Spacecraft rotation motion control system suitable for space environment

Abstract

The embodiment of the invention provides a spacecraft rotation motion control system suitable for a space environment, and the system comprises a driving module which is used for driving a spacecraft to move continuously or reciprocatingly; the detection module is used for controlling a rotary table of the spacecraft and detecting the position of the driving module; and the control module is used for acquiring feedback information of the detection module, determining a control mode according to the feedback information, and controlling the driving module based on the control mode so as to enable the spacecraft to continuously or reciprocally move. Therefore, high-precision and high-reliability rotary motion of the spacecraft and components thereof in a space environment is realized, and the success rate of a thermal test for performing heat flow simulation by adopting a solar simulator is improved.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of aerospace technology, and in particular to a spacecraft rotational motion control system suitable for a space environment. Background Art

[0002] Before launching, spacecraft and its components need to undergo sufficient space environment tests to verify the reliability of the spacecraft. The space environment mainly refers to the vacuum of space (negative pressure environment, the environment pressure is 10-5~10-7Pa), cold black (no light and low temperature environment, the temperature is -100~-270℃) and other environments. The space environment is mainly obtained through the space environment simulator, which is mainly used for thermal testing of spacecraft (including thermal vacuum and thermal balance). When using a space environment simulator with a solar simulator for thermal testing, the system structure of the solar simulator determines that the spacecraft needs to perform 360° continuous or reciprocating rotation. In the space environment, ensuring that the rotational motion mechanism can achieve high precision, high reliability and complete specified actions according to the test process has become a more critical factor in the thermal test process. Therefore, a better solution is urgently needed. Summary of the invention

[0003] In view of this, the embodiments of this specification provide a spacecraft rotation motion control system suitable for a space environment to solve the technical defects existing in the prior art.

[0004] According to a first aspect of an embodiment of this specification, there is provided a spacecraft rotational motion control system suitable for a space environment, comprising:

[0005] A drive module, used to drive the spacecraft to move continuously or reciprocatingly;

[0006] A detection module is used to control the turntable of the spacecraft and to detect the position of the drive module;

[0007] The control module is used to obtain feedback information from the detection module, determine a control method based on the feedback information, and control the drive module based on the control method to make the spacecraft move continuously or reciprocatingly.

[0008] In a possible implementation, the driving module includes a worm gear driving unit and a backup driving unit;

[0009] A worm gear drive unit is used to drive the fixed platform of the spacecraft to rotate through a worm gear and a worm;

[0010] The backup drive unit is used to drive the worm gear and the worm to rotate the fixed platform of the spacecraft through the first drive and / or the second drive.

[0011] In a possible implementation, the driving module includes a first temperature control unit;

[0012] The first temperature control unit is used to control the temperature of the worm gear drive unit and the backup drive unit to achieve a target ambient temperature.

[0013] In a possible implementation, the detection module includes a turntable position detection unit and a motor position detection unit;

[0014] A turntable position detection unit is used to detect the rotation angle of the fixed platform of the spacecraft and determine the turntable position detection data;

[0015] The motor position detection unit is used to detect the rotation angle of the drive module and determine the motor position detection data.

[0016] In a possible implementation, the detection module further includes a second temperature control unit;

[0017] The second temperature control unit is used to control the temperature of the turntable position detection unit and the motor position detection unit to achieve a target ambient temperature.

[0018] In a possible implementation, the detection module further includes an open-loop position output recording unit;

[0019] The open-loop position output recording unit is used to record the walking instruction data of the drive module and determine the open-loop position data recording data.

[0020] In a possible implementation, the control module includes a position calibration unit;

[0021] The position calibration unit is used to determine the installation position of the spacecraft, determine the coordinate information based on the installation position, and perform data calibration based on the coordinate information, turntable position detection data, motor position detection data and open-loop position data recording data.

[0022] In a possible implementation, the control method includes a closed-loop control method;

[0023] Accordingly, the drive module is controlled based on the control method, including:

[0024] The drive module is closed-loop controlled based on the turntable position detection data.

