Non-contact satellite platform inter-cabin position and posture limit resolving method and non-contact satellite platform inter-cabin position and posture limit resolving system

Abstract

The invention provides a non-contact satellite platform inter-cabin pose limit resolving method and system, and the method comprises the steps: analyzing and building a mathematical model of inter-cabin single-machine cooperation characteristics, calculating and determining a limit position point when the relative attitude of two cabins changes, building a pose constraint model through the orientation constraint determined by a motion space and the rotation angle of each coordinate axis, and solving the pose limit of the two cabins. And calculating to obtain the relative attitude constraint limit of the two cabins. The non-contact satellite platform inter-cabin pose limit calculation method and system are established from the perspective of theoretical analysis and a mathematical model, and the method and system are suitable for calculation of most single-machine pose limits with matching characteristics and have good application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of satellites, and in particular, to a non-contact satellite platform inter-module pose limit calculation method and system. Background Art

[0002] Traditional satellite platforms are affected by vibration interference caused by moving components such as flywheels and thrusters, and flexible components such as solar panels and large deployable antennas. It is difficult to achieve a breakthrough in the pointing accuracy and attitude stability by an order of magnitude, and it cannot meet the requirements of ultra-high pointing accuracy and ultra-high stability for ultra-high-precision target observations in fields such as earth remote sensing observation and deep space exploration. The non-contact satellite platform splits the satellite platform into a platform module and a payload module through a non-contact actuator, isolates the influence of the vibration source components on the payload, and controls the payload module to achieve ultra-high precision and ultra-high stability pointing.

[0003] Single machines such as pose adjustment devices, repeated connection devices, and rigid bearing devices during the active section are arranged between the two modules of the non-contact satellite platform. The movement space of the single machine determines the pose limit between the two modules, which is an important input for the attitude control of the non-contact satellite platform. At present, the pose limits of the two modules are mostly initially calculated based on the relative movement range of a certain single machine, and then the interference of other single machines is checked based on this value. The process is simple but requires repeated iteration, and no systematic and efficient calculation method has been formed, which is only suitable for the case of a small number of single machines between the modules. Therefore, a more general non-contact satellite platform inter-module pose limit calculation method is needed. Summary of the Invention

[0004] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a non-contact satellite platform inter-module pose limit calculation method and system.

[0005] The non-contact satellite platform inter-module pose limit calculation method provided by the present invention includes:

[0006] Step S1: Select the relative pose calculation coordinate system of the payload module and the platform module of the non-contact satellite platform as the basic coordinate system, and convert the single machine model data to the basic coordinate system according to the coordinate transformation relationship;

[0007] Step S2: Analyze the paired cooperation characteristics of the single machines between the modules belonging to the payload module and the platform module, establish mathematical models with different cooperation characteristics, and calculate the limit position points when rotating around the coordinate axes of the basic coordinate system;

[0008] Step S3: Establish the rotation models of the payload module around the coordinate axes of the basic coordinate system, determine the displacement azimuth constraints of the limit position points corresponding to the rotation angles of each coordinate axis, analyze the relative movement range of the single machine cooperation characteristics between the modules, and establish the pose constraint model between the two modules;

[0009] Step S4: Calculate the limit attitude of the payload compartment under the single-machine motion constraints of different compartments, and use the minimum angles of forward rotation and reverse rotation as the attitude limits between the two compartments.

[0010] Preferably, the step S2 includes:

[0011] Step S2.1: Analyze the mating feature structure and determine the types, including planar mating features, curved surface mating features, and combined mating features;

[0012] Step S2.2: Establish a mathematical model of the mating features according to the planar mating features and curved surface mating features;

[0013] Step S2.3: Calculate the limit position points of the single-machine mating features between compartments when rotating around the axes of the base coordinate system. The limit position points are the contact points where the single machines between compartments are most likely to interfere during the relative movement of the two compartments.

[0014] Preferably, the step S2.3 includes: constructing the minimum outer contour parallel to the axes of the base coordinate system and enclosing the planar mating features and curved surface mating features. The limit position points are the intersections of the minimum outer contour and the mating features.

[0015] Preferably, the step S3 includes:

[0016] Step S3.1: Determine the displacement azimuth constraints corresponding to the rotation of different coordinate axes according to the displacement change amounts of the limit position points after rotation around the axes of the base coordinate system;

[0017] Step S3.2: Analyze the relative motion range of the single-machine mating features between compartments and establish a pose constraint model for the two compartments;

[0018] Step S3.3: Check whether the constraints are valid or pseudo-constraints, and update the pose constraint model for the two compartments.

