Ground simulation device for reconstructing space multi-axis moving target

Abstract

The invention discloses a ground simulation device for reconstructing a space multi-axis moving target, a space target body of the ground simulation device is connected with a three-degree-of-freedom simulator through a spherical hinge support module, and a solar panel module is mounted on the space target body through an anchor type connecting pin; the counterweight module is connected with a vertical basic bar in the space target body through a 90-degree cross joint or a 45-degree outer joint, and the data measurement and acquisition system is arranged in the space target body; the device has target configuration, inertia distribution and function reconstruction capabilities, can truly simulate the dynamic response of a large space multi-axis moving target in various motion states such as spinning, nutation and precession, and provides accurate sensing data in real time; reliable ground test conditions can be provided for space-ground consistency simulation of tasks such as space target on-orbit kinetic parameter identification, racemization and capture, and platform support is provided for effective verification and evaluation of related on-orbit operation technologies and schemes.

Description

Technical Field

[0001] The present invention belongs to the technical field of a ground microgravity simulation test device for implementing dynamic parameter identification, derotation and capture of a space multi-axis motion target, belongs to the technical field of ground zero gravity simulation of space control systems and space targets, and particularly relates to a ground simulation device for reconstructing a space multi-axis motion target. Background Art

[0002] With the continuous increase of global space missions, large space debris such as failed satellites and rocket stages in medium and low orbits seriously affect and threaten the sustainable use of space resources by humans. The removal of space debris is imminent. Affected by the pressure of sunlight and residual angular momentum of failure, space debris often presents complex tumbling motion. On-orbit removal requires dynamic identification, derotation and capture processes, but the relevant technology is not mature. It is urgent to conduct relevant physical simulation experiments on the ground to verify and evaluate the effectiveness and reliability of relevant technologies.

[0003] Conducting ground physical simulation tests of multi-axis motion targets in space requires overcoming the uncertain dynamic responses caused by factors such as gravity and friction, which makes it a great challenge for the test objects to maintain consistency between the sky and the earth. At present, the motion simulation of multi-axis motion targets in space is usually achieved by active control of multi-degree-of-freedom manipulators. Limited by the influence of manipulator load, motion space and main control hysteresis response, it is impossible to meet the dynamic simulation requirements of large multi-axis motion targets in space under full motion states such as spin, nutation and precession. In addition, the design of the end tooling is relatively complex, the configuration is fixed, and it does not have the ability to be reconstructed, and it is impossible to simultaneously meet the actual engineering requirements of ground simulation devices for multi-axis motion targets in space. They are usually of a single configuration and a single function, and the test equipment is often complex in design, high in cost, and does not have the ability to be reconstructed, and it is impossible to simultaneously meet the actual engineering requirements of ground physical tests for dynamic parameter identification, derotation and capture integration. Summary of the invention

[0004] In view of the shortcomings of the existing technology, the present invention provides a ground simulation device for reconstructing multi-axis motion targets in space, which can solve the problems of existing space target simulation devices such as fixed and single inertia distribution, complex structure, high cost and inability to truly simulate the dynamic response of the system under full motion state.

[0005] To solve the above problems, the technical solution provided by the present invention is as follows:

[0006] The embodiment of the present invention provides a ground simulation device for reconstructing a multi-axis motion target in space, comprising a space target body (1), a ball joint support module (2), a three-degree-of-freedom simulator (3), a counterweight module (4), a solar sail panel module (5) and a data measurement and acquisition system (6); wherein the space target body (1) is connected to the three-degree-of-freedom simulator (3) through the ball joint support module (2) to realize multi-axis composite motion of pitch, roll, yaw and translation; the solar sail panel module (5) is installed on the space target body (1) through an anchor connection pin (505); the counterweight module (4) is connected to a vertical base wire rod (106) inside the space target body (1) by using a 90° cross joint (403) or a 45° external joint (401), and the overall mass and inertia tensor distribution of the space target are realized by adjusting the relative position; the data measurement and acquisition system (6) is arranged inside the space target body (1) to identify, derotate and capture dynamic parameters.

