Ground semi-physical testing method and system for active pointing ultra-static platform

Abstract

The invention discloses an active pointing ultra-static platform ground semi-physical test method and system. The method is applied to an upper computer of a ground semi-physical test system, and comprises the following steps: S1, adjusting the pose of a Stewart platform based on the difference between a first relative pose of a load mounting platform and the Stewart platform at the moment and a reference relative pose, and executing S2; s2, calculating a second relative pose of the load mounting platform and the adjusted Stewart platform, and executing S3; s3, adjusting the pose of the load mounting platform based on the difference between the second relative pose and the reference relative pose, and executing S4; s4, calculating a third relative pose of the adjusted load mounting platform and the Stewart platform; and S3, taking the third relative pose as the first relative pose at the next moment, and returning to execute S1 until the test is finished. According to the invention, the performance of the active pointing ultra-static platform can be accurately tested.

Description

Technical Field

[0001] The present invention relates to the technical field of ground semi-physical simulation, and in particular to a ground semi-physical testing method and system for an active pointing ultra-quiet platform. Background Art

[0002] Active pointing ultra-quiet platform control technology serves satellites with extremely high requirements for payload attitude, such as high-resolution Earth observation, space situational awareness, and astronomical observation. Therefore, to ensure the on-orbit performance of the active pointing ultra-quiet platform, ground testing is required.

[0003] When conducting ground tests, relevant technologies are unable to simulate the changes in the relative posture between the satellite and the payload during maneuvers, resulting in an idealized ground test environment for the active pointing ultra-quiet platform, which is significantly different from the actual on-orbit state and affects the accuracy of the test.

[0004] Therefore, there is an urgent need for a semi-physical ground testing method and system for an active pointing ultra-quiet platform. Summary of the Invention

[0005] The present invention provides a ground semi-physical testing method and system for an active pointing ultra-quiet platform, which can accurately test the performance of the active pointing ultra-quiet platform.

[0006] The technical solution is as follows:

[0007] On the one hand, a ground semi-physical testing method for an active pointing ultra-quiet platform is provided, which is applied to a host computer of a ground semi-physical testing system. The system includes the active pointing ultra-quiet platform, a load mounting platform, a six-degree-of-freedom Stewart platform, a Stewart platform driver, and a central control unit. The active pointing ultra-quiet platform includes a VIPPS drive unit, a plurality of first actuator rods, and a micrometer sensor. One end of each of the first actuator rods is respectively connected to the load mounting platform, and the other end is respectively connected to the top of the Stewart platform. The method includes:

[0008] At any moment, execute:

[0009] S1, adjusting the posture of the Stewart platform using the Stewart platform driver based on the difference between the first relative posture between the payload mounting platform and the Stewart platform at that moment and the reference relative posture, and executing S2; the reference relative posture at each moment is obtained by simulating the satellite by the central control unit;

[0010] S2, recalculating a second relative posture between the payload mounting platform and the Stewart platform for the adjusted Stewart platform, and executing S3;

[0011] S3, adjusting the posture of the payload mounting platform using the VIPPS drive unit based on a difference between the second relative posture and the reference relative posture, and executing S4;

[0012] S4, for the adjusted payload installation platform, recalculate the third relative posture between the payload installation platform and the Stewart platform; use the third relative posture as the first relative posture between the payload installation platform and the Stewart platform at the next moment, and return to execute S1 until the test is completed.

[0013] On the other hand, a semi-physical ground testing system for an active pointing ultra-quiet platform is provided, the device comprising:

[0014] The system comprises the active pointing ultra-quiet platform, a payload mounting platform, a six-degree-of-freedom Stewart platform, a central control unit, a Stewart platform driver, and a host computer; the active pointing ultra-quiet platform comprises a VIPPS driver unit, a plurality of first actuator rods, and a micrometer sensor; one end of each of the first actuator rods is respectively connected to the payload mounting platform, and the other end is respectively connected to the top of the Stewart platform;

[0015] The host computer is electrically connected to the VIPPS drive unit, the central control unit and the Stewart platform respectively. The host computer is used to execute, at any moment:

