Gas-magnetic hybrid micro-low gravity simulation test equipment

Abstract

The invention provides gas-magnetic hybrid micro-low gravity simulation test equipment which comprises a plane pose simulator, and a high-pressure gas supply unit, a control cabinet, a direct-current power supply unit and a stroke amplification mechanism which are mounted above the plane pose simulator, and the stroke amplification mechanism is located at the center of the plane pose simulator. And a vertical zero-stiffness mechanism, a spherical pose simulator, a spacecraft centroid adjusting platform and a pose measuring unit are sequentially mounted above the three-dimensional platform. The gas-magnetic hybrid micro-low gravity simulation test equipment lays a foundation for generalization and modularization of a spacecraft on-orbit service simulation test device, conforms to the development direction of technical and economic integration, and has important significance in shortening the space mechanism test period, improving the test precision, improving the reliability and avoiding repeated investment.

Description

Technical Field

[0001] The present invention belongs to the technical field of microgravity and low gravity, and in particular relates to a gas-magnetic hybrid microgravity and low gravity simulation test device. Background Art

[0002] With the rapid development of space technology, the number of on-orbit service tasks has increased significantly. The research on the position and attitude control of on-orbit service satellites is the basic guarantee for the smooth execution of space missions. When a service spacecraft approaches and captures a target spacecraft autonomously at close range, it is necessary to accurately control the speed, position, and attitude of the service spacecraft. Compared with traditional space missions, on-orbit service missions pose higher requirements for ground simulation tests. Most of the existing microgravity and low gravity simulation test devices adopt simulation methods based on a single performance, that is, either a separate full physical simulation method or a separate semi-physical simulation test method. The simulation method with a single performance is difficult to meet the ground simulation test requirements of on-orbit service spacecraft. The semi / full physical combined simulation test method based on cold thrusters also has certain deficiencies: 1) The simulation accuracy of the spacecraft boundary conditions is poor, with an accuracy of centimeter level, while the required accuracy for on-orbit service spacecraft is millimeter level; 2) The cold gas thrusters consume a large amount of gas. The gas consumption of the thrusters in the same device is about 10 times that of the air-bearing device, seriously affecting the working time of the test device; 3) The large consumption of high-pressure gas leads to significant changes in the overall mass and inertia of the test device, resulting in a significant decrease in the test accuracy and simulation effect, and it is difficult to meet the test accuracy requirements of the spacecraft's functions and performance indicators. Summary of the Invention

[0003] In view of this, the present invention aims to provide a gas-magnetic hybrid microgravity and low gravity simulation test device to solve the above technical problems.

[0004] To achieve the above object, the technical solution of the present invention is realized as follows: A gas-magnetic hybrid microgravity and low gravity simulation test device includes a planar position and attitude simulator, and a high-pressure gas supply unit, a control cabinet, a DC power supply unit, and a stroke amplification mechanism installed above it. The stroke amplification mechanism is located at the center of the planar position and attitude simulator, and a vertical zero-stiffness mechanism, a spherical position and attitude simulator, a spacecraft centroid adjustment platform, and a position and attitude measurement unit are sequentially installed above it. The position and attitude measurement unit is provided with a number of sensors for detecting the position, attitude, angular velocity, and angular acceleration information of the spacecraft. The planar position and attitude simulator is used to realize the full physical simulation of the planar motion of the spacecraft; the spherical position and attitude simulator is used to realize the high-precision semi-physical simulation of the angular velocity and attitude boundaries of the spacecraft; the vertical zero-stiffness mechanism and the stroke amplification mechanism cooperate to realize the vertical large-stroke constant force support.

[0005] Furthermore, the planar pose simulator includes a magnetic levitation table, a porous aerostatic bearing disposed above the magnetic levitation table, and a speed-up device. The speed-up device is installed inside the porous aerostatic bearing and is used to perform high-precision semi-physical simulation on the speed and position boundaries of the spacecraft. The porous aerostatic bearing is used to provide a stable aerostatic repulsive force to balance the gravity of the spacecraft and the equipment itself, so that the whole equipment is in an aerostatic suspension state, realizing the full physical simulation of the planar motion of the spacecraft.

[0006] Furthermore, the porous aerostatic bearing includes a bearing housing and porous graphite installed below the bearing housing. The porous graphite is in a ring structure, and the bearing housing is a hollow frustum with openings at both the top and bottom. There are several annular grooves on the bearing housing, and a high-pressure air supply hole is provided on the bearing housing. The high-pressure air supply hole communicates with the annular groove on the bearing end face. The high-pressure air supply unit is introduced through the high-pressure air supply hole and enters the gap of the porous aerostatic bearing through countless capillary pores in the porous graphite to form a high-pressure air film.

[0007] Furthermore, the speed-up device includes 12 independently powered armature windings. Each armature winding is internally provided with a second mover iron core, and a first mover iron core is provided between two adjacent armature windings.

[0008] Furthermore, the spherical pose simulator includes an aerostatic bearing stator and a balanced mover magnetic levitation ball above the aerostatic bearing stator. After high-pressure nitrogen is introduced into the aerostatic bearing stator, it can provide a stable aerostatic repulsive force to balance the gravity of the mover magnetic levitation ball, the spacecraft, and the spacecraft centroid adjustment platform, so that the magnetic levitation ball is in an aerostatic suspension state, realizing the full physical simulation of the attitude of the spacecraft.

[0009] Furthermore, the spacecraft centroid adjustment platform includes a platform main body and a pose measurement unit connection plate installed outside the platform main body. A spacecraft connection plate and a counterweight are also installed on the platform main body. The counterweight makes the combined centroid of the spacecraft centroid adjustment platform located at the center of the ball of the mover magnetic levitation ball.

