Dual-super satellite maneuvering ground test system and method based on air floatation gravity unloading

Abstract

The invention provides a dual-super satellite maneuvering ground test system and method based on air floatation gravity unloading. The platform cabin body and the load cabin body are mainly formed by building aluminum profiles and aluminum plates, and the platform cabin body is located on a single-axis air floating platform or a three-axis air floating platform; the load cabin uses a self-carrying gas cylinder to supply gas and floats on the marble platform through a plane gas bearing. The two cabins are respectively provided with a power supply module unit capable of providing related power supply, a central computer for operating a real-time system, a gyroscope for measuring the angular velocity and an auxiliary cable. Meanwhile, the two cabins are connected through a magnetic suspension actuator. By installing corresponding execution mechanisms in the platform cabins, full-physical test verification in the aspects of cooperative steady-state control of the two cabins of the double-super satellite, rapid attitude maneuver control, inter-cabin cable disturbance and the like can be achieved. The test method has the advantages of simple structure, low manufacturing cost and rapidness in implementation.

Description

Technical Field

[0001] The present invention belongs to the field of ultra-high pointing accuracy and ultra-high stability satellite attitude dynamics and control in the field of rigid body dynamics technology, and specifically relates to a dual-super-satellite maneuvering ground test system and method based on air-floating gravity unloading. Background Art

[0002] Traditional satellites mostly use a configuration where the payload platform is directly fixed, and the pointing accuracy and stability of the payload are achieved by satellite platform attitude control. However, due to the random micro-vibration of the platform, the fixed connection design method has the disadvantages of being difficult to isolate and control micro-vibration, and cannot achieve the "double-super" indicators of ultra-high pointing accuracy and ultra-high stability of the satellite payload.

[0003] The high-resolution optical satellite adopts a dual-super platform and is equipped with a high-resolution camera to achieve a full-color resolution of 0.25m and a multi-spectral resolution of 1m. It can realize tasks such as multi-target observation, strip stitching imaging, stereo imaging, and active push-broom imaging. Through the constellation, it can realize high-spatial and high-temporal resolution observation of any location in the world, while achieving a positioning accuracy better than 5m (CE90) and a high data transmission rate, playing a role in earth remote sensing, map surveying, disaster prevention and mitigation, crop yield estimation, marine rights protection, ecological environment assessment, major event support, urban planning, road network design, land rights confirmation, traffic navigation and other fields. Summary of the invention

[0004] In view of the defects in the prior art, the object of the present invention is to provide a dual-super-satellite maneuverable ground test system based on air-floating gravity unloading and a method of using the system.

[0005] According to the present invention, a dual-super-satellite maneuverable ground test system based on air flotation gravity unloading is provided, comprising: a platform cabin 1 and a payload cabin 2. The platform cabin 1 and the payload cabin 2 are gravity unloaded by air flotation, and the platform cabin 1 and the payload cabin 2 are connected by a magnetic levitation actuator to perform relative translational motion and rotational motion.

[0006] Preferably, the platform cabin 1 and the load cabin 2 are constructed with aluminum profiles and aluminum plates.

[0007] Preferably, the platform cabin 1 is equipped with an optical fiber gyroscope, a control torque gyroscope 12, a platform cabin industrial computer 11, a battery, a power supply cable, a displacement sensor acquisition circuit box, a magnetic levitation actuator stator 31, and an electromagnetic suction cup controller; the platform cabin 1 is located on a single-axis air floating platform or a three-axis air floating platform, and the platform cabin 1 realizes weightless and frictionless one-dimensional rotation through the single-axis air floating platform;

[0008] The payload cabin 2 is installed with a fiber optic gyroscope, a battery, a power supply cable, a magnetic levitation actuator mover 3, a nitrogen tank 21, and an air foot 22. The payload cabin 2 is floated on the marble table by the air foot 22 to achieve weightless and frictionless two-dimensional translation and one-dimensional rotation.

