A semi-physical simulation platform for simulating the reaction torque of a single-panel solar array wing

Abstract

The present invention discloses a semi-physical simulation platform for simulating the reaction torque of a single-panel solar wing, which specifically relates to the field of spacecraft ground tests. It includes a rigid base and a host computer. Four support columns are provided on the rigid base. A driving motor, a circular grating, a torque sensor, and a loading motor are sequentially arranged in the four support columns from bottom to top. The driving motor is electrically connected to a high-stability controller. The driving motor is used to control the sun-pointing device. The driving motor is connected to the circular grating, the circular grating is connected to the torque sensor, the torque sensor is connected to the loading motor, and a temperature sensor is electrically connected to the loading motor. The host computer is used for the dynamic modeling and real-time calculation of the large flexible solar cell wing, and the host computer is electrically connected to the high-stability controller respectively. The technical solution of the present invention solves the problem that the existing tests cannot test the ground driving performance of the sun-pointing device, and can accurately simulate the reaction torque of the single-panel solar wing in orbit on the sun-pointing device.

Description

Technical Field

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

[0002] The energy source of a geostationary meteorological satellite is a flexible single-panel solar wing connected to the satellite body. The flexible single-panel solar wing has the characteristics of large flexibility, large inertia, rigid-flexible coupling, and dense modes. However, this also causes the solar orientation device to be subjected to variable load effects with large torque and high frequency response during the driving process. During ground full-physical tests, it is difficult to achieve the driving performance test of the solar orientation device. Therefore, it is very necessary to design a semi-physical simulation platform for the solar wing drive mechanism to simulate the driving process of the solar orientation device on the solar cell panel, and to improve the relevant structural design through the variable load torque applied in the simulation test, which can maintain the stable operation of the geostationary 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-panel solar wing, which solves the problem that the existing tests cannot test the ground driving performance of the solar orientation device.

[0004] 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-panel solar wing, including a rigid base and a host computer,

[0005] Four symmetrically distributed support columns are provided on the rigid base. A driving motor, a circular grating, a torque sensor, and a loading motor are sequentially arranged in the four support columns from bottom to top. The driving motor is connected to the support column through a first placement plate. Through holes coaxially arranged are respectively formed at the centers of the first placement plate and the rigid base, and the through holes are used to place the driving motor. The driving motor is electrically connected to a high-stability controller. The driving motor is used to control the solar orientation device. One side of the driving motor is connected to the circular grating through a first coupling flange. The circular grating is connected to the torque sensor. The torque sensor is connected to the loading motor through a second coupling flange. A temperature sensor is electrically connected to the loading motor. The temperature sensor is used to monitor the temperature of the loading motor during operation. The temperature sensor, the circular grating, the torque sensor, and the loading motor are all electrically connected to the high-stability controller. The high-stability controller is used to collect the data generated during the simulation process, and at the same time control the loading motor to perform real-time loading simulation and upload the angle value to the host computer;

[0006] The host computer is used for the dynamic modeling and real-time solution of the flexible solar cell wing. 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.

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

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

[0009] Furthermore, the high-stability controller adopts terminal sliding mode control with an Extended State Observer (ESO). The part other than the control quantity is regarded as the total disturbance, which includes internal disturbance, external disturbance, and the gain estimation deviation of the control quantity. The total disturbance f is

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

[0011]

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

[0013] Furthermore, the calculation model adopted by the upper computer includes the central rigid body-solar panel rotation equation 、 the solar panel vibration equation, and the dynamic equation;

[0014] The central rigid body-solar panel rotation equation: where β represents the angular displacement vector of rotation,

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

[0016] In the formula, 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 modal frequency diagonal matrix, and Ω 2 =Λ.

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

[0018] 1. The semi-physical simulation platform of the present invention is based on rapid prototyping technology, with a closed-loop control strategy for subsystems and a function for tuning and debugging control parameters. It can monitor in real time the output speed, output rotation angle, load torque, current of the loading motor, and voltage. At the same time, it uses a flexible load dynamics model under calibrated microgravity environment to replace the physical object, which well solves the influence brought by factors such as gravity and air resistance in the ground environment under microgravity.