[0007] In an optional embodiment of the present invention, the space target body (1) is a symmetrical polyhedron structure, and the space target body (1) comprises an internal skeleton, a body substrate (108) and a body skin (101), wherein the internal skeleton is composed of an octagonal horizontal skeleton and a vertical skeleton; the octagonal horizontal skeleton is composed of 8 horizontal basic wire rods (109), 8 external T-shaped joints (104) and 8 135° internal joints (103) connected in sequence, and a concave through groove is provided on the surface of the horizontal basic wire rod (109) in the circumferential direction to facilitate the installation of related accessories; the external T-shaped joint (104) is located in the middle of the horizontal basic wire rod (109);

[0008] The vertical frame comprises 8 vertical basic wire rods (106), 20 90° cross joints (105) and 20 T-slot wire rods (107). The top of the vertical basic wire rod (106) is connected to the octagonal horizontal frame through the outer T-joint (104). A 90° cross joint (105) is installed at the inner middle and the upper and lower ends of each vertical basic wire rod (106). The 90° cross joints (105) are connected to the T-slot wire rods (107) respectively. The T-slot wire rod (107) is fixed to the vertical base wire rod (106) through the inner 90° cross joint (105), and the inner T-slot wire rod 107 is connected to the body substrate 108; the outer T-slot wire rod (107) is connected to the body skin (101), forming the outer shell of the space target body (1); the body skin (101) is divided into five layers from top to bottom, and the layers are connected by the damping connector (102), and the body skin (101) can rotate around the axis of the damping connector 102.

[0009] According to an optional embodiment of the present invention, the ball joint support module (2) comprises a ball screw (201), a ball bearing (202), an optical axis (203) and an optical axis fixing seat (204); the ball screw (201) is used to connect the ball bearing (202) and the main body substrate (108); both ends of the optical axis (203) are provided with threads; the upper end of the optical axis (203) is connected to the threaded hole of the ball bearing (202); the lower end of the optical axis (203) is connected to the upper base plate 303 of the three-degree-of-freedom simulator (3) through the optical axis fixing seat (204); the ball joint support module (2) has three rotational degrees of freedom, namely, pitch, roll and yaw, and is used to simulate the single-degree-of-freedom spin of a space target, the two-degree-of-freedom spin and precession, and the three-degree-of-freedom composite motion of spin, nutation and precession.

[0010] In an optional embodiment of the present invention, the three-degree-of-freedom simulator (3) comprises a vertical aluminum profile (301), a lower base plate (302), an upper base plate (303), a high-pressure gas cylinder (304), a gas foot screw (305) and a gas foot (306); the upper base plate (303) and the lower base plate (302) are connected by the vertical aluminum profile (301) and the angle aluminum (307) to form a basic structural frame of the three-degree-of-freedom simulator; the high-pressure gas cylinder (304) and its accessories are installed on the lower base plate (302); three gas feet (306) are installed below the lower base plate (302) through three gas foot screws (305); high-pressure and high-speed gas is sprayed through the gas feet (306) to realize the front-back, left-right translation and yaw rotation movement of the three-degree-of-freedom simulator in a frictionless zero-gravity state on a marble plane, so as to simulate the physical movement phenomenon of the test device after passive collision contact occurs during the de-rotation capture process.

[0011] In an optional embodiment of the present invention, the counterweight module (4) includes a 45° external joint (401), a counterweight rod (402), a 90° cross joint (403), a basic wire rod (404) and a parallel fixed joint (405); the counterweight module (4) has the function of adjusting the overall center of mass position and inertia tensor of the space target, and can also meet the test requirements of different initial postures and offsets of the space target; wherein the counterweight rod (402) and the basic wire rod (404) are both provided with concave through grooves in the circumferential direction of the surface, which is convenient for the installation and configuration adjustment of related accessories; depending on the assembly form of different accessories, the counterweight module (4) can be composed of a positive T-type, an H-type and an oblique T-type.