[0016] S1, adjusting the posture of the Stewart platform using the Stewart platform driver based on the difference between the first relative posture between the payload mounting platform and the Stewart platform at that moment and the reference relative posture, and executing S2; the reference relative posture at each moment is obtained by simulating the satellite by the central control unit;

[0017] S2, recalculating a second relative posture between the payload mounting platform and the Stewart platform for the adjusted Stewart platform, and executing S3;

[0018] S3, adjusting the posture of the payload mounting platform using the VIPPS drive unit based on a difference between the second relative posture and the reference relative posture, and executing S4;

[0019] S4, for the adjusted payload installation platform, recalculate the third relative posture between the payload installation platform and the Stewart platform; use the third relative posture as the first relative posture between the payload installation platform and the Stewart platform at the next moment, and return to execute S1 until the test is completed.

[0020] An embodiment of the present invention provides a ground semi-physical test method for an active pointing ultra-quiet platform, which is applied to the host computer of a ground semi-physical test system. The method uses the state of the payload installation platform to simulate the state of the satellite payload platform, and uses the state of the six-degree-of-freedom Stewart platform to simulate the state of the satellite platform. In the process of simulating satellite operation, at each moment, the first relative posture between the payload installation platform and the Stewart platform is compared with the reference relative posture. First, the posture of the Stewart platform is adjusted according to the comparison result. After the adjustment, the second relative posture between the two is recalculated. If there is still a difference between the second relative posture and the reference relative posture, the posture of the payload installation platform is adjusted to further reduce the difference between the two. Finally, the adjusted third relative posture is used as the first relative posture at the next moment and is continued to be adjusted, so that the ground test system can accurately simulate the change in the relative posture between the satellite and the payload during the satellite maneuver, and accurately test the performance of the active pointing ultra-quiet platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a flow chart of a semi-physical testing method for an active pointing ultra-quiet platform provided by one embodiment of the present invention;

[0023] Figure 2 The present invention is a schematic structural diagram of an active pointing ultra-quiet platform ground semi-physical testing system provided by one embodiment of the present invention.

[0024] Reference numerals:

[0025] 1- Host computer;

[0026] 2-VIPPS drive unit; 3-first actuator; 4-micrometer sensor;

[0027] 5-Load mounting platform;

[0028] 6-Stewart platform;

[0029] 61-first platform; 62-second platform; 63-second actuating rod;

[0030] 7-Stewart platform driver; 8-central control unit; 9-vibration source; 10-vibration source drive unit; 11-bracket; 12-low-frequency suspension; 13-elastic suspension. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] The specific implementation of the above concept is described below.

[0033] Please refer to Figure 1 An embodiment of the present invention provides a ground-based semi-physical testing method for an active pointing ultra-quiet platform, which is applied to a host computer 1 of a ground-based semi-physical testing system. The system includes an active pointing ultra-quiet platform, a load mounting platform 5, a six-degree-of-freedom Stewart platform 6, a Stewart platform driver 7, and a central control unit 8. The active pointing ultra-quiet platform includes a VIPPS driver unit 2, multiple first actuator rods 3, and a micrometer sensor 4. One end of each first actuator rod 3 is connected to the load mounting platform 5, and the other end is connected to the top of the Stewart platform 6. The method includes: at any time, executing:

[0034] Step S1: Based on the difference between the first relative posture of the payload mounting platform 5 and the Stewart platform 6 at that moment and the reference relative posture, the Stewart platform driver 7 is used to adjust the posture of the Stewart platform 6, and then S2 is executed. The reference relative posture at each moment is obtained by the central control unit 8 by simulating the satellite.

[0035] Step S2: recalculate the second relative posture between the payload mounting platform 5 and the Stewart platform 6 for the adjusted Stewart platform 6, and execute S3;

[0036] Step S3, based on the difference between the second relative posture and the reference relative posture, using the VIPPS drive unit 2 to adjust the posture of the payload mounting platform 5, and executing S4;

[0037] Step S4: Recalculate the third relative posture between the load mounting platform 5 and the Stewart platform 6 for the adjusted load mounting platform 5; use the third relative posture as the first relative posture between the load mounting platform 5 and the Stewart platform 6 at the next moment, and return to execute S1 until the test is completed.