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

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

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

[0022] Figure 1 is a schematic structural 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 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 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 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 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 the experimental data graph of the following of the 10NM step torque signal in this embodiment;

[0029] Figure 8 It is the follow-up experimental data graph of 1HZ, 5HZ, and 10HZ sine torque signals in this embodiment;

[0030] Figure 9 It is the follow-up experimental data graph of the solar wing torsional torque signal in this embodiment. Specific implementation manner

[0031] The present invention will be further described in detail below through specific implementation manners:

[0032] The reference numerals in the accompanying drawings of the specification include: rigid base 1, support column 2, strengthening 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] Embodiment

[0034] As Figures 1 to 9 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. Rubber pads are connected to the four corners of the bottom of the rigid base 1 through screws. Four symmetrically distributed support columns 2 are provided on the upper surface of the rigid base 1. Strengthening frames 3 are bolted to the outer walls of each support column 2. Only one side of the strengthening frame 3 is provided with an opening that matches the support column 2. The strengthening frame 3 is bolted to the rigid base 1. The rigid base 1, the support column 2, and the strengthening frame 3 together constitute the installation base of this solution, ensuring that the entire simulation platform maintains high stiffness and strength, and thus is not easily affected by resonance. A drive motor 4, a circular grating 5, a torque sensor 6, and a loading motor 7 are sequentially arranged from bottom to top in the four support columns 2. The drive motor 4 is used to connect and drive the sun-pointing device. The drive motor 4 is electrically connected to a high-stability controller. The high-stability controller is the actual model of the product to be measured. The high-stability controller realizes precise and stable control of the drive motor 4 through a limit switch. In this embodiment, a temperature sensor, a circular grating 5, a torque sensor 6, a loading motor 7, a driver, and the controller of the loading motor 7 are all electrically connected to the high-stability controller. The high-stability controller is used to collect the data generated during the simulation process, simultaneously control the loading motor 7 for real-time loading simulation, and upload the angle value measured by the encoder electrically connected to the loading motor 7 to the host computer.

[0035] The driving motor 4 is connected with a first placing plate 8 through a flange 11. Through holes 9 which are coaxially arranged are formed in the centers of the first placing plate 8 and the rigid base 1, and the two through holes 9 are jointly used for placing the driving motor 4. Openings which are matched with the support columns 2 are formed at the four corners of the first placing plate 8. The first placing plate 8 is bolted with a plurality of support pipes 10, and the plurality of support pipes 10 are bolted between two adjacent support columns 2. During installation, the installation position of the flange 11 on the first placing plate 8 can be adjusted, so as to ensure that the loading motor 7 and the driving motor 4 are coaxially arranged, thereby improving the loading precision of the torque. The top of the driving motor 4 is connected with a circular grating 5 through a first coupling flange 12. In this embodiment, the circular grating 5 feeds back the position signal to the high-stability controller through a differential RS422 interface; the circular grating 5 is connected between the four support columns 2 through a second placing plate 13 and the support pipes 10. The second placing plate 13 is bolted on the support pipes 10, and the support pipes 10 are bolted between the adjacent support columns 2. The circular grating 5 is connected with a torque sensor 6. L-shaped connecting plates 14 are symmetrically arranged on the torque sensor 6, and a support rod is jointly bolted by the two connecting plates 14. The support rod is bolted between the two support columns 2 at the rear side. The input shaft of the torque sensor 6 is connected with a second coupling flange 15, and the output shaft of the torque sensor 6 is connected with the circular grating 5. By measuring the torque difference between the input shaft and the output shaft, it is transmitted to the high-stability controller through an RS232 interface.

[0036] The second coupling flange 15 is connected with the output shaft of the loading motor 7. The loading motor 7 is bolted with a third placing plate 16. The third placing plate 16 is connected between the four support columns 2 through a plurality of support pipes 10. The third placing plate 16 is bolted on the support pipes 10, and the support pipes 10 are bolted between the adjacent support columns 2. A temperature sensor is arranged inside the loading motor 7, and the temperature sensor is used to monitor the temperature condition of the loading motor 7 during operation; a driver is also electrically connected to the loading motor 7. The loading motor 7 receives a 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 horizontally adjusted on the support pipes 10 through the third placing plate 16 and bolts, the torque sensor 6 can be assembled and adjusted horizontally and vertically on the support pipes 10 through the connecting plates 14, and the driving motor 4 can be longitudinally adjusted through the first placing plate 8 and the flange 11. Through mutual cooperation, the loading motor 7 is adjusted in position in two-dimensional directions relative to the product to be measured.