[0019] According to the non-contact satellite platform inter-compartment pose limit calculation system provided by the present invention, it includes:

[0020] Module M1: Select the relative pose calculation coordinate system of the payload compartment and the platform compartment of the non-contact satellite platform as the base coordinate system, and convert the single-machine model data into this coordinate system according to the coordinate transformation relationship;

[0021] Module M2: Analyze the paired mating features of the single machines between compartments belonging to the payload compartment and the platform compartment, establish a mathematical model of different mating features, and calculate the limit position points when rotating around the axes of the base coordinate system;

[0022] Module M3: Establish a rotation model of the payload compartment around each axis of the base coordinate system, determine the displacement azimuth constraints of the limit position points corresponding to the rotation angles of each axis, analyze the relative motion range of the single-machine mating features between compartments, and establish a pose constraint model for the two compartments;

[0023] Module M4: Calculate the ultimate attitude of the payload compartment under the single-machine motion constraints of different compartments, and use the minimum angles of forward rotation and reverse rotation as the attitude limits between the two compartments.

[0024] Preferably, the module M2 includes:

[0025] Module M2.1: Analyze the mating feature structure and determine the type, including planar mating features, curved surface mating features, and combined mating features;

[0026] Module M2.2: Establish a mathematical model of the mating feature based on the planar mating feature and the curved surface mating feature;

[0027] Module M2.3: Calculate the limit position points of the single-machine mating features between compartments when rotating around the axes of the base coordinate system. The limit position points are the contact points where interference is most likely to occur between the two compartments during relative motion.

[0028] Preferably, the module M2.3 includes: Construct the minimum outer contour parallel to the axes of the base coordinate system and enclosing the planar mating feature and the curved surface mating feature. The limit position points are the intersection points of the minimum outer contour and the mating feature.

[0029] Preferably, the module M3 includes:

[0030] Module M3.1: Determine the displacement azimuth constraints corresponding to different axis rotations according to the displacement change amount of the limit position points after rotation around the axes;

[0031] Module M3.2: Analyze the relative motion range of the single-machine mating features between compartments and establish a pose constraint model for the two compartments;

[0032] Module M3.3: Check whether the constraints are valid or pseudo-constraints, and update the pose constraint model for the two compartments.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention analyzes and establishes a mathematical model of the single-machine mating features between compartments, calculates and determines the limit position points when the relative attitude of the two compartments changes, uses the motion space and the azimuth constraints determined by the rotation angles of each axis to establish a pose constraint model, and calculates the relative attitude constraint limits of the two compartments; from the perspectives of theoretical analysis and mathematical models, the present invention establishes a non-contact satellite platform inter-compartment pose limit calculation method and system, which is applicable to the calculation of the attitude limits of most single machines with mating features and has good application prospects. Description of the Drawings

[0035] By reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings, other features, objectives, and advantages of the present invention will become more apparent:

[0036] Figure 1 This is the flowchart of the method of the present invention. Detailed implementation manners

[0037] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0038] Embodiment 1

[0039] Refer to Figure 1 As shown, the present invention provides a non-contact method for calculating the limit of the internal pose of a satellite platform. The general idea is: construct a mathematical model of different cooperation characteristics of single machines between cabins, calculate the limit position points when the two cabins move relative to each other, establish a constraint model according to the coordinate transformation model and the motion space of the single machine, and solve to obtain the limit of the relative pose of the contact satellite platform.

[0040] The specific steps are as follows:

[0041] Step S1: Select the relative pose calculation coordinate system of the payload cabin and the platform cabin of the non-contact satellite platform as the basic coordinate system, and convert the single machine model data to this coordinate system according to the coordinate transformation relationship;

[0042] Step S2: Analyze the paired cooperation characteristics of the single machines between the cabins belonging to the payload cabin and the platform cabin (when the two cabins move relative to each other, the cooperation characteristics may be in contact or there may be gaps), and establish a mathematical model of different cooperation characteristics.

[0043] (1) Plane cooperation characteristics

[0044] The plane cooperation characteristics generally include rectangles, circles, general curves and their combinations. The rectangle feature is characterized by the plane normal vector and vertices; the circle feature is characterized by the coordinate transformation model and the polar coordinate parametric equation in the local coordinate system in the plane (with the center of the circle as the origin, the plane normal as the z-axis, any radial direction as the x-axis, and the y-axis conforming to the right-hand screw rule); the general curve feature is represented in a similar way to the circle feature, through the coordinate transformation model and the curve parametric equation; the combined feature is characterized by the coordinate transformation model and the parametric equations of the straight lines, arcs or general curves corresponding to each segment of the line segment.