[0038] In an embodiment of the present invention, the state of the payload installation platform 5 is used to simulate the state of the satellite payload platform, and the state of the six-degree-of-freedom Stewart platform 6 is used to simulate the state of the satellite platform. In the process of simulating the operation of the satellite, at each moment, the first relative posture between the payload installation platform 5 and the Stewart platform 6 is compared with the reference relative posture. First, the posture of the Stewart platform 6 is adjusted according to the comparison result. After the adjustment, the second relative posture between the two is recalculated. If there is still a difference between the second relative posture and the reference relative posture, the posture of the payload installation platform 5 is adjusted to further reduce the difference between the two. Finally, the adjusted third relative posture is used as the first relative posture at the next moment and continues to be adjusted, so that the ground test system can accurately simulate the changes in the relative posture between the satellite and the payload during the satellite maneuver and accurately test the performance of the active pointing ultra-quiet platform.

[0039] Described below Figure 1 How to perform the steps shown.

[0040] First, for step S1:

[0041] Currently, ground-based semi-physical experiments cannot accurately simulate the relative position of the two during satellite maneuvers. This step uses the payload mounting platform 5 to simulate the movement of the payload on the satellite, and the Stewart platform 6 to simulate the movement of the satellite. By alternating the two platforms, the relative position of the two during satellite maneuvers can be simulated.

[0042] In some embodiments, the relative position between the payload mounting platform 5 and the Stewart platform 6 is determined as follows:

[0043] Obtaining the control output of the VIPPS drive unit 2, simulating the payload mounting platform actuator based on the control output to calculate the driving force and torque generated by the payload mounting platform actuator on the payload mounting platform 5 and the Stewart platform 6; using dynamics to calculate the translational and rotational data of the payload mounting platform 5 based on the driving force and torque generated by the payload mounting platform actuator on the payload mounting platform 5;

[0044] Obtaining the control output of the central control unit 8, simulating the Stewart platform actuator based on the control output to calculate the driving force and torque generated by the Stewart platform actuator on the Stewart platform 6; using dynamics to calculate the translational and rotational data of the Stewart platform 6 based on the driving force and torque generated by the Stewart platform actuator and the load mounting platform actuator on the Stewart platform 6;

[0045] Based on the translational data and rotational data of the payload mounting platform 5 and the Stewart platform 6 , the relative position between the payload mounting platform 5 and the Stewart platform 6 is calculated.

[0046] In this step, the dynamics simulation software is installed on the host computer 1 for use in satellite dynamics simulation. The control output of the VIPPS drive unit 2 includes the control variables of the payload platform actuators at the previous moment, such as the displacement of each first actuator rod 3. The control output of the central control unit 8 includes the control variables of the Stewart platform 6 control mechanism at the previous moment, such as the displacement of each second actuator rod 63.

[0047] In some embodiments, the Stewart platform 6 includes a first platform 61, a second platform 62, and a plurality of second actuating rods 63; one end of each second actuating rod 63 is connected to the first platform 61, and the other end is connected to the second platform 62;

[0048] The Stewart platform driver 7 is used to adjust the posture of the Stewart platform 6, including:

[0049] Calculate the expected displacement of each second actuator rod 63 based on the translation data and rotation data of the Stewart platform 6;

[0050] Based on the desired displacement of each second actuating rod 63 , the Stewart platform driver 7 is used to drive each second actuating rod 63 to a desired position, so as to adjust the posture of the Stewart platform 6 .

[0051] In some embodiments, adjusting the posture of the payload mounting platform 5 using the VIPPS drive unit 2 includes:

[0052] Calculate the expected displacement of each first actuator rod 3 based on the translational data and rotational data of the load mounting platform 5;

[0053] Based on the desired displacement of each first actuating rod 3 , the VIPPS driving unit 2 is used to drive each first actuating rod 3 to a desired position, so as to adjust the posture of the load mounting platform 5 .

