Simulator space motion multistage protection method

Abstract

The invention discloses a simulator space motion multi-stage protection method, and relates to the field of mechanism design and analysis. The problem that in the prior art, in the simulator testing process, accurate and comprehensive real-time protection cannot be achieved is solved. The invention discloses a simulator space motion multi-stage protection method. The method comprises the following steps: step 1, monitoring simulator space configuration before docking; and 2, monitoring the spatial configuration, the spatial distance and the collision force after butt joint in real time, if the spatial configuration, the spatial distance and the collision force exceed allowable values, locking the simulator, keeping the system still, and completing multi-stage protection on the spatial motion of the simulator. The method provided by the invention has universality, and no external equipment is added, so that the cost is saved. The method is also applied to the technical field of configuration analysis and space protection of mechanisms such as various simulators and emulators.

Description

Technical Field

[0001] The invention relates to the technical field of mechanism design and analysis, and in particular to a multi-level protection method for simulator space motion. Background Art

[0002] Motion simulators are mainly used to simulate the motion of typical moving bodies. A more complex field is the docking of simulated moving bodies. As a ground simulation device, if there is no effective protection strategy or the protection method is not in place, it will affect the test performance of the docking specimen, the working stability of the simulator, and even damage the surrounding environment.

[0003] Existing test equipment mainly sets the protection threshold according to the length of the simulator actuator during the test, makes early judgments during the test, gives warnings or emergency braking protection, and even judges the working conditions of the equipment and the surroundings by visual inspection. Due to the lack of an effective and comprehensive protection mechanism, untimely protection causes equipment damage or excessive protection causes frequent interruptions to the test.

[0004] In simulations over long time scales, numerical methods may lead to cumulative errors that affect the stability and accuracy of the simulation. For example, when using the Euler method or other simple time integration methods, numerical oscillations or instabilities may occur. In actual motion simulators, the accuracy and response speed of sensors and actuators may affect the accuracy and real-time performance of the simulation.

[0005] The simulator may not be able to fully consider all external environmental factors, such as air resistance, gravity changes, magnetic field interference, etc., which may have a significant impact on the moving body during the actual docking process.

[0006] Therefore, the prior art has the problem that accurate, comprehensive and real-time protection cannot be provided during the simulator test. Summary of the invention

[0007] The present invention aims to solve the problem that the simulator test process in the prior art cannot provide accurate and comprehensive real-time protection. To solve the above technical problem, the present invention is implemented through the following technical solutions:

[0008] Solution 1: The present invention proposes a multi-level protection method for simulator space motion, the method comprising the following steps:

[0009] Step 1, monitoring the simulator space configuration before docking;

[0010] Step 2: After docking, the simulator's spatial configuration, spatial distance, and collision force are monitored in real time. If they exceed the allowable value, the simulator is locked and the system remains stationary, completing multi-level protection for the simulator's spatial movement.

[0011] Further, a preferred embodiment is provided, wherein the spatial configuration monitoring is calculated based on the structural parameters of the simulator, and the structural parameters include the radius r of the upper hinge distribution circle a , radius of the lower hinge distribution circle r b , upper hinge short side distance d a , Distance between short sides of lower hinge d b , the distance between the upper and lower hinges of the actuator when in the middle position is l2.

[0012] Furthermore, a preferred implementation is provided, wherein step 2 also includes a step of defining a Hermite variational interpolation function.

[0013] Further, a preferred embodiment is provided, in which the method for monitoring the simulator spatial configuration before docking in step 1 is: judging the degree of distance to the spatial configuration area by judging the magnitude relationship of the characteristic values, then

[0014]

[0015] In the formula, σ max (J) and σ min (J) are the maximum and minimum eigenvalues ​​of the Jacobian matrix J, respectively; m0 is the threshold, i.e., the dividing value of the spatial configuration region.

[0016] Furthermore, a preferred embodiment is provided, wherein step 1 also includes the step of adding a layer of outer edge protection to the upper platform of the simulator.

[0017] Furthermore, a preferred embodiment is provided, wherein the spatial distance monitoring is determined by determining the shortest straight-line distance between the outer edge of the platform on the simulator and all the supports.

[0018] Further, a preferred embodiment is provided, in which the calculation method of the outer edge protection of the platform on the simulator is:

[0019] L i,j =(Rm i,j -n i,j ) (5)

[0020] In the formula, m i,j 、n i,j Represented by the upper platform structure parameters, i,j=1,2,...,6.