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

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

[0039] Solar panel vibration equation: In the formula is the 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 coordinate of the solar wing

[0040] The dynamic equation is

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

[0042] In this embodiment, the loading motor 7 is a TDR170-0410-50 DC torque motor, which is equipped with a CDHD_EtherCAT bus driver. The loading motor 7 can achieve the reproduction ability in the frequency range of 0.04 Hz to 5 Hz within the rotation angle of ±360°. The loading amplitude is 1 Nm - 5 Nm. In the low-frequency range of 0.04 Hz to 1 Hz, the load amplitude deviation is less than 3%; in the frequency range of 1 Hz to 5 Hz, the load amplitude deviation is less than 10%. The torque sensor 6 is a DY-2000 torque sensor, and the output interface is RS232. The torque sensor 6 is connected to the driving motor 4 and the loading motor 7 respectively through a coupling. The DYN-200 type torque sensor has an accuracy of 1% FS and uploads data to the high-stability controller through the RS232 interface, with a maximum supported baud rate of 115200. The circular grating 5 is a Renishaw RSM20USB115, the matching subdivision box is a TI20KDA20A, and the reading head is a 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, and is converted into angular velocity and angular acceleration through a differential module and output to the high-stability controller. The communication interface is a differential RS422 interface, and after being converted into a 3.3V single-ended signal recognizable by the high-stability controller through a differential-to-single-ended circuit, data communication is carried out.

[0043] The high-stability controller selects Zynq-7Z020clg-4. The high-stability controller is used to implement a 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 takes the ZYNQ controller as the core and realizes the exchange of data and control instructions with each control unit through asynchronous communication serial ports, SPI communication interfaces, GPIO interfaces, etc.; the high-stability controller is directly electrically connected to each sensor and the loading motor 7, collects sensing 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 upper computer selects CT7GK. During the simulation process, the high-stability controller serves as the main controller. First, it is 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 to realize 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 upper computer, receives the torque control instructions from the upper computer, and uploads the collected data to the upper computer for real-time display.

[0044] The mathematical abstraction of the driver is expressed as: input voltage u (t) to torque T m Output: Tm = K m u (t) , K m is the proportional coefficient between the output torque and the input voltage;

[0045] The kinematic equation of the 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 torque; T f The total unknown disturbance torque caused by factors such as friction nonlinearity and external uncertain disturbances;

[0046] Modeling of the torque sensor 6: T l = K A (θ m - θ r ), where T l , θ m can be measured in real time, so [x 1 (t), x 2 (t)] T = [T l , ω m T ;

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

[0048]

[0049] Considering that the ESO can further transform the equation into:

[0050]

[0051] where respectively represent the estimation of the output angle of the driving motor 4 and the estimation error;

[0052] The high-stability controller adopts the terminal sliding mode control with ESO, regarding the part other than the control quantity as the total disturbance, which includes internal disturbance, external disturbance, and the gain estimation deviation of the control quantity. The total disturbance f is

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

[0054] ​

[0055] The ESO is as follows: After adopting the pole placement method,

[0056] Case analysis:

[0057] Respectively, through a 10NM step signal, sine wave signals of 1HZ, 5HZ, and 10HZ, and the reaction torque signal in the X-axis direction solved according to the actual flexible solar wing, experiments are carried out on the torsional vibration system and the loading system at different frequencies through the semi-physical simulation platform of this embodiment. The two torque deviations of the torsional vibration system and the loading system after passing through the startup stage and entering the stable operation state are as follows in the table;

[0058]

[0059]

[0060] After adding an extended state observer for observing the surplus torque and other external disturbances, the dynamic response and torque following ability of this simulation platform are greatly improved. Compared with the double-ten rule required by the traditional load simulator, that is, both the amplitude deviation and the phase angle deviation are less than 10%, the beneficial effects of this simulation platform are far lower than the traditional evaluation criteria. Combining Figures 7 - 9 the conclusions and the results in the above table, it can be seen that through testing the above different input signals, the amplitude deviations are all less than 0.5%, and the phase angle deviations are all less than 5%, far less than the common evaluation criterion of 10%.

[0061] The above are only embodiments of the present invention. Specific structures and / or common knowledge such as characteristics well known in the art are not described in detail here. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners described 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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