[0054] In the above two steps, dynamic simulation can be used to calculate the expected displacement of each actuator rod based on the translational and rotational data of each platform. Based on the corresponding controller, the actuator rod is driven to move to the corresponding position to achieve the purpose of adjusting the position and posture of each platform.

[0055] In some embodiments, the ground semi-physical testing system further includes a vibration source 9 and a vibration source driving unit 10; the vibration source 9 is disposed between the first actuator rod 3 and the Stewart platform 6; and the method further includes:

[0056] Vibration information of the vibration source 9 based on dynamic simulation, the vibration information including frequency and amplitude;

[0057] Based on the vibration information, the vibration source 9 is driven to vibrate by the vibration source driving unit 10 to simulate the vibration characteristics of the satellite.

[0058] In this step, vibration source 9 includes a control moment gyro and a sailboard drive mechanism. The state of vibration source 9 is related to the satellite's operational state. For example, when the satellite is relatively stationary, the sailboard vibrates at a very low frequency; when the satellite is maneuvering, the sailboard vibrates flexibly. By configuring vibration source 9, various disturbance noise conditions of the satellite platform can be simulated. Furthermore, the low-pass filter parameters of the dynamic output are designed based on the control bandwidth of Stewart platform 6. The filtered relative pose is output to Stewart platform 6, and the high-frequency information is output to vibration source 9.

[0059] In some embodiments, the ground semi-physical test system further includes a bracket 11, a low-frequency suspension 12, and an elastic suspension 13; the low-frequency suspension 12 is fixed to the bracket 11, one end of the elastic suspension 13 is connected to the bottom end of the low-frequency suspension 12, and the other end is connected to the load mounting platform 5; the method further includes:

[0060] Eliminate high-frequency interference generated by the ground semi-physical test system based on low-frequency suspension 12;

[0061] The elastic suspension 13 provides vertical movement space for the load mounting platform 5, the active pointing ultra-quiet platform and the Stewart platform 6;

[0062] Based on the elastic suspension 13, an equivalent load is provided for the load mounting platform 5. After the theoretical driving force generated by the load mounting platform actuator on the load mounting platform 5 is calculated, the equivalent driving force output by the VIPPS drive unit 2 is calculated based on the equivalent relationship between the equivalent load and the theoretical load.

[0063] In this embodiment, the control of the active pointing super-quiet platform is directly related to the mass characteristics of the entire satellite payload. Using the same control parameters, the control characteristics under no-load conditions are inconsistent with the on-orbit state. However, if the mass characteristics of the entire satellite are simulated 1:1, the cost and price are high, and it is not conducive to the further expansion and application of subsequent models. In this embodiment, the payload mounting platform 5 is suspended on the bracket 11 using a low-frequency suspension 12 and an elastic suspension 13, which can achieve the unloading of the active pointing super-quiet platform and simulate the microgravity state on orbit. In addition, the bracket 11 adopts a high-rigidity bracket 11, and the parameters of the low-frequency suspension 12 and spring suspension are set according to the specific project.

[0064] In some embodiments, the calculation formula for the equivalent driving force is:

[0065]

[0066] Among them, F p is the equivalent driving force output by VIPPS drive unit 2, F is the theoretical driving force, m is the theoretical mass on the satellite, J p is the theoretical Jacobian matrix, is the transpose of the theoretical Jacobian matrix, I is the theoretical inertia of the load, m0 is the equivalent load mass on the ground, J p0 is the Jacobian matrix corresponding to the ground installation, is the transpose of the Jacobian matrix corresponding to the ground installation, and I0 is the ground equivalent load inertia.

[0067] In this embodiment, the equivalent load mounting platform 5 simulates the equivalent relationship between the inertia and its Jacobian matrix and the actual on-orbit, calculates the equivalent proportional relationship of the active pointing ultra-quiet platform motor drive, and multiplies the control output by the coefficient before outputting it, thereby achieving the equivalent output of the equivalent load.