[0021] Further, a preferred embodiment is provided, in which the shortest straight-line distance between the outer edge of the platform on the simulator and all the brackets is:

[0022]

[0023] Where n0 is the threshold, that is, the minimum allowable spatial distance between the outer edge of the platform on the simulator and the bracket.

[0024] Furthermore, a preferred embodiment is provided, wherein the collision force monitoring is mapped to the platform degree of freedom force on the simulator through the design allowable value in each direction of the docking mechanism, and the allowable value of the pressure difference sensor is analyzed through the correspondence between the degree of freedom force and the actuator pressure difference.

[0025] Furthermore, a preferred embodiment is provided, wherein the collision force monitoring is mapped to the platform degree of freedom force on the simulator through the design allowable value in each direction of the docking mechanism, and the calculation method of the allowable value of the pressure difference sensor is analyzed through the corresponding relationship between the degree of freedom force and the actuator pressure difference:

[0026] J T f=F (7)

[0027]

[0028] Where F is the generalized force converted from the design allowable value of the bearing capacity of the docking mechanism to the platform's degree of freedom; f is the force borne by the actuator, P is the measured value of the differential pressure sensor, and A is the actuator area; P0 is the threshold, that is, the minimum allowable value of the actuator differential pressure sensor.

[0029] Furthermore, a preferred embodiment is provided, wherein the system comprises a simulator and a frame, wherein the simulator is driven by six actuators to simulate the motion form required by the test, the lower part of the test piece is installed on the upper platform, and the upper part of the test piece is installed on the frame; the frame is fixed to the ground.

[0030] The present invention is beneficial in that:

[0031] The simulator spatial motion multi-level protection method of the present invention solves the problem of not being able to provide accurate, comprehensive and real-time protection during simulator testing. The method is universal and does not require the addition of external equipment, thus saving costs.

[0032] The method described in the present invention performs pre-docking tests through a simulator, and can evaluate and optimize the docking strategy without actual risks, thereby reducing the risks that may occur in actual operations.

[0033] The simulator in the method described in the present invention allows multiple experiments and iterations to be performed without involving expensive hardware, thereby saving the high cost required for actual flight missions.

[0034] The method described in the present invention can help engineers verify and improve the design of docking mechanisms, control systems and other key components during the design phase.

[0035] The simulator in the method described in the present invention can simulate various environments and conditions, including extreme weather, different orbital parameters and potential failure modes, to ensure that the docking system can work normally under various circumstances.

[0036] The simulator in the method described in the present invention can flexibly change parameters and conditions and perform repeated tests for multiple times to ensure the consistency and reliability of the results.

[0037] The present invention is also applicable to the fields of configuration analysis and space protection technology of various simulators, emulators and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a spatial layout diagram of a certain type of simulator test process described in Implementation Method 11.

[0039] Figure 2 This is a structural diagram of the simulator described in Implementation Example 11.

[0040] Figure 3 This is the simulator posture diagram when the extreme working condition described in Implementation Mode 11 occurs.

[0041] Figure 4 Described for implementation example eleven is a definition diagram of the frame hinge.

[0042] Figure 5 Schematic diagram of typical extreme postures of the simulator described in Implementation Example 11.

[0043] Figure 1 In the figure, frame 1, upper part 2, bracket 3, lower part 4, simulator 5, actuator 6, control cabinet 7. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the implementation methods of the present application clearer, the technical solutions in the implementation methods of the present application will be clearly and completely described below in conjunction with the drawings in the implementation methods of the present application. Obviously, the described implementation methods are only part of the implementation methods of the present application, not all of the implementation methods.

[0045] Embodiment 1: This embodiment provides a multi-level protection method for simulator space motion, the method comprising the following steps:

[0046] Step 1, monitoring the simulator space configuration before docking;

[0047] Step 2: The spatial configuration, spatial distance, and collision force after docking are monitored in real time. If they exceed the allowable value, the simulator is locked and the system remains stationary, completing multi-level protection for the simulator's spatial movement.

[0048] Implementation 2: This implementation is a further limitation of the simulator space motion multi-level protection method described in Implementation 1. The spatial configuration monitoring is calculated based on the structural parameters of the simulator. The structural parameters include the radius r of the upper hinge distribution circle. a , radius of the lower hinge distribution circle r b , upper hinge short side distance d a , Distance between short sides of lower hinge d b , the distance between the upper and lower hinges of the actuator when in the middle position is l2.