[0025] In a possible implementation, the control method includes a semi-closed loop control method;

[0026] Accordingly, the drive module is controlled based on the control method, including:

[0027] The drive module is semi-closed-loop controlled based on the motor position detection data.

[0028] In a possible implementation, the control method includes an open-loop control method;

[0029] Accordingly, the drive module is controlled based on the control method, including:

[0030] In the event of an abnormality in the turntable position detection data, open-loop control of the drive module is performed based on the motor position detection data.

[0031] The embodiment of this specification provides a spacecraft rotational motion control system suitable for a space environment, wherein the spacecraft rotational motion control system suitable for a space environment includes: a drive module for driving the spacecraft to continuously or reciprocate; a detection module for controlling the turntable of the spacecraft and performing position detection on the drive module; a control module for obtaining feedback information from the detection module, and determining a control method based on the feedback information, and controlling the drive module based on the control method to make the spacecraft continuously or reciprocate. Thus, the spacecraft and its components can complete high-precision and high-reliability rotational motion in a space environment, and the success rate of thermal tests using a solar simulator for thermal flow simulation can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the architecture of a spacecraft rotational motion control system suitable for a space environment provided by an embodiment of this specification;

[0033] Figure 2 This is a schematic diagram of a driving module of a spacecraft rotational motion control system suitable for a space environment provided by an embodiment of this specification;

[0034] Figure 3 It is a schematic diagram of a detection module of a spacecraft rotation motion control system suitable for a space environment provided by an embodiment of the present specification;

[0035] Figure 4 It is a schematic diagram of a control module of a spacecraft rotational motion control system suitable for a space environment provided by an embodiment of the present specification;

[0036] Figure 5 It is a structural schematic diagram of a spacecraft rotational motion control system suitable for a space environment provided by an embodiment of this specification;

[0037] Figure 6 It is a schematic diagram of a temperature control cover of a spacecraft rotational motion control system suitable for a space environment provided by an embodiment of the present specification. DETAILED DESCRIPTION

[0038] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0039] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0040] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0041] In the thermal test using a solar simulator to simulate external heat flow, the spacecraft and its components need to perform continuous or reciprocating rotational motion. However, due to the large temperature field changes in the space environment, the operating accuracy and reliability of the motion mechanism are greatly reduced. This system controls the temperature of the drive system, and has flexible drive modes that can be simultaneous, independent, and mutually backed up. It is equipped with detection units for turntable absolute position detection and motor position detection, and then combined with three control modes: closed loop, semi-closed loop, and open loop. Finally, a high-precision, high-reliability rotational motion control system for spacecraft suitable for the space environment is realized. See the following for details.

[0042] In this specification, a spacecraft rotational motion control system suitable for a space environment is provided, which is described in detail in the following embodiments.

[0043] See also Figure 1 , Figure 1A structural diagram of a spacecraft rotational motion control system suitable for a space environment provided according to an embodiment of the present specification is shown, specifically comprising: a drive module for driving the spacecraft to continuously or reciprocate; a detection module for controlling the turntable of the spacecraft and performing position detection on the drive module; a control module for obtaining feedback information from the detection module, determining a control method based on the feedback information, and controlling the drive module based on the control method to enable the spacecraft to continuously or reciprocate.

[0044] The space environment may be a vacuum low-temperature environment.

[0045] In one possible implementation, the drive module includes a worm gear drive unit and a backup drive unit; the worm gear drive unit is used to drive the fixed platform of the spacecraft to rotate through a worm gear and a worm; the backup drive unit is used to drive the worm gear and the worm to drive the fixed platform of the spacecraft to rotate through a first drive and / or a second drive.

[0046] In practical applications, see Figure 2 , Worm gear drive system 110: installed on the spacecraft fixed platform, in the form of a worm gear, the worm gear drives the spacecraft fixed platform to rotate, and the spacecraft can be rotated clockwise or counterclockwise, and drive units are installed at both ends of the worm; backup drive unit 120: the drive unit can drive the worm to rotate alone, or drive the worm to rotate at the same time. The failure of any one of the two drive units will not affect the normal rotation of the other drive worm.