[0068] Through the above-mentioned embodiments, this application fully considers the characteristics of various products of the active pointing ultra-quiet platform, combines theoretical dynamic state, proportional inertia suspension, and actual product output, and effectively realizes closed-loop testing of the active pointing ultra-quiet platform on the ground at a low cost by adopting suspension equivalent simulation and relative posture simulation closed-loop testing methods. This achieves simulation of the actual working conditions of the in-orbit satellite platform and improves the accuracy of the active pointing ultra-quiet platform testing.

[0069] In some embodiments, the load mounting platform 5 includes a first mounting plate (not shown) and a first adapter plate (not shown); one side of the first mounting plate is connected to the elastic suspension 13, and the other side is connected to the upper mounting surface of the first adapter plate; the lower mounting surface of the first adapter plate is connected to the side of each first actuating rod 3 away from the Stewart platform 6;

[0070] The method also includes:

[0071] The lower mounting surface of the first adapter plate is replaced according to the actual interface of the first actuating rod 3 .

[0072] In engineering applications, the upper mounting surface of the first adapter plate is connected to the first mounting plate using a universal interface, and the lower mounting surface of the first adapter plate is replaced according to different product conditions, such as the size of the first actuator rod 3 and other parameters, to improve the applicability of the device.

[0073] In some embodiments, the semi-physical testing system further includes a second adapter plate (not shown); an upper mounting surface of the second adapter plate is connected to a side of each first actuator rod 3 away from the load mounting platform 5, and a lower mounting surface of the second adapter plate is connected to an upper end surface of the Stewart platform 6;

[0074] The upper mounting surface of the second adapter plate is replaced according to the actual interface of the first actuating rod 3 .

[0075] In engineering applications, the lower mounting surface of the second adapter plate is connected to the Stewart platform 6 using a universal interface, and the upper mounting surface of the second adapter plate is replaced according to different product conditions, such as the size of the second actuator rod 63 and other parameters, to improve the applicability of the device.

[0076] An embodiment of the present invention further provides a ground semi-physical testing system for an active pointing ultra-quiet platform, comprising an active pointing ultra-quiet platform, a load mounting platform 5, a six-degree-of-freedom Stewart platform 6, a central control unit 8, a Stewart platform driver 7, and a host computer 1; the active pointing ultra-quiet platform comprises a VIPPS drive unit 2, a plurality of first actuator rods 3, and a micrometer sensor 4; one end of each first actuator rod 3 is respectively connected to the load mounting platform 5, and the other end is respectively connected to the top of the Stewart platform 6;

[0077] The host computer 1 is electrically connected to the VIPPS drive unit 2, the central control unit 8 and the Stewart platform 6. The host computer 1 is used to execute the following at any time:

[0078] S1: Based on the difference between the first relative posture of the payload mounting platform 5 and the Stewart platform 6 at that moment and the reference relative posture, the Stewart platform driver 7 is used to adjust the posture of the Stewart platform 6, and S2 is executed. The reference relative posture at each moment is obtained by simulation of the satellite by the central control unit 8.

[0079] S2, recalculating the second relative posture between the payload mounting platform 5 and the Stewart platform 6 for the adjusted Stewart platform 6, and executing S3;

[0080] S3, based on the difference between the second relative posture and the reference relative posture, using the VIPPS drive unit 2 to adjust the posture of the payload mounting platform 5, and executing S4;

[0081] S4, for the adjusted load mounting platform 5, recalculate the third relative posture between the load mounting platform 5 and the Stewart platform 6; use the third relative posture as the first relative posture between the load mounting platform 5 and the Stewart platform 6 at the next moment, and return to execute S1 until the test is completed.

[0082] It should be noted that the active pointing ultra-quiet platform ground semi-physical testing system provided in the above embodiment and the active pointing ultra-quiet platform ground semi-physical testing method embodiment belong to the same concept. The specific components and the functional implementation process of the components are detailed in the method embodiment and will not be repeated here.