[0049] Implementation method 3: This implementation method is a further limitation of the simulator spatial motion multi-level protection method described in implementation method 1. The method for monitoring the simulator spatial configuration before docking in step 1 is: judging the degree of distance to the spatial configuration area by judging the size relationship of the characteristic values, then

[0050]

[0051] In the formula, σ max (J) and σ min (J) are the maximum and minimum eigenvalues ​​of the Jacobian matrix J, respectively; m0 is the threshold, i.e., the dividing value of the spatial configuration region.

[0052] Implementation method 4: This implementation method further limits the multi-level protection method for simulator spatial motion described in implementation method 1, and step 1 also includes the step of adding a layer of outer edge protection outside the simulator.

[0053] Implementation method five: This implementation method further limits the multi-level protection method for simulator spatial motion described in implementation method one, and the spatial distance monitoring is determined by determining the shortest spatial straight-line distance between the outer edge of the platform on the simulator and all the brackets.

[0054] Embodiment 6: This embodiment further limits the multi-level protection method for simulator spatial motion described in Embodiment 1. The outer edge of the platform on the simulator is calculated as follows:

[0055] L i,j =(Rm i,j -n i,j ) (5)

[0056] In the formula, m i,j 、n i,j Represented by the upper platform structure parameters, i,j=1,2,...,6.

[0057] Embodiment 7: This embodiment further limits the multi-level protection method for simulator spatial motion described in Embodiment 1. The shortest straight-line distance between the outer edge of the platform on the simulator and all the brackets is:

[0058]

[0059] Where n0 is the threshold, that is, the minimum allowable spatial distance between the outer edge of the platform on the simulator and the bracket.

[0060] Implementation method eight. This implementation method is a further limitation of the multi-level protection method for simulator spatial motion described in implementation method one. The collision force monitoring is mapped to the platform degree of freedom force on the simulator through the design allowable value in each direction of the docking mechanism, and the allowable value of the pressure difference sensor is analyzed through the correspondence between the degree of freedom force and the actuator pressure difference.

[0061] Implementation method 9: This implementation method further limits the multi-level protection method for simulator spatial motion described in implementation method 1. The collision force monitoring is mapped to the platform degree of freedom force on the simulator through the design allowable value in each direction of the docking mechanism. The calculation method of the allowable value of the pressure difference sensor is analyzed through the corresponding relationship between the degree of freedom force and the actuator pressure difference:

[0062] J T f=F (7)

[0063]

[0064] Where F is the generalized force converted from the design allowable value of the bearing capacity of the docking mechanism to the platform's degree of freedom; f is the force borne by the actuator, P is the measured value of the differential pressure sensor, and A is the actuator area; P0 is the threshold, that is, the minimum allowable value of the actuator differential pressure sensor.

[0065] Embodiment 10. This embodiment further limits the multi-level protection method for simulator spatial motion described in embodiment 1. The system includes a simulator 5 and a frame 1, wherein the simulator 5 is driven by six actuators to simulate the motion form required by the test, and the upper platform thereof is equipped with a lower component 4 of the test piece, and an upper component 2 of the test piece is installed on the frame 1; the frame 1 is fixed to the ground.

[0066] Implementation eleven: This implementation provides an example, which is used to explain the above implementations one to eight. The specific example is as follows:

[0067] See also Figures 1 to 5 This embodiment is described. The method described in this embodiment includes the following steps: wherein, the spatial motion multi-level protection judgment process:

[0068] 1. Not connected

[0069] Perform spatial configuration monitoring. The judgment basis is formula (4). The threshold m0 is given according to the specific object. If the simulator movement space area is large, the minimum m0 at this time can be calculated according to Table 1 for protection.

[0070] 2. After the docking starts

[0071] The spatial configuration, spatial distance and collision force are monitored in real time. If the allowable value is exceeded, the simulator is locked and the system remains stationary.

[0072] See also Figure 1 As shown, the whole system consists of two parts: the simulator and the frame. The simulator is driven by six actuators to simulate the motion required by the test. The upper platform is installed with the lower part 4 of the test piece before the test, and the upper part 2 of the test piece is installed on the frame 1; the frame 1 is fixed to the ground. During the test, the lower part 4, pushed by the simulator, gradually approaches the upper part 2 until the docking is successful. During the docking process, under the influence of the mutual force between the upper and lower parts, a large collision force will be generated, and the simulator 5 will undergo a large posture change in space. The change in posture sometimes exceeds the allowed working area of ​​the simulator 5, and even the upper platform of the simulator collides with a bracket 3 of the frame 1, which is controlled by the control cabinet 7. Therefore, it is necessary to effectively monitor and protect the spatial configuration of the simulator, the real-time spatial distance between the simulator platform and the bracket, and the collision force of the upper and lower parts.