[0009] Preferably, the control torque for the rotation of the platform cabin 1 is provided by two 50Nms control torque gyro CMGs; the maneuverability of the payload cabin 2 is controlled by four magnetic levitation actuators arranged between the cabins.

[0010] Preferably, the attitude angle and angular velocity of the platform cabin 1 are acquired by a fiber optic gyroscope in the platform cabin, and the attitude angle and angular velocity of the payload cabin 2 are determined by an angle measuring device and a fiber optic gyroscope in the payload cabin 2 .

[0011] Preferably, the fiber optic gyro measurement value is used as the actual angular velocity value after deducting the ground speed; and the attitude angle change value of the platform cabin 1 and the payload cabin 2 is obtained as the angle value through gyro integration.

[0012] Preferably, three sets of displacement sensor assemblies are installed between the platform cabin 1 and the payload cabin 2 .

[0013] Preferably, the collaborative maneuvering control algorithm of the platform cabin 1 and the payload cabin 2 runs in the same computer, adopts a feedforward and feedback control strategy based on path planning, applies feedforward control torque and force to the payload cabin 2 and the platform cabin 1 according to the path planning, and then performs closed-loop feedback.

[0014] Preferably, the control software on the test bench runs on the platform cabin industrial computer 11, the program is written using Matlab\Simulink, and runs in the XPC real-time environment. The control cycle is selected to be consistent with the cycle of the entire satellite; the telemetry data on the platform and the remote control commands off the platform interact through the wireless network; the data and commands between the payload cabin 2 and the platform cabin 1 are exchanged through cables.

[0015] According to a dual super-satellite maneuvering ground test method based on air flotation gravity unloading provided by the present invention, the dual super-satellite maneuvering ground test system based on air flotation gravity unloading is adopted;

[0016] include:

[0017] Step 1: Complete the installation of the dual-supersatellite mobile ground test system based on air flotation gravity unloading, the installation of tooling, the leveling of the marble platform, and the debugging of the air flotation system;

[0018] Step 2: Debugging the payload cabin 2 and the platform cabin 1, and debugging the interfaces and polarity checking of the payload cabin fiber optic gyroscope, magnetic levitation current driver, displacement sensor acquisition circuit box, platform cabin industrial computer 11, control torque gyroscope 12, and platform cabin fiber optic gyroscope.

[0019] Step 3: Before the joint test, the platform cabin 1 will conduct steady-state and maneuvering tests based on the control moment gyro CMG and gyro; the payload cabin 2 will complete steady-state tests based on the magnetic levitation actuator and gyro;

[0020] Step 4: Conduct passive push-broom steady-state control and maneuvering condition tests with the two cabins locked;

[0021] Step 5: Carry out passive push-broom steady-state control with platform cabin 1 and payload cabin 2 unlocked;

[0022] Step 6: Conduct a test on the micro-vibration suppression capability when the platform cabin 1 and the payload cabin 2 are unlocked.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The two cabins of the present invention are connected by a magnetic levitation actuator to achieve non-contact dynamic and static isolation between the cabins.

[0025] 2. The two-cabin collaborative maneuvering control algorithm of the present invention runs in the same computer, which can take into account the requirements of both speed and stability.

[0026] 3. The present invention can realize full physical test verification of the coordinated steady-state control of the two cabins of the dual-super satellite, rapid attitude maneuvering control, and inter-cabin cable disturbance by installing corresponding actuators on the platform cabin.

[0027] 4. The present invention improves the reliability of the dual-super cooperative control system of the high-resolution optical satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0029] Figure 1 This is a schematic diagram of the structure of the dual-supersatellite maneuverable ground test system based on air-floating gravity unloading.

[0030] The figure shows:

[0031] DETAILED DESCRIPTION

[0032] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0033] Example

[0034] The present invention builds a ground test system and conducts test verification. The corresponding test method has a simple structure and is quick to implement, does not require a complex test environment, and verifies the feasibility and effectiveness of the test scheme.