[0083] It should also be noted that, in this document, relational terms such as first, second, third and fourth are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0084] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A semi-physical test method for an active pointing ultra-quiet platform, characterized in that: A host computer (1) applied to a ground semi-physical test system, the system comprising an active pointing ultra-quiet platform, a load installation platform (5), a six-degree-of-freedom Stewart platform (6), a Stewart platform driver (7) and a central control unit (8); the active pointing ultra-quiet platform comprises a VIPPS drive unit (2), a plurality of first actuating rods (3) and a micrometer sensor (4); one end of each of the first actuating rods (3) is respectively connected to the load installation platform (5), and the other end is respectively connected to the top of the Stewart platform (6); the method comprises: At any time, execute: S1, based on the difference between the first relative posture and the reference relative posture between the payload installation platform (5) and the Stewart platform (6) at that moment, adjusting the posture of the Stewart platform (6) using the Stewart platform driver (7), and executing S2; the reference relative posture at each moment is obtained by simulating the satellite by the central control unit (8); S2, recalculating a second relative posture between the load mounting platform (5) and the Stewart platform (6) for the adjusted Stewart platform (6), and executing S3; S3, based on the difference between the second relative posture and the reference relative posture, using the VIPPS drive unit (2) to adjust the posture of the load mounting platform (5), and executing S4; S4, for the adjusted load installation platform (5), recalculate the third relative posture between the load installation platform (5) and the Stewart platform (6); use the third relative posture as the first relative posture between the load installation platform (5) and the Stewart platform (6) at the next moment, and return to execute S1 until the test is completed.

2. The method according to claim 1, characterized in that The relative position between the load mounting platform (5) and the Stewart platform (6) is determined in the following manner: Acquiring the control output of the VIPPS drive unit (2), simulating the load mounting platform actuator based on the control output to calculate the driving force and torque generated by the load mounting platform actuator on the load mounting platform (5) and the Stewart platform (6); based on the driving force and torque generated by the load mounting platform actuator on the load mounting platform (5), using dynamics to calculate the translational data and rotational data of the load mounting platform (5); Acquiring a control output of the central control unit (8), simulating a Stewart platform actuator based on the control output to calculate the driving force and torque generated by the Stewart platform actuator on the Stewart platform (6); calculating translation data and rotation data of the Stewart platform (6) using dynamics based on the driving force and torque generated by the Stewart platform actuator and the load mounting platform actuator on the Stewart platform (6); Based on the translation data and rotation data of the load installation platform (5) and the Stewart platform (6), the relative position and posture between the load installation platform (5) and the Stewart platform (6) are calculated.

3. The method according to claim 2, characterized in that The Stewart platform (6) comprises a first platform (61), a second platform (62) and a plurality of second actuating rods (63); one end of each of the second actuating rods (63) is respectively connected to the first platform (61), and the other end is respectively connected to the second platform (62); The step of adjusting the posture of the Stewart platform (6) by using the Stewart platform driver (7) comprises: Calculating the expected displacement of each of the second actuating rods (63) based on the translation data and rotation data of the Stewart platform (6); Based on the desired displacement of each second actuating rod (63), the Stewart platform driver (7) is used to drive each second actuating rod (63) to a desired position, so as to adjust the posture of the Stewart platform (6).

4. The method according to claim 2, characterized in that: The adjusting the posture of the load mounting platform (5) by using the VIPPS drive unit (2) comprises: Calculating the expected displacement of each of the first actuating rods (3) based on the translation data and rotation data of the load mounting platform (5); Based on the expected displacement of each of the first actuating rods (3), the VIPPS driving unit (2) is used to drive each of the first actuating rods (3) to an expected position, so as to adjust the posture of the load mounting platform (5).

5. The method according to claim 1, characterized in that The ground semi-physical test system further comprises a vibration source (9) and a vibration source driving unit (10); the vibration source (9) is arranged between the first actuating rod (3) and the Stewart platform (6); the vibration source (9) comprises a control moment gyro and a sailboard driving mechanism; The method further comprises: Simulating vibration information of the vibration source (9) based on dynamics, wherein the vibration information includes frequency and amplitude; Based on the vibration information, the vibration source driving unit (10) is used to drive the vibration source (9) to vibrate, so as to simulate the vibration characteristics of the satellite.