[0073] First, spatial configuration monitoring: Figure 2 As shown in Figure 1, the upper platform of the simulator is driven and controlled by 6 actuators to achieve various postures. Each actuator is connected to the upper and lower platforms through an upper hinge and a lower hinge. The six upper hinge points of the simulator are located at a radius of r. a On the circumference of the circle, the six lower hinge points are located at a radius of r b The basic structure of the simulator is described by five structural parameters: the radius of the upper hinge distribution circle r a , radius of the lower hinge distribution circle r b , upper hinge short side distance d a , Distance between short sides of lower hinge d b , the distance between the upper and lower hinges of the actuator when in the middle position is l2.

[0074] In some spatial configuration areas, the output of the actuator is not enough to balance the dynamic force of the simulator, which may cause the simulator to tip over. The occurrence of this type of configuration is now monitored through simulator characteristics.

[0075] Assume A p =[a i,j ] 3×6 , B p =[b i,j ] 3×6 are the coordinate vectors of the upper and lower hinge points, respectively, and their elements a i,j 、b i,j can be represented by five structural parameters; R is the space transformation matrix, D eis the unit vector in the actuator direction, d is the length vector of the upper and lower hinge points, and

[0076]

[0077] D e =(Ra i,j -b i,j ) / d j (2)

[0078] In the velocity vector formed by the simulator's rotation and translation, there is

[0079]

[0080] In the formula, j = 1, 2, ..., 6; j = 1, 2, ..., 6, J is the Jacobian matrix of the actuator output to the generalized force of the simulator's degree of freedom. When the simulator moves to the non-specified spatial configuration area, the eigenvalue of the Jacobian matrix J changes, and its condition number will gradually increase. Therefore, the degree of distance from the non-normal spatial configuration area can be judged by judging the size relationship of the eigenvalues, then

[0081]

[0082] In the formula, σ max (J) and σ min (J) are the maximum and minimum eigenvalues ​​of the Jacobian matrix J, respectively; m0 is the threshold, i.e., the dividing value close to the abnormal spatial configuration region.

[0083] Sometimes, in order to ensure the test, it is necessary to allow the simulator to continue to exceed the abnormal spatial configuration area at the expense of some motion performance. In this case, an outer edge protection is added to the simulator, that is, the simulator cannot exceed its limit posture, such as Figure 3 As shown. Analyzing the simulator, there are 2 6 = 64 extreme positions. Considering the symmetry of the structure, 16 of them are typical working conditions, such as Figure 5 Therefore, the minimum threshold of the test condition cannot exceed Figure 5 The corresponding limit m0 value in .

[0084] Secondly, spatial distance monitoring, Figure 3 As shown in the figure, the position of the frame in space is fixed. After analysis, it can be known that the spatial interference with the simulator can only occur when the simulator upper platform interferes with a certain bracket of the frame. Therefore, the goal of spatial distance monitoring is: the shortest straight-line distance between the outer edge of the entire upper platform and all brackets. The outer edge of the upper platform refers to the definition of the platform hinge above, and the spatial real-time vector position of the six outer edge segments of the upper platform can be calculated, that is,

[0085] Li,j =(Rm i,j -n i,j ) (5)

[0086] Where i, j = 1, 2, ..., 6, m i,j 、n i,j It can be expressed by the upper platform structure parameters.

[0087] Let C p =[c i,j ] 3×6 , D p =[d i,j ] 3×6 They are Figure 3 The coordinate vector of the upper and lower hinge points of all brackets in the middle frame, whose element c i,j ,d i,j It can be expressed by the frame structure parameters. The spatial position of the bracket remains unchanged, which is l i,j (i,j=1,2,...,6). Then the spatial distance N between the outer edge of the platform on the simulator and the bracket is

[0088]

[0089] Where j = 1, 2, ..., 6, and n0 is the threshold, that is, the minimum allowable spatial distance between the outer edge of the platform on the simulator and the bracket.