[0047] In a possible implementation, the drive module includes a first temperature control unit; the first temperature control unit is used to control the temperature of the worm gear drive unit and the backup drive unit to achieve a target ambient temperature.

[0048] In practical applications, see Figure 2 , Temperature control system 130: A temperature control system is configured for the worm gear drive system and the backup drive unit to enable them to reach a suitable ambient temperature in the space environment and improve system reliability.

[0049] In one possible implementation, the detection module includes a turntable position detection unit and a motor position detection unit; the turntable position detection unit is used to detect the rotation angle of the fixed platform of the spacecraft and determine the turntable position detection data; the motor position detection unit is used to detect the rotation angle of the drive module and determine the motor position detection data.

[0050] In practical applications, see Figure 3 , Turntable position detection 210: installed on the axis of the worm gear in the worm gear drive system, used to feedback the rotation angle of the spacecraft fixed platform; Motor position detection 220: installed on the axis of the drive unit output shaft, used to feedback the rotation angle of the drive unit;

[0051] In a possible implementation, the detection module further includes a second temperature control unit; the second temperature control unit is used to control the temperature of the turntable position detection unit and the motor position detection unit to achieve a target ambient temperature.

[0052] In practical applications, see Figure 3 , Temperature control system 230: configure a temperature control system for the turntable position detection device and the motor position detection device to achieve a suitable ambient temperature in the space environment and improve system reliability;

[0053] In a possible implementation, the detection module further includes an open-loop position output recording unit; the open-loop position output recording unit is used to record the walking instruction data of the driving module and determine the open-loop position data recording data.

[0054] In practical applications, see Figure 3 , open-loop position output record 240: record the drive unit walking instruction data, which is used as the basis data for continuing to complete the movement process when the turntable position detection device and the motor position detection device are both abnormal.

[0055] In one possible implementation, the control module includes a position calibration unit; the position calibration unit is used to determine the installation position of the spacecraft, determine the coordinate information based on the installation position, and perform data calibration based on the coordinate information, turntable position detection data, motor position detection data and open-loop position data recording data.

[0056] In practical applications, see Figure 4 , Position calibration 310: According to the installation position of the spacecraft, determine the conversion of the spacecraft coordinates to the turntable position detection data, the motor position detection data and the open-loop position data recording data, as well as the calibration between the data.

[0057] In a possible implementation, the control method includes a closed-loop control method; accordingly, controlling the driving module based on the control method includes: performing closed-loop control on the driving module based on the turntable position detection data.

[0058] In practical applications, see Figure 4 , Closed-loop control method 320: Use the turntable position detection data as feedback data to realize the closed-loop control function of the spacecraft rotational motion.

[0059] In a possible implementation, the control method includes a semi-closed loop control method; accordingly, controlling the drive module based on the control method includes: performing semi-closed loop control on the drive module based on motor position detection data.

[0060] In practical applications, see Figure 4, Semi-closed loop control mode 330: using motor position detection data as feedback data, generally this mode is used when the turntable position detection data is abnormal, to achieve the semi-closed loop control function of the spacecraft rotation motion.

[0061] In a possible implementation, the control method includes an open-loop control method; accordingly, the drive module is controlled based on the control method, including: when the turntable position detection data is abnormal, the drive module is open-loop controlled based on the motor position detection data.

[0062] In practical applications, see Figure 4 , Open-loop control mode 340: Use the open-loop position output record data as feedback data. Generally, when the turntable position detection data and the motor position detection data are abnormal and the test cannot be interrupted, the open-loop control function of the spacecraft rotation motion is realized.

[0063] In one embodiment, see Figure 5 In this scheme, the stepper motor, reducer, and worm gear turntable constitute the drive unit, of which two sets of stepper drive units can be driven separately or simultaneously to drive the turntable to rotate, realizing multiple drive modes and improving the reliability of the drive unit. The synchronous pulley, encoder, and grating ruler constitute the detection unit, of which two sets of encoders and one set of grating ruler detection unit can complete the turntable position detection function. The three sensors back up each other, with the grating ruler as a closed-loop feedback sensor and the encoder as a semi-closed-loop control feedback sensor. The test can also be completed without using sensors to enable open-loop control mode.