6. The method according to claim 2, characterized in that The ground semi-physical test system further comprises a support (11), a low-frequency suspension (12) and an elastic suspension (13); the low-frequency suspension (12) is fixed on the support (11), one end of the elastic suspension (13) is connected to the bottom end of the low-frequency suspension (12), and the other end is connected to the load installation platform (5); the method further comprises: Eliminating high-frequency interference generated by the ground semi-physical test system based on the low-frequency suspension (12); Based on the elastic suspension (13), a vertical movement space is provided for the load mounting platform (5), the active pointing ultra-quiet platform and the Stewart platform (6); Based on the elastic suspension (13), an equivalent load is provided for the load installation platform (5); after the theoretical driving force generated by the load installation platform actuator on the load installation platform (5) is calculated, the equivalent driving force output by the VIPPS drive unit (2) is calculated based on the equivalent relationship between the equivalent load and the theoretical load.

7. The method according to claim 6, characterized in that The calculation formula of the equivalent driving force is: Among them, F p is the equivalent driving force output by the VIPPS driving unit (2), F is the theoretical driving force, m is the theoretical mass on the satellite, J p is the theoretical Jacobian matrix, is the transpose of the theoretical Jacobian matrix, I is the theoretical inertia of the load, m0 is the equivalent load mass on the ground, J p0 is the Jacobian matrix corresponding to the ground installation, is the transpose of the Jacobian matrix corresponding to the ground installation, and I0 is the ground equivalent load inertia.

8. The method according to claim 6, characterized in that The load mounting platform (5) comprises a first mounting plate and a first adapter plate; one side of the first mounting plate is connected to the elastic suspension (13), and the other side is connected to the upper mounting surface of the first adapter plate; the lower mounting surface of the first adapter plate is connected to the side of each of the first actuating rods (3) away from the Stewart platform (6); The method further comprises: The lower mounting surface of the first adapter plate is replaced according to the actual interface of different first actuating rods (3).

9. The method according to claim 1, characterized in that: The semi-physical testing system further comprises a second adapter plate; an upper mounting surface of the second adapter plate is connected to a side of each of the first actuating rods (3) away from the load mounting platform (5), and a lower mounting surface of the second adapter plate is connected to an upper end surface of the Stewart platform (6); The upper mounting surface of the second adapter plate is replaced according to the actual interface of the different first actuating rods (3).

10. An active pointing ultra-quiet platform ground semi-physical test system, characterized in that: The system comprises an active pointing super-quiet platform, a load mounting platform (5), a six-degree-of-freedom Stewart platform (6), a central control unit (8), a Stewart platform driver (7) and a host computer (1); the active pointing super-quiet platform comprises a VIPPS driver unit (2), a plurality of first actuating rods (3) and a micrometer sensor (4); one end of each of the first actuating rods (3) is respectively connected to the load mounting platform (5), and the other end is respectively connected to the top of the Stewart platform (6); The host computer (1) is electrically connected to the VIPPS drive unit (2), the central control unit (8) and the Stewart platform (6) respectively, and the host computer (1) is used to execute, at any time: S1, based on the difference between the first relative posture and the reference relative posture between the payload installation platform (5) and the Stewart platform (6) at that moment, adjusting the posture of the Stewart platform (6) using the Stewart platform driver (7), and executing S2; the reference relative posture at each moment is obtained by simulating the satellite by the central control unit (8); S2, recalculating a second relative posture between the load mounting platform (5) and the Stewart platform (6) for the adjusted Stewart platform (6), and executing S3; S3, based on the difference between the second relative posture and the reference relative posture, using the VIPPS drive unit (2) to adjust the posture of the load mounting platform (5), and executing S4; S4, for the adjusted load installation platform (5), recalculate the third relative posture between the load installation platform (5) and the Stewart platform (6); use the third relative posture as the first relative posture between the load installation platform (5) and the Stewart platform (6) at the next moment, and return to execute S1 until the test is completed.

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