[0035] like Figure 1 ,The present invention provides a dual super-satellite maneuverable ground test system based on air-floating gravity unloading, comprising: a platform cabin 1, a payload cabin 2;

[0036] Both platform cabin 1 and payload cabin 2 use air flotation for gravity unloading;

[0037] The platform cabin 1 and the payload cabin 2 are connected by a magnetic levitation actuator to achieve non-contact dynamic and static isolation between the cabins.

[0038] The platform cabin 1 and the payload cabin 2 are mainly constructed of aluminum profiles and aluminum plates. The required materials can be quickly processed and installed, which is of positive significance for shortening the test cycle and reducing the test cost.

[0039] The platform cabin 1 is located on a uniaxial air-floating platform or a triaxial air-floating platform, and the platform cabin 1 realizes weightless and frictionless one-dimensional rotation through the uniaxial air-floating platform; the payload cabin 2 uses a self-contained gas bottle to supply air and floats on the marble platform through a planar air-floating bearing.

[0040] The control torque for the rotation of the platform cabin 1 is provided by two 50Nms control torque gyro CMGs, which realize the single-axis attitude control of the platform cabin 1; the maneuvering of the payload cabin 2 is controlled by four magnetic levitation actuators arranged between the cabins.

[0041] Platform cabin 1 is equipped with a fiber optic gyroscope, through which the attitude angle and angular velocity of platform cabin 1 are obtained; payload cabin 2 is equipped with a high-precision fiber optic gyroscope, through which the attitude angle and angular velocity of payload cabin 2 are determined by the angle measuring device and the high-precision fiber optic gyroscope of payload cabin 2, thereby realizing real-time determination of the high-precision attitude of payload cabin 2.

[0042] In the experiment, the fiber optic gyro measurement value is used as the actual angular velocity value after deducting the ground speed; the attitude angle change value of the platform cabin 1 and the payload cabin 2 is obtained as the angle value through gyro integration; the attitude control of the payload cabin 2 is achieved through the magnetic levitation actuator between the two cabins.

[0043] There is a two-dimensional translation parallel to the marble plane in the Y direction (longitudinal axis) and X direction (horizontal axis) and a rotation around the Z axis (vertical axis) between the platform cabin 1 and the payload cabin 2. The two-dimensional position and one-dimensional rotation angle information between the two cabins are measured by three distributed eddy current displacement sensors.

[0044] The collaborative maneuvering control algorithm of platform cabin 1 and payload cabin 2 runs on the same computer, adopting a feedforward and feedback control strategy based on path planning. First, feedforward control torque and force are applied to payload cabin 2 and platform cabin 1 according to path planning, and then closed-loop feedback is performed, which can take into account the requirements of both speed and stability.

[0045] The present invention is a 4-DOF test platform, wherein the 4 DOF are two-dimensional translational DOF in the Y direction and the X direction, and the platform cabin 1 and the load cabin 2 are each DOF around the Z axis.

[0046] The payload cabin 2 is installed with but not limited to a high-precision fiber optic gyroscope, a battery, a power supply cable, a magnetic levitation actuator mover 3, a nitrogen tank 21 and an air foot 22. The payload cabin 2 is floated on a smooth marble table by the air foot 22 to simulate a weightless environment. The weightless and frictionless one-dimensional rotation and two-dimensional translation of the payload cabin 2 in the microgravity environment of the satellite in orbit are simulated by air floatation gravity unloading.

[0047] The platform cabin 1 is installed with but not limited to a fiber optic gyroscope, a control torque gyroscope 12, a platform cabin industrial computer 11, batteries, power supply cables, a displacement sensor acquisition circuit box, a magnetic levitation actuator stator 31, and an electromagnetic suction cup controller; the platform cabin 1 is located on a single-axis air-floating platform or a three-axis air-floating platform to simulate a weightless environment, and the weightless and frictionless one-dimensional rotation of the platform cabin 1 in the microgravity environment of the satellite in orbit is simulated by air-floating gravity unloading.