[0012] According to an optional embodiment of the present invention, the solar sail panel (5) comprises a sail panel skin (501), a sail panel basic frame (502), angle aluminum (503) and a sail panel connecting shaft (504); wherein one end of the sail panel connecting shaft (504) is connected to a T-slot wire rod (107) on the lower outer side of the vertical base wire rod (106) via an anchor connecting pin (505), and the solar sail panel (5) can adjust the inclination angle by winding around the sail panel connecting shaft (504); the other end of the sail panel connecting shaft (504) is connected to the sail panel basic frame (502) via an anchor connecting pin (505), and the connection position is reinforced by the angle aluminum (503); the sail panel basic frame (502) is assembled from five sections of aluminum profiles, and a T-slot hole is provided on the aluminum profile to facilitate the installation of the sail panel skin (501).

[0013] In an optional embodiment of the present invention, the data measurement and acquisition system (6) comprises a MEMS gyroscope (601), a lithium battery (602), an industrial computer (603), an array pressure sensor (604), an acquisition card and a motion capture reflective ball; wherein the industrial computer (603), the lithium battery (602) and the MEMS gyroscope (601) are fixed to a body substrate (108) of the space target body (1) by screws; and the array pressure sensor (604), the acquisition card and the motion capture reflective ball are installed on the sailboard skin (501) or on the body skin (101) of the space target body (1) according to test requirements.

[0014] Compared with the prior art, the embodiment of the present invention provides a ground simulation device for reconstructing a multi-axis moving target in space, which has the following beneficial effects:

[0015] (1) The present invention is a multifunctional, low-cost, rapidly reconfigurable ground simulation device for space multi-axis motion targets, which can provide ground simulation test conditions for on-orbit dynamic parameter identification, derotation and capture of space-ground consistency simulation of space targets, and provide a platform support for the effective verification and evaluation of subsequent on-orbit operation technologies and plans.

[0016] (2) The present invention comprehensively considers the characteristics of space targets in dynamic parameter identification, derotation and capture integrated experiments, and can meet the multifunctional requirements of diverse configurations, adjustable inertial parameters and multi-purpose use of one machine, and can simulate the multi-axis composite motion of single-axis spin, nutation, precession and translation of space targets.

[0017] (3) The present invention adopts a modular design scheme. Among the parts of the simulator, the selection rate of standard parts and profile parts reaches more than 90%, which has the characteristics of low cost and high parts substitutability.

[0018] (4) The present invention comprehensively considers the multi-task requirements of the test. The modules are connected by anchor pins and the parts inside the modules are connected by bolts, which can achieve rapid disassembly and reconstruction of the configuration of the space target without increasing the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of the overall cross-sectional structure of a ground simulation device for reconstructing a multi-axis moving target in space provided in an embodiment of the present application.

[0021] Figure 2 A schematic diagram of the internal skeleton structure of a regular octagonal prism provided for the implementation case of this application.

[0022] Figure 3 A schematic diagram of the outer skirt configuration of a space target body with a circumferentially configured positive T-shaped counterweight module provided in an embodiment of the present application.

[0023] Figure 4 A schematic diagram of the skirt configuration of a space target body having a circumferentially configured H-shaped counterweight module provided in an embodiment of the present application.

[0024] Figure 5 A schematic diagram of an octopus configuration of a space target body equipped with an oblique T-shaped counterweight module provided in an embodiment of the present application.

[0025] Figure 6 A schematic diagram of an asymmetric lower single sailboard space target configured with an H-shaped counterweight module provided in an embodiment of the present application.

[0026] Figure 7 A schematic diagram of a symmetrical space target without a sailboard and equipped with an oblique T-shaped counterweight module provided in an embodiment of the present application.