[0045] (a) Rectangle

[0046]

[0047] (b) Circle

[0048]

[0049] (c) General curve

[0050]

[0051] Represents the normal direction of a point in three-dimensional space; P1, P2, …, P m Are coordinate points in space, specific positions on a surface, or points on other geometric features; R represents a rotation matrix used to describe the rotational transformation between coordinate systems; t represents a translation vector used to describe the translational transformation between coordinate systems; r represents the distance from a point to the origin in polar coordinates; θ represents the angle between the point and the positive direction in polar coordinates; p represents the coordinates of the transformed point; q represents the coordinates of the original point; q1, q2, …, q m Are a series of points or vectors representing positions or directions in a certain reference coordinate system; l1, l2, …, l m A series of functions or mappings used to map s ij To the corresponding q values; s ij Is an input parameter, which is a certain state or measurement value.

[0052] (2) Surface mating feature

[0053] Surface mating features generally include cylindrical surfaces and spherical surfaces. The cylindrical surface feature is characterized by using a coordinate transformation model and the polar coordinate parametric equation of the cylindrical surface in a local coordinate system (with the center of one end face circle as the origin, the central axis of the cylinder as the z-axis, any radial direction as the x-axis, and the y-axis conforming to the right-hand screw rule); the spherical surface feature is characterized by using a coordinate transformation model and the polar coordinate parametric equation in a local coordinate system (with the center of the sphere as the origin and each coordinate axis parallel to the coordinate axes of the basic coordinate system).

[0054] (a) Cylindrical surface

[0055]

[0056] (b) Spherical surface

[0057]

[0058] h represents the height of a point along the central axis of the cylindrical surface; η represents the height of a point along the vertical axis.

[0059] (3) Composite mating feature

[0060] Composite mating features are deconstructed into planar mating features and surface mating features according to the feature type, and the difference lies in that the surface mating feature is the boundary of the polar coordinate parametric equation.

[0061] Step S3: Calculate the limit position points when rotating around the axes of the basic coordinate system according to the mathematical model of the single-machine layout and mating characteristics between cabins. The limit position points are the contact points where interference between single machines in cabins is highly likely to occur during the relative movement between two cabins.

[0062] (1) Plane mating characteristics

[0063] (a) Rectangle: vertices.

[0064] (b) Arc, general curve: the intersection points of the minimum outer contour parallel to the axes of the basic coordinate system and enclosing such characteristics with the arc or general curve. The intersection points may be end points or intermediate points, depending on the actual relative attitude of the two cabins.

[0065] (2) Surface mating characteristics

[0066] (a) Cylindrical surface: the intersection points of the minimum outer contour parallel to the axes of the basic coordinate system and enclosing such characteristics with the cylindrical surface. The intersection points are on the two end face circles and change with the relative attitude of the two cabins.

[0067] (b) Spherical surface: any point on the spherical surface.

[0068] Step S4: Select the platform cabin as the fixed reference and the payload cabin as the rotating component, establish the rotation model of the payload cabin around each axis of the basic coordinate system, and determine the displacement azimuth constraints corresponding to the rotation angles of each axis.

[0069] (1) x-axis: The coordinate change amount after rotation transformation is dP = R x P - P, R x is the rotation matrix around the x-axis, and the displacement constraint of the limit position point is on the y-axis and z-axis.

[0070] (2) y-axis: The coordinate change amount after rotation transformation is dP = R y P - P, R y is the rotation matrix around the y-axis, and the displacement constraint of the limit position point is on the x-axis and z-axis.

[0071] (3) z-axis: The coordinate change amount after rotation transformation is dP = R z P - P, R z is the rotation matrix around the z-axis, and the displacement constraint of the limit position point is on the x-axis and y-axis.

[0072] Step S5: Analyze the relative movement range of the single-machine mating characteristics between cabins, and establish the pose constraint model of the two cabins in combination with the displacement azimuth constraints of the limit position points.

[0073] (1) x-axis

[0074] The displacement change amount of the limit position point after the payload cabin rotates by an angle α around the x-axis is:

[0075] d y = P y cosα - P z sinα - P y ∈ [dy L , dy U

[0076] d z = P y sinα + P z cosα - P z ∈ [dz L , dz U

[0077] Let and Combined with the single-machine motion range between compartments, the constraint model is:

[0078]

[0079] P y , P z The y and z coordinates of the extreme position point in the initial coordinate system; [dy L , dy U and [dz L , dz U are the constraint ranges of the displacement change; φ is the angle of the extreme position point in the initial coordinate system.