[0064] See also Figure 6 Since the turntable is used in a vacuum and low-temperature environment, the operating parts are modified to be vacuum adaptable, and a temperature control cover is added to the system. A heating plate with corresponding power is configured inside the temperature control cover according to thermal calculation to control the temperature of the overall structure of the turntable to ensure its reliable operation in a vacuum and low-temperature environment.

[0065] Furthermore, the control unit uses PLC as a controller to realize the control of two worm gear-driven stepper motors of the turntable, position detection of two motor shaft rotary encoders, position detection of one turntable synchronous grating scale and open-loop position output recording function. In addition, the controller also has 12-way turntable structure temperature measurement and temperature control functions.

[0066] The embodiment of this specification provides a spacecraft rotational motion control system suitable for a space environment, wherein the spacecraft rotational motion control system suitable for a space environment includes: a drive module for driving the spacecraft to continuously or reciprocate; a detection module for controlling the turntable of the spacecraft and performing position detection on the drive module; a control module for obtaining feedback information from the detection module, and determining a control method based on the feedback information, and controlling the drive module based on the control method to make the spacecraft continuously or reciprocate. Thus, the spacecraft and its components can complete high-precision and high-reliability rotational motion in a space environment, and the success rate of thermal tests using a solar simulator for thermal flow simulation can be improved.

[0067] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0068] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0069] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A spacecraft rotational motion control system suitable for a space environment, characterized in that: include: A driving module, used to drive the spacecraft to move continuously or reciprocatingly; A detection module, used to control the turntable of the spacecraft and perform position detection on the drive module; The control module is used to obtain feedback information from the detection module, determine a control method according to the feedback information, and control the driving module based on the control method to make the spacecraft move continuously or reciprocatingly.

2. The system according to claim 1, characterized in that The driving module includes a worm gear driving unit and a backup driving unit; The worm gear drive unit is used to drive the fixed platform of the spacecraft to rotate through the worm gear and the worm; The backup drive unit is used to drive the worm gear and the worm to rotate the fixed platform of the spacecraft through the first drive and / or the second drive.

3. The system according to claim 2, characterized in that The driving module includes a first temperature control unit; The first temperature control unit is used to control the temperature of the worm gear drive unit and the backup drive unit to achieve a target ambient temperature.

4. The system according to claim 1, characterized in that The detection module includes a turntable position detection unit and a motor position detection unit; The turntable position detection unit is used to detect the rotation angle of the fixed platform of the spacecraft and determine the turntable position detection data; The motor position detection unit is used to detect the rotation angle of the driving module and determine the motor position detection data.

5. The system according to claim 4, characterized in that The detection module also includes a second temperature control unit; The second temperature control unit is used to control the temperature of the turntable position detection unit and the motor position detection unit to achieve a target ambient temperature.

6. The system according to claim 5, characterized in that The detection module also includes an open-loop position output recording unit; The open-loop position output recording unit is used to record the walking instruction data of the driving module and determine the open-loop position data recording data.

7. The system according to claim 6, characterized in that The control module includes a position calibration unit; The position calibration unit is used to determine the installation position of the spacecraft, determine coordinate information based on the installation position, and perform data calibration based on the coordinate information, turntable position detection data, motor position detection data and the open-loop position data recording data.

8. The system according to claim 4, characterized in that The control method includes a closed-loop control method; Accordingly, the controlling the driving module based on the control mode includes: The driving module is controlled in a closed loop based on the turntable position detection data.

9. The system according to claim 4, characterized in that The control method includes a semi-closed loop control method; Accordingly, the controlling the driving module based on the control mode includes: The driving module is subjected to semi-closed loop control based on the motor position detection data.

10. The system according to claim 4, characterized in that The control method includes an open-loop control method; Accordingly, the controlling the driving module based on the control mode includes: When the turntable position detection data is abnormal, open-loop control is performed on the drive module based on the motor position detection data.

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