[0048] Four sets of magnetic levitation actuators are installed between the two cabins to generate control force and control torque. Three sets of displacement sensor assemblies are installed to measure and solve the relative position and relative attitude between the two cabins.

[0049] The control software of the test bench runs on the platform cabin industrial computer 11. The program is written in Matlab\Simulink and runs in the XPC real-time environment. The control cycle is consistent with the entire satellite, 125ms. The telemetry data on the platform and the remote control commands under the platform interact through the wireless network; the data and commands between the payload cabin 2 and the platform cabin 1 are exchanged through cables.

[0050] Both cabins are equipped with power module units that provide relevant power supply, central computers that run real-time systems, gyroscopes that measure angular velocity, and associated cables.

[0051] This embodiment also provides a method for using a dual-supersatellite maneuverable ground test system based on air-floating gravity unloading, including six processes: test preparation, equipment debugging, steady-state and maneuvering control of the platform and the payload, steady-state and maneuvering test of the locked working condition, unlocked steady-state control and maneuvering control, and micro-vibration measurement, which are as follows:

[0052] Step 1: Test preparation, complete the test platform structure, installation of tooling, leveling of the marble platform, and commissioning of the air flotation system;

[0053] Step 2: Equipment debugging, including the debugging of the payload cabin 2 and the debugging of the platform cabin 1, the interface debugging and polarity check of the payload cabin fiber optic gyroscope, the magnetic levitation current driver, the displacement sensor acquisition circuit box, the platform cabin industrial computer 11, the control torque gyroscope 12, and the platform cabin fiber optic gyroscope.

[0054] Step 3: Steady-state and maneuvering control of the platform and payload. Before the joint test, the platform cabin 1 will conduct steady-state and maneuvering tests based on the control moment gyro CMG and gyroscope; the payload cabin 2 will complete the steady-state test based on the magnetic levitation actuator and gyroscope.

[0055] Step 4: Steady-state and maneuvering tests under locked conditions, conduct passive push-broom steady-state control and maneuvering tests under locked conditions, including 10° / 18s, 20° / 22s, 30° / 26s, and 40° / 29s;

[0056] Step 5: Unlock steady-state control and maneuvering control, carry out passive push-broom steady-state control when platform cabin 1 and payload cabin 2 are unlocked, and attitude rapid maneuvering control when platform cabin 1 and payload cabin 2 are unlocked, including 10° / 18s, 20° / 22s, 30° / 26s, and 40° / 29s;

[0057] Step 6: Micro-vibration measurement, conduct a test on the micro-vibration suppression capability when the platform cabin 1 and the payload cabin 2 are unlocked.

[0058] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0059] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A dual-supersatellite maneuverable ground test system based on air flotation gravity unloading, characterized in that: include: The platform cabin (1) and the load cabin (2) are gravity unloaded by air flotation, and the platform cabin (1) and the load cabin (2) are connected by a magnetic levitation actuator to perform relative translational motion and rotational motion.

2. The dual-super-satellite maneuverable ground test system based on air-floating gravity unloading according to claim 1 is characterized in that: The platform cabin (1) and the load cabin (2) are constructed with aluminum profiles and aluminum plates.

3. The dual-super-satellite maneuverable ground test system based on air-floating gravity unloading according to claim 1 is characterized in that: The platform cabin (1) is equipped with a fiber optic gyroscope, a control torque gyroscope (12), a platform cabin industrial computer (11), a battery, a power supply cable, a displacement sensor acquisition circuit box, a magnetic levitation actuator stator (31), and an electromagnetic suction cup controller; the platform cabin (1) is located on a single-axis air floating platform or a three-axis air floating platform, and the platform cabin (1) realizes weightless and frictionless one-dimensional rotation through the single-axis air floating platform; The payload cabin (2) is equipped with a fiber optic gyroscope, a battery, a power supply cable, a magnetic levitation actuator mover (3), a nitrogen tank (21), and an air foot (22). The payload cabin (2) is air-floated on a marble table by the air foot (22), thereby achieving weightless and frictionless two-dimensional translation and one-dimensional rotation.