[0080] (2) y-axis

[0081] The displacement change of the extreme position point after rotating β angle around the y-axis in the load compartment is:

[0082] d x = P x cosβ + P z sinβ - P x ∈ [dx L , dx U

[0083] d z = -P x sinβ + P z cosβ - P z ∈ [dz L , dz U

[0084] Let and Combined with the single-machine motion range between compartments, the constraint model is:

[0085]

[0086] (3) z-axis ​​​​

[0087] The displacement change of the extreme position point after the load cabin rotates by an angle γ around the z-axis is:

[0088] d x = P x cosγ - P y sinγ - P x ∈[dx L , dx U

[0089] d y = P x sinγ + P y cosγ - P y ∈[dy L , dy U

[0090] Let and Combined with the single-machine motion range between cabins, the constraint model is:

[0091]

[0092] (4) Constraint check

[0093] Whether the trigonometric operation constraints in the model satisfy [-1, 1]. If the upper or lower limit exceeds the limit, the corresponding rotation limit constraint is not formed.

[0094] Step S6: According to the pose constraint model between the two cabins, calculate the extreme poses of the load cabin under different single-machine motion constraints between the cabins, and use the minimum angles of forward rotation and reverse rotation as the pose limits between the two cabins.

[0095] Embodiment 2

[0096] The present invention also provides a non-contact satellite platform inter-cabin pose extreme solution system. The non-contact satellite platform inter-cabin pose extreme solution system can be implemented by executing the process steps of the non-contact satellite platform inter-cabin pose extreme solution method. That is, those skilled in the art can understand the non-contact satellite platform inter-cabin pose extreme solution method as the preferred embodiment of the non-contact satellite platform inter-cabin pose extreme solution system.

[0097] ​​Specifically, a non-contact satellite platform inter-cabin pose limit calculation system includes: Module M1: Select the load cabin of the non-contact satellite platform and the relative pose calculation coordinate system of the platform cabin as the basic coordinate system, and convert the single-machine model data to this coordinate system according to the coordinate transformation relationship; Module M2: Analyze the paired cooperation characteristics of the single machines in the cabins belonging to the load cabin and the platform cabin, establish mathematical models of different cooperation characteristics, and calculate the limit position points when rotating around the coordinate axes of the basic coordinate system; Module M3: Establish the rotation models of the load cabin around the coordinate axes of the basic coordinate system, determine the displacement azimuth constraints corresponding to the rotation angles of each coordinate axis, analyze the relative motion range of the single-machine cooperation characteristics in the cabins, and establish the pose constraint model of the two cabins; Module M4: Calculate the limit poses of the load cabin under different motion constraints of the single machines in the cabins, and use the minimum angles of forward rotation and reverse rotation as the pose limits between the two cabins.

[0098] The said Module M2 includes: Module M2.1: Analyze the cooperation feature structure and determine the types, generally including planar cooperation features, curved surface cooperation features, and combined cooperation features; Module M2.2: Establish the mathematical models of the cooperation features according to the planar cooperation features (rectangle, circle, general curve), curved surface cooperation features (cylindrical surface, spherical surface), etc.; Module M2.3: Calculate the limit position points of the single-machine cooperation features in the cabins when rotating around the coordinate axes of the basic coordinate system. The limit position points are the contact points where the single machines in the cabins are most likely to interfere during the relative motion of the two cabins.

[0099] The said Module M3 includes: Module M3.1: Determine the displacement azimuth constraints corresponding to the rotation of different coordinate axes according to the displacement change amount of the limit position points after rotation along the coordinate axes; Module M3.2: Analyze the relative motion range of the single-machine cooperation features in the cabins, and establish the pose constraint model of the two cabins; Module M3.3: Check whether the constraints are valid or pseudo-constraints, and update the pose constraint model of the two cabins.

[0100] Those skilled in the art know that in addition to implementing the systems, devices, and their respective modules provided by the present invention in the form of pure computer-readable program codes, the method steps can be logically programmed to enable the systems, devices, and their respective modules provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers, etc., to achieve the same program. Therefore, the systems, devices, and their respective modules provided by the present invention can be regarded as a kind of hardware component, and the modules included therein for implementing various programs can also be regarded as the structures within the hardware component; the modules for implementing various functions can also be regarded as either software programs for implementing the methods or the structures within the hardware component.

[0101] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined arbitrarily with each other.