[0027] Reference numerals: body skin 101; damping connector 102; 135° inner joint 103; outer T-joint 104; 90° cross joint 105; vertical basic wire rod 106; T-slot wire rod 107; body base plate 108; horizontal basic wire rod 109; ball head screw 201; ball bearing 202; optical axis 203; optical axis fixing seat 204; vertical aluminum profile 301; lower base plate 302; upper base plate 303; high-pressure gas cylinder 304; gas foot screw 305; gas foot 306; angle aluminum 307; 45° external joint 401; counterweight rod 402; 90° cross joint 403; basic wire rod 404; parallel fixed joint 405; sailboard skin 501; sailboard basic frame 502; angle aluminum 503; sailboard connecting shaft 504; anchor connecting pin 505; MEMS gyroscope 601; lithium battery 602; industrial computer 603; array pressure sensor 604. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application. The "upper", "lower", "front", "rear", "left", "right", etc. used in the installation position or direction of the structure or parts of the present embodiment are based on the orientation of the given drawings. They are only for the convenience of expression to distinguish the relative positions of the components or directions, and do not represent the orientation of the butterfly valve of the present embodiment when in use.

[0029] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, an embodiment of the present invention provides a ground simulation device for reconstructing a multi-axis motion target in space, which has the characteristics of multi-function, low cost and fast speed. The ground simulation device includes a space target body 1, a ball joint support module 2, a three-degree-of-freedom simulator 3, a counterweight module 4, a solar sail module 5 and a data measurement and acquisition system 6. The space target body 1 is connected to the three-degree-of-freedom simulator 3 through the ball joint support module 2, and can realize multi-axis composite motion of pitch, roll, yaw and translation. The solar sail module 5 can be symmetrically or asymmetrically installed on the space target body 1 through the anchor connecting pin 505. The counterweight module 4 is connected to the vertical basic wire rod 106 inside the space target body 1 by using a 90° cross joint 403 or a 45° external joint 401, and the overall mass and inertia tensor distribution of the space target are realized by adjusting the relative position. The data measurement and acquisition system 6 is arranged inside the space target body 1 for dynamic parameter identification, derotation and capture.

[0030] The space target body 1 is a symmetrical polyhedron structure, and the internal connection frame presents a regular octagonal prism. The space target body 1 includes an internal frame, a body substrate 108 and a body skin 101, and the material is aluminum alloy. Figure 2 As shown, the internal skeleton consists of an octagonal horizontal skeleton and a vertical skeleton. The octagonal horizontal skeleton is composed of 8 horizontal basic wire rods (also known as aluminum alloy lean tubes) 109, 8 external T-joints 104 and 8 135° internal joints 103 connected in sequence. The surface of the horizontal basic wire rod 109 is provided with a concave through groove in the circumferential direction to facilitate the installation of related accessories. Among them, the external T-joint 104 is located in the middle of the horizontal basic wire rod 109. The vertical skeleton includes 8 vertical basic wire rods 106, 20 90° cross joints 105 and 20 T-slot wire rods 107. The top of the vertical basic wire rod 106 is connected to the octagonal horizontal skeleton through the external T-joint 104. A 90° cross joint 105 is installed in the middle of the inner side and the upper and lower ends of the outer side of each vertical basic wire rod 106, and the 90° cross joints 105 are respectively connected to the T-slot wire rod 107. The T-slot wire rod 107 is fixed to the vertical base wire rod 106 through the inner 90° cross joint 105, and the inner T-slot wire rod 107 is connected to the body substrate 108. The body substrate 108 is provided with through holes for installing the industrial computer 603, lithium battery 602 and MEMS gyroscope 601 components. The outer T-slot wire rod 107 is connected to the body skin 101 to form the outer shell of the space target body 1. The body skin 101 is divided into five layers from top to bottom, and the layers are connected by the damping connector 102. The body skin 101 can rotate around the axis of the damping connector 102.