4. The dual-super-satellite maneuverable ground test system based on air-floating gravity unloading according to claim 1 is characterized in that: The control torque for the rotation of the platform cabin (1) is provided by two 50Nms control torque gyro CMGs; the maneuverability of the payload cabin (2) is controlled by four magnetic levitation actuators arranged between the cabins.

5. The dual-super-satellite maneuverable ground test system based on air-floating gravity unloading according to claim 3 is characterized in that: The attitude angle and angular velocity of the platform cabin (1) are acquired through the fiber optic gyroscope of the platform cabin, and the attitude angle and angular velocity of the payload cabin (2) are determined through an angle measuring device and the fiber optic gyroscope of the payload cabin (2).

6. The dual-super-satellite maneuverable ground test system based on air-floating gravity unloading according to claim 5 is characterized in that: The optical fiber gyro measurement value is used as the actual angular velocity value after deducting the ground speed; and the attitude angle change values ​​of the platform cabin (1) and the payload cabin (2) are obtained as angle values ​​through gyro integration.

7. The dual-super-satellite maneuvering ground test system based on air-floating gravity unloading according to claim 1 is characterized in that: Three sets of displacement sensor assemblies are installed between the platform cabin (1) and the payload cabin (2).

8. The dual-super-satellite maneuvering ground test system based on air-floating gravity unloading according to claim 1 is characterized in that: The platform cabin (1) and the payload cabin (2) cooperative maneuvering control algorithm run in the same computer, and adopt a feedforward and feedback control strategy based on path planning. According to the path planning, feedforward control torque and force are applied to the payload cabin (2) and the platform cabin (1), and then closed-loop feedback is performed.

9. The dual-super-satellite maneuverable ground test system based on air-floating gravity unloading according to claim 1 is characterized in that: The control software on the test bench runs on the platform cabin industrial computer (11). The program is written using Matlab\Simulink and runs in the XPC real-time environment. The control cycle is selected to be consistent with the cycle of the entire satellite. The telemetry data on the platform and the remote control commands off the platform are exchanged through a wireless network. The data and commands are exchanged between the payload cabin (2) and the platform cabin (1) through cables.

10. A dual-super-satellite maneuvering ground test method based on air flotation gravity unloading, characterized in that: A dual super-satellite maneuverable ground test system based on air-floating gravity unloading as described in any one of claims 1 to 9; include: Step 1: Complete the installation of the dual-supersatellite mobile ground test system based on air flotation gravity unloading, the installation of tooling, the leveling of the marble platform, and the debugging of the air flotation system; Step 2: Debugging the payload cabin (2) and the platform cabin (1), debugging the interfaces of the payload cabin fiber optic gyroscope, the magnetic levitation current driver, the displacement sensor acquisition circuit box, the platform cabin industrial computer (11), the control torque gyroscope (12), and the platform cabin fiber optic gyroscope and checking the polarity; Step 3: Before the joint test, the platform cabin (1) conducts steady-state and maneuvering tests based on the CMG and gyro; the payload cabin (2) completes steady-state tests based on the magnetic levitation actuator and gyro; Step 4: Conduct passive push-broom steady-state control and maneuvering condition tests with the two cabins locked; Step 5: Conducting passive push-broom steady-state control when the platform cabin (1) and the payload cabin (2) are unlocked; Step 6: Conduct a test on the micro-vibration suppression capability when the platform cabin (1) and the payload cabin (2) are unlocked.

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