[0090] In collision force monitoring, when the upper and lower parts of the docking mechanism collide, the collision force will be transmitted to the upper platform of the simulator. During the simulator test, the dynamic force of the upper platform is balanced by six hydraulic actuators. Therefore, the magnitude of the collision force can be indirectly measured by the pressure difference sensor installed on each actuator to ensure that the docking mechanism components are not damaged. First, the design allowable value of the docking mechanism in each direction is mapped to the freedom force of the upper platform of the simulator, and then the allowable value of the pressure difference sensor is analyzed through the corresponding relationship between the freedom force and the pressure difference of the actuator, as follows

[0091] J T f=F (7)

[0092]

[0093] Where F is the generalized force converted from the design allowable value of the bearing capacity of the docking mechanism to the platform's degree of freedom; f is the force borne by the actuator, P is the measured value of the differential pressure sensor, and A is the actuator area; P0 is the threshold, that is, the minimum allowable value of the actuator differential pressure sensor.

[0094] Those skilled in the art will appreciate that the above are only preferred embodiments of the present invention, and the various embodiments of the present disclosure and / or the features described in the claims may be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. It is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or perform equivalent substitutions on some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

[0095] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A multi-level protection method for simulator space motion, characterized in that: The method comprises the following steps: Step 1, monitoring the simulator space configuration before docking; Step 2: After docking, the simulator's spatial configuration, spatial distance, and collision force are monitored in real time. If they exceed the allowable value, the simulator is locked and the system remains stationary, completing multi-level protection for the simulator's spatial movement.

2. The simulator space motion multi-level protection method according to claim 1, characterized in that: The spatial configuration monitoring is calculated based on the structural parameters of the simulator, and the structural parameters include the radius r of the upper hinge distribution circle. a , radius of the lower hinge distribution circle r b , upper hinge short side distance d a , Distance between short sides of lower hinge d b , the distance between the upper and lower hinges of the actuator when in the middle position is l2.

3. The simulator space motion multi-level protection method according to claim 1, characterized in that: The method for monitoring the simulator spatial configuration before docking in step 1 is: judging the degree of distance to the spatial configuration area by judging the size relationship of the characteristic values, then In the formula, σ max (J) and σ min (J) are the maximum and minimum eigenvalues ​​of the Jacobian matrix J, respectively; m0 is the threshold, i.e., the dividing value of the spatial configuration region.

4. The simulator space motion multi-level protection method according to claim 1, characterized in that: Step 1 also includes the step of adding a layer of outer edge protection to the simulator upper platform.

5. The simulator space motion multi-level protection method according to claim 4, characterized in that: The spatial distance monitoring is achieved by determining the shortest straight-line distance between the outer edge protection of the platform on the simulator and all the brackets.

6. The simulator space motion multi-level protection method according to claim 5, characterized in that: The outer edge of the platform on the simulator is calculated as follows: L i,j =(Rm. i,j -n i,j ) (5) In the formula, m i,j 、n i,j Represented by the upper platform structure parameters, i,j=1,2,...,6.

7. The simulator space motion multi-level protection method according to claim 5, characterized in that: The shortest straight-line distance between the outer edge of the platform on the simulator and all the brackets is: Where n0 is the threshold, that is, the minimum allowable spatial distance between the outer edge of the platform on the simulator and the bracket.

8. The simulator space motion multi-level protection method according to claim 1, characterized in that: The collision force monitoring maps the design allowable value in each direction of the docking mechanism to the platform degree of freedom force on the simulator, and analyzes the allowable value of the pressure difference sensor through the corresponding relationship between the degree of freedom force and the actuator pressure difference.

9. The simulator space motion multi-level protection method according to claim 8, characterized in that: The collision force monitoring is mapped to the platform freedom force on the simulator through the design allowable value in each direction of the docking mechanism. The calculation method of the allowable value of the pressure difference sensor is analyzed through the corresponding relationship between the freedom force and the actuator pressure difference: J T f=F (7) Where F is the generalized force converted from the design allowable value of the bearing capacity of the docking mechanism to the platform's degree of freedom; f is the force borne by the actuator, P is the measured value of the differential pressure sensor, A is the area of ​​the actuator; P0 is the threshold, that is, the minimum allowable value of the actuator differential pressure sensor.

10. The simulator space motion multi-level protection method according to claim 1, characterized in that: The system includes a simulator and a frame, wherein the simulator is driven by six actuators to simulate the motion form required by the test, the lower part of the tested piece is installed on the upper platform, and the upper part of the tested piece is installed on the frame; the frame is fixed to the ground.

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