[0031] The ball joint support module 2 includes a ball screw 201, a ball bearing 202, an optical axis 203 and an optical axis fixing seat 204. In this embodiment, the ball bearing 202 adopts an alloy ball bearing. Among them, the ball screw 201 is used to connect the ball bearing 202 and the main body substrate 108. Threads are provided at both ends of the optical axis 203, the upper end of the optical axis 203 is connected to the threaded hole of the ball bearing 202, and the lower end of the optical axis 203 is connected to the upper base plate 303 of the three-degree-of-freedom simulator through the optical axis fixing seat 204. The ball joint support module 2 has three rotational degrees of freedom: pitch, roll and yaw, and mainly simulates the single-degree-of-freedom spin, two-degree-of-freedom spin and precession of the space target, and the composite motion of three-degree-of-freedom spin, nutation and precession.

[0032] The three-degree-of-freedom simulator 3 includes a vertical aluminum profile 301, a lower base plate 302, an upper base plate 303, a high-pressure gas cylinder 304, a gas foot screw 305 and a gas foot 306. The upper base plate 303 and the lower base plate 302 are connected by the vertical aluminum profile 301 and the angle aluminum 307 to form the basic structural frame of the three-degree-of-freedom simulator. The high-pressure gas cylinder 304 and its accessories are installed on the lower base plate 302, and three gas feet 306 are installed under the lower base plate 302 through three gas foot screws 305. The high-pressure and high-speed gas is sprayed through the gas foot 306 to realize the front-to-back, left-to-right translation and yaw rotation movement of the three-degree-of-freedom simulator in a frictionless zero-gravity state on a marble plane, so as to simulate the physical movement phenomenon of the test device after passive collision contact during the de-rotation capture process.

[0033] The counterweight module 4 includes a 45° external joint 401, a counterweight rod 402, a 90° cross joint 403, a parallel fixed joint 405 and a basic wire rod 404. The counterweight module 4 has the function of adjusting the overall center of mass position and inertia tensor of the space target, and can also meet the test requirements of different initial postures and offsets of the space target. Among them, the counterweight rod 402 and the basic wire rod 404 are circumferentially provided with concave through grooves to facilitate the installation and configuration adjustment of related accessories. Depending on the assembly form of different accessories, the counterweight module can form a variety of configuration types, such as a positive T-type (see Figure 1 and Figure 3 ), H type (see Figure 4 ) and oblique T-type (see Figure 5 ). The positive T-type assembly relationship is that the counterweight rods are assembled vertically and staggered with the basic wire rods in a T-shaped space through 90° cross joints; the counterweight rods and the basic wire rods are circumferentially provided with concave through grooves, and their relative positions in space can be adjusted arbitrarily. The H-type assembly relationship is that multiple counterweight rods are connected in parallel through parallel fixed joints; the oblique T-type assembly relationship is that the counterweight rods are assembled cross-assembled with the basic wire rods in an oblique T plane through 45° external joints. After the positive T-type and H-type counterweight modules are circumferentially fixed to the vertical basic wire rods of the space target body, the overall appearance is a skirt configuration, also called an L-type configuration (see Figure 3 and Figure 4The oblique T-shaped circumferential direction presents an octopus configuration, also known as an inverted V configuration (see Figure 5 and Figure 7 ).

[0034] By selecting different numbers and weights of the counterweight rods 402 and joints, various counterweight solutions for the test device can be realized. This embodiment shows three counterweight module configurations: positive T-type, H-type and oblique T-type, but the types of configurations that can be formed are not limited to these.

[0035] In a preferred embodiment, the positive T-shaped counterweight module is as follows Figure 3 As shown, the counterweight rod 402 is vertically staggered with the basic wire rod 404 in space through a 90° cross joint 403, and the basic wire rod 404 is connected to the vertical basic wire rod 106 in the space target body 1 through a 45° external joint 401. The counterweight rod 402 and the basic wire rod 404 are circumferentially provided with concave through grooves, and their relative spatial positions can be adjusted arbitrarily. By installing eight positive T-shaped counterweight modules circumferentially, the target simulator as a whole has an outer skirt configuration. It should be noted that the number and weight of the counterweight rods 402 can be configured according to different test requirements.