Claims

1. A non-contact satellite platform cabin attitude limit solution method, characterized in that: include: Step S1: Select the relative posture calculation coordinate system of the payload cabin and the platform cabin of the non-contact satellite platform as the basic coordinate system, and convert the single-machine model data to the basic coordinate system according to the coordinate conversion relationship; Step S2: Analyze the paired matching characteristics of the inter-cabin single machine belonging to the load cabin and the platform cabin, establish mathematical models with different matching characteristics, and calculate the limit position points when rotating around the coordinate axis of the basic coordinate system; Step S3: Establish a rotation model of the payload cabin around each coordinate axis of the basic coordinate system, determine the displacement azimuth constraints of the extreme position points corresponding to the rotation angles of each coordinate axis, analyze the relative motion range of the single-machine matching characteristics between cabins, and establish a posture constraint model for the two cabins; Step S4: Calculate the limit attitude of the payload cabin under the single-machine motion constraints between different cabins, and take the minimum angles of forward rotation and reverse rotation as the attitude limit between the two cabins.

2. The non-contact satellite platform inter-cabin attitude limit solution method according to claim 1 is characterized in that: The step S2 comprises: Step S2.1: Analyze the matching feature structure and determine the type, including plane matching feature, surface matching feature and combined matching feature; Step S2.2: establishing a mathematical model of the fit feature according to the plane fit feature and the surface fit feature; Step S2.3: Calculate the limit position points of the single-unit matching features between cabins when rotating around the coordinate axis of the basic coordinate system. The limit position points are the contact points where the single-unit between cabins are most likely to interfere when the two cabins move relative to each other.

3. The non-contact satellite platform inter-cabin attitude limit solution method according to claim 2 is characterized in that: The step S2.3 includes: constructing a minimum outer contour parallel to the coordinate axis of the basic coordinate system, the envelope plane matching feature, and the surface matching feature, and the extreme position point is the intersection point of the minimum outer contour and the matching feature.

4. The non-contact satellite platform inter-cabin attitude limit solution method according to claim 1 is characterized in that: The step S3 comprises: Step S3.1: Determine the displacement orientation constraints corresponding to different coordinate axis rotations according to the displacement change of the limit position point after the coordinate axis is rotated; Step S3.2: Analyze the relative motion range of the single-machine coordination characteristics between cabins and establish a posture constraint model for the two cabins; Step S3.3: Check whether the constraint is valid or a false constraint, and update the two-cabin posture constraint model.

5. A non-contact satellite platform inter-cabin attitude limit solution system, characterized in that: include: Module M1: Select the relative posture calculation coordinate system of the payload cabin and platform cabin of the non-contact satellite platform as the basic coordinate system, and transform the single-machine model data into this basic coordinate system according to the coordinate transformation relationship; Module M2: Analyze the paired matching characteristics of the single-unit inter-cabin belonging to the load cabin and the platform cabin, establish mathematical models with different matching characteristics, and calculate the extreme position points when rotating around the coordinate axis of the basic coordinate system; Module M3: Establish the rotation model of the payload cabin around the coordinate axes of the basic coordinate system, determine the displacement azimuth constraints of the extreme position points corresponding to the rotation angles of each coordinate axis, analyze the relative motion range of the single-machine matching characteristics between cabins, and establish the posture constraint model of the two cabins; Module M4: Calculate the extreme attitude of the payload cabin under the single-machine motion constraints between different cabins, and take the minimum angles of forward rotation and reverse rotation as the attitude limit between the two cabins.

6. The non-contact satellite platform inter-cabin attitude limit solution system according to claim 5, characterized in that: The module M2 comprises: Module M2.1: Analyze the structure of fit features and determine the types, including plane fit features, surface fit features, and combined fit features; Module M2.2: Establish mathematical models of fit features based on plane fit features and surface fit features; Module M2.3: Calculate the extreme position points of the single-unit matching features between cabins when rotating around the coordinate axis of the basic coordinate system. The extreme position points are the contact points where the single-unit between cabins is most likely to interfere when the two cabins move relative to each other.

7. The non-contact satellite platform inter-cabin attitude limit solution system according to claim 6, characterized in that: The module M2.3 includes: constructing a minimum outer contour parallel to the coordinate axis of the basic coordinate system, an envelope plane matching feature, and a surface matching feature, and the extreme position point is the intersection point of the minimum outer contour and the matching feature.

8. The non-contact satellite platform inter-cabin attitude limit solution system according to claim 5, characterized in that: The module M3 comprises: Module M3.1: Determine the displacement orientation constraints corresponding to different coordinate axis rotations based on the displacement change of the extreme position point after the coordinate axis rotates; Module M3.2: Analyze the relative motion range of the single-machine coordination characteristics between cabins and establish the posture constraint model of the two cabins; Module M3.3: Check whether the constraints are valid or false, and update the posture constraint model of the two cabins.

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