Ω 2 =Λ.

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