[0036] In a preferred embodiment, the H-type counterweight module is as follows Figure 4 As shown, the counterweight rods 402 are connected by parallel fixed joints 405. The counterweight rods 402 are parallel to each other and are fixed to the vertical base wire rods 106 in the space target body 1 by 90° cross joints 403. By installing four H-shaped counterweight modules circumferentially, the target simulator is in an inner skirt configuration as a whole.

[0037] In a preferred embodiment, the oblique T-shaped counterweight module is as follows Figure 5 As shown, the counterweight rod 402 is directly connected to the vertical basic wire rod 106 in the space target body 1 through a 45° external joint 401. By installing eight oblique T-shaped counterweight modules circumferentially, the target simulator is in an octopus configuration as a whole.

[0038] refer to Figure 1 and Figure 6 The solar sailboard 5 includes a sailboard basic frame 502, a sailboard skin 501, an aluminum angle 503 and a sailboard connecting shaft 504. One end of the sailboard connecting shaft 504 is connected to the lower T-slot wire rod 107 on the outer side of the vertical basic wire rod 106 through an anchor connecting pin 505. The solar sailboard 5 can adjust the inclination angle by winding around the sailboard connecting shaft 504. The other end of the sailboard connecting shaft 504 is connected to the sailboard basic frame 502 through an anchor connecting pin 505, and the position is reinforced and connected through the aluminum angle 503. The sailboard basic frame 502 is assembled from five sections of aluminum profiles. T-slot holes are provided on the aluminum profiles to facilitate the installation of the sailboard skin 501.

[0039] The data measurement and acquisition system 6 includes a MEMS gyroscope 601, a lithium battery 602, an industrial computer 603, an array pressure sensor 604, an acquisition card, and a motion capture reflective ball. The industrial computer 603, the lithium battery 602, and the MEMS gyroscope 601 are fixed to the main body substrate 108 of the space target body 1 by screws; the main body substrate 108 is provided with a through hole for installing the industrial computer 603, the lithium battery 602, and the MEMS gyroscope 601 components. The array pressure sensor 604 and the motion capture reflective ball are installed on the sailboard skin 501 according to the test requirements (refer to Figure 1 ) or on the body skin 101 of the space object (reference Figure 3 ). If an array pressure sensor and a motion capture reflective ball can be installed on the sailboard skin 501, the physical quantities such as the contact collision force of the sailboard, the translation speed and displacement of the sailboard tail wing can be measured.

[0040] During the test, the ground simulation device can be assembled and weighted in different configurations according to the task (dynamic parameter identification, deracination and capture). Figure 1 ), single sailboard configuration (reference Figure 6 ) and without sailboard configuration (reference Figure 7 ). This implementation scheme can provide a low-cost, multifunctional and reconfigurable solution for the dynamic parameter identification, racemization and capture experiments of multi-axis motion targets in space under a ground microgravity environment.

[0041] The following will be combined Figure 1 to Figure 7 , describe in detail the configuration reconstruction principle and working mode of the ground simulation device of the present invention.

[0042] Rapid reconstruction process: The so-called rapid reconstruction should meet the requirements of simple disassembly and assembly process and short working time, and reconstruction of the configuration based on existing parts (that is, without increasing costs). Here, the reconstruction of the outer skirt type double sailboard configuration into the inner skirt type single sailboard configuration is taken as an example. First, loosen the anchor connection pin 505 located at the sailboard connection shaft 504, and detach the solar sailboard 5 from the T-slot wire rod 107 of the space target body 1. Open the lower skin 101 of the space target body (the skin can be flipped around the damping connector 102), loosen the bolts on the 45° external joint 401, and remove the positive T-shaped counterweight module from the space target body column. Then loosen the 90° cross joint 403 on the H-shaped counterweight module, install it at the appropriate position of the vertical base wire rod 106 of the space target body 1 and perform balancing adjustment, then close the lower skin 101 of the space target body, and the reconstruction is completed.

[0043] The workflow of the derotation task: First, the initial attitude is confirmed. Open the upper skin 101 of the space target body, turn on the industrial computer 603, and read the attitude data of the MEMS gyroscope 601. Confirm whether the array pressure sensor 604 is working properly, check the peripheral motion capture system to obtain the motion capture reflective ball and initialize it. Fine-tune the spatial position of the counterweight module 4 to meet the target attitude and inertia distribution requirements, and close the upper skin 101 of the space target body. And adjust the array pressure sensor 604 to be located at the derotation impact contact point. Then, drive the space target body 1 to rotate around the ball bearing 202 until the preset rotation angular velocity is reached. This process can be determined based on the feedback data of the MEMS gyroscope 601. Open the gas cylinder valve so that the target floats on the marble platform as a whole. The derotation end impacts the solar sail panel 5, and at the same time collects data for the array pressure sensor 604, MEMS gyroscope 601 and motion capture reflective ball. Repeat the impact process and continue to collect data until the angular momentum decays to the preset value or zero, and the derotation is completed.

[0044] The above embodiments should not be regarded as limitations on the space target device of the present invention, but any non-substantial improvements based on the specific embodiments of the present invention should be within the scope of protection of the claims of the present invention. Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are only examples of the principles and applications of the present invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed, as long as they do not deviate from the spirit and scope of the present invention as defined by the appended claims. Although the present invention has been disclosed as above in preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Ordinary technicians in this field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention is based on the scope defined by the claims.

Claims

1. A ground simulation device for reconstructing a multi-axis moving target in space, characterized in that: The invention comprises a space target body (1), a ball joint support module (2), a three-degree-of-freedom simulator (3), a counterweight module (4), a solar sail panel module (5) and a data measurement and acquisition system (6); wherein the space target body (1) is connected to the three-degree-of-freedom simulator (3) through the ball joint support module (2) to realize multi-axis composite motion of pitch, roll, yaw and translation; the solar sail panel module (5) is installed on the space target body (1) through an anchor connection pin (505); the counterweight module (4) is connected to a vertical base wire rod (106) inside the space target body (1) by using a 90° cross joint (403) or a 45° external joint (401), and the overall mass and inertia tensor distribution of the space target are realized by adjusting the relative position; the data measurement and acquisition system (6) is arranged inside the space target body (1) to identify, derotate and capture dynamic parameters.

2. A ground simulation device for reconstructing a multi-axis moving target in space according to claim 1, characterized in that: The space target body (1) is a symmetrical polyhedron structure. The space target body (1) comprises an internal skeleton, a body substrate (108) and a body skin (101). The internal skeleton is composed of an octagonal horizontal skeleton and a vertical skeleton. The octagonal horizontal skeleton is composed of 8 horizontal basic wire rods (109), 8 external T-shaped joints (104) and 8 135° internal joints (103) connected in sequence. The surface of the horizontal basic wire rod (109) is provided with a concave through groove in the circumferential direction to facilitate the installation of related accessories. The external T-shaped joint (104) is located in the middle of the horizontal basic wire rod (109). The vertical frame comprises 8 vertical basic wire rods (106), 20 90° cross joints (105) and 20 T-slot wire rods (107). The top of the vertical basic wire rod (106) is connected to the octagonal horizontal frame through the outer T-joint (104). A 90° cross joint (105) is installed at the inner middle and the upper and lower ends of each vertical basic wire rod (106). The 90° cross joints (105) are connected to the T-slot wire rods (107) respectively. The T-slot wire rod (107) is fixed to the vertical base wire rod (106) through the inner 90° cross joint (105), and the inner T-slot wire rod 107 is connected to the body substrate 108; the outer T-slot wire rod (107) is connected to the body skin (101), forming the outer shell of the space target body (1); the body skin (101) is divided into five layers from top to bottom, and the layers are connected by the damping connector (102), and the body skin (101) can rotate around the axis of the damping connector 102.

3. A ground simulation device for reconstructing a multi-axis moving target in space according to claim 2, characterized in that: The ball joint support module (2) comprises a ball screw (201), a ball bearing (202), an optical axis (203) and an optical axis fixing seat (204); the ball screw (201) is used to connect the ball bearing (202) and the main body substrate (108); both ends of the optical axis (203) are provided with threads; the upper end of the optical axis (203) is connected to the threaded hole of the ball bearing (202); the lower end of the optical axis (203) is connected to the upper base plate 303 of the three-degree-of-freedom simulator (3) through the optical axis fixing seat (204); the ball joint support module (2) has three rotational degrees of freedom, namely, pitch, roll and yaw, and is used to simulate the single-degree-of-freedom spin, two-degree-of-freedom spin and precession, and three-degree-of-freedom composite motion of spin, nutation and precession of a space target.

4. A ground simulation device for reconstructing a multi-axis moving target in space according to claim 1, characterized in that: The three-degree-of-freedom simulator (3) comprises a vertical aluminum profile (301), a lower base plate (302), an upper base plate (303), a high-pressure gas cylinder (304), a gas foot screw (305) and a gas foot (306); the upper base plate (303) and the lower base plate (302) are connected via the vertical aluminum profile (301) and angle aluminum (307) to form a basic structural frame of the three-degree-of-freedom simulator; the high-pressure gas cylinder (304) and its accessories are installed on the lower base plate (302); three gas feet (306) are installed below the lower base plate (302) via three gas foot screws (305); high-pressure and high-speed gas is sprayed via the gas feet (306) to realize the front-back, left-right translation and yaw rotation movement of the three-degree-of-freedom simulator in a frictionless zero-gravity state on a marble plane, so as to simulate the physical movement phenomenon of the test device after passive collision contact occurs during the de-rotation capture process.

5. The ground simulation device for reconstructing a multi-axis moving target in space according to claim 1, characterized in that: The counterweight module (4) (4) comprises a 45° external joint (401), a counterweight rod (402), a 90° cross joint (403), a basic wire rod (404) and a parallel fixed joint (405); the counterweight module (4) has the function of adjusting the overall center of mass position and inertia tensor of the space target, and can also meet the test requirements of different initial postures and offsets of the space target; wherein, the counterweight rod (402) and the basic wire rod (404) are provided with concave through grooves in the circumferential direction of the surface, which is convenient for the installation and configuration adjustment of related accessories; depending on the assembly form of different accessories, the counterweight module (4) can be formed into a positive T-type, an H-type and an oblique T-type.

6. A ground simulation device for reconstructing a multi-axis moving target in space according to claim 2, characterized in that: The solar sail panel (5) comprises a sail panel skin (501), a sail panel basic frame (502), angle aluminum (503) and a sail panel connecting shaft (504); wherein one end of the sail panel connecting shaft (504) is connected to a T-slot wire rod (107) on the lower outer side of the vertical base wire rod (106) via an anchor connecting pin (505), and the solar sail panel (5) can adjust the inclination angle by winding around the sail panel connecting shaft (504); the other end of the sail panel connecting shaft (504) is connected to the sail panel basic frame (502) via an anchor connecting pin (505), and the connection position is reinforced by the angle aluminum (503); the sail panel basic frame (502) is assembled from five sections of aluminum profiles, and a T-slot hole is provided on the aluminum profile to facilitate the installation of the sail panel skin (501).

7. A ground simulation device for reconstructing a multi-axis moving target in space according to claim 6, characterized in that: The data measurement and acquisition system (6) comprises a MEMS gyroscope (601), a lithium battery (602), an industrial computer (603), an array pressure sensor (604), an acquisition card and a motion capture reflective ball; wherein the industrial computer (603), the lithium battery (602) and the MEMS gyroscope (601) are fixed on a body substrate (108) of the space target body (1) by screws; and the array pressure sensor (604), the acquisition card and the motion capture reflective ball are installed on the sailboard skin (501) or on the body skin (101) of the space target body (1) according to test requirements.

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