[0010] Furthermore, the aerostatic bearing stator is composed of a stator spherical housing and porous spherical graphite disposed at the bottom of the stator spherical housing. A number of stator magnetic cores are circumferentially distributed on the stator spherical housing. Each stator magnetic core is internally provided with a number of electromagnetic windings and iron cores. The electromagnetic windings and iron cores, the stator magnetic cores, the mover magnetic levitation ball, the control cabinet, and the DC power supply unit form an attitude simulation device. By controlling the three-way excitation current in the electromagnetic windings, an induced electromagnetic force is generated to control the attitude of the mover magnetic levitation ball, realizing high-precision semi-physical simulation of the angular velocity and attitude boundaries of the spacecraft.

[0011] Furthermore, the vertical zero-stiffness mechanism includes a top plate and a bottom plate. A grating sensor, a plurality of spring units, and a plurality of magnetic units are installed between the top plate and the bottom plate. The spring units are used to provide positive stiffness in the vertical upward direction, and the magnetic units are used to provide negative stiffness in the downward direction.

[0012] Furthermore, the magnetic unit includes an upper magnet installed on the top plate and a lower magnet installed on the bottom plate, and a magnetic force can be generated between the upper magnet and the lower magnet without contact.

[0013] Furthermore, the stroke amplification mechanism includes a movable frame, a fixed frame, and a driving unit. The movable frame is fixedly connected to the bottom plate, slidably connected to the fixed frame below, and the driving unit drives the movable frame to move up and down along the fixed frame.

[0014] Compared with the prior art, the gas-magnetic hybrid micro low-gravity simulation test equipment of the present invention has the following advantages: (1) The gas-magnetic hybrid micro low-gravity simulation test equipment of the present invention lays a foundation for the generalization and modularization of the on-orbit service simulation test device of spacecraft, conforms to the development direction of the integration of technology and economy, and has important significance for shortening the test cycle of space mechanisms, improving test accuracy, improving reliability, and avoiding repeated investment.

[0015] (2) The gas-magnetic hybrid micro low-gravity simulation test equipment of the present invention has six-degree-of-freedom simulation and simulation capabilities, meets the test verification work in multiple fields such as mechanics, machinery, and control of each subsystem of the spacecraft, and ensures the on-orbit effectiveness of the spacecraft.

[0016] (3) For the gas-magnetic hybrid micro low-gravity simulation test equipment of the present invention, all moving joints are in a gas suspension state, realizing a high-fidelity dynamics test of an on-orbit service spacecraft, and vividly presenting the floating collision during on-orbit operation.

[0017] (4) The gas-magnetic hybrid planar and spherical pose simulator of the gas-magnetic hybrid micro low-gravity simulation test equipment of the present invention can realize the high-precision boundary condition simulation of the speed, position, and attitude of the spacecraft; semi-physical starting speed, full-physical collision, the integrated development of full and semi-modes, cross-innovation, and the innovation method meets the usage requirements of future on-orbit service spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 is a schematic diagram of the gas-magnetic hybrid micro low-gravity simulation test equipment according to an embodiment of the present invention; Figure 2 is an axonometric sectional view of the planar pose simulator according to an embodiment of the present invention; Figure 3 Full cross-sectional view of the planar pose simulator looking up according to the embodiment of the present invention; Figure 4 Axonometric view of the spacecraft centroid adjustment platform according to the embodiment of the present invention; Figure 5 Axonometric sectional view of the spherical pose simulator according to the embodiment of the present invention; Figure 6 Schematic diagram of the vertical zero stiffness mechanism and stroke amplification mechanism according to the embodiment of the present invention; Figure 7 is Figure 7 Enlarged view of part A in

[0019] Explanation of reference numerals: 1 - Planar pose simulator; 11 - Porous graphite plate, 12 - High - pressure gas path, 13 - Starting device, 14 - High - pressure air supply hole, 15 - Bearing housing; 16 - No. 2 mover iron core, 17 - No. 1 mover iron core, 18 - Armature winding; 2 - High - pressure gas supply unit; 3 - Control cabinet; 4 - DC power supply unit; 5 - Spacecraft centroid adjustment platform; 51 - Spacecraft connection plate, 52 - Pose measurement unit connection plate; 6 - Pose measurement unit; 7 - Spherical pose simulator; 71 - Stator spherical housing, 72 - Porous spherical graphite, 73 - Electromagnetic winding and iron core, 74 - Stator magnetic guiding iron core, 75 - Mover magnetic guiding air - floating ball; 8 - Vertical zero stiffness mechanism; 81 - Magnetic unit; 811 - Upper magnet, 812 - Lower magnet; 82 - Spring unit; 821 - Upper guiding column, 822 - Lower guiding column, 823 - Compression spring; 83 - Grating sensor; 84 - Top plate, 85 - Bottom plate; 9 - Stroke amplification mechanism; 91 - Movable frame, 92 - Fixed frame, 93 - Driving unit; 10 - Magnetic guiding air - floating platform. Detailed implementation manners

[0020] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0022] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0023] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0024] A gas-magnetic hybrid micro low-gravity simulation test device, as Figures 1 to 7 shown, includes a planar pose simulator 1, a high-pressure gas supply unit 2 installed above it, a control cabinet 3, a DC power supply unit 4, a spacecraft centroid adjustment platform 5, a pose measurement unit 6, a spherical pose simulator 7, a vertical zero-stiffness mechanism 8, and a stroke amplification mechanism 9. The stroke amplification mechanism 9 is located at the center of the planar pose simulator 1, and the vertical zero-stiffness mechanism 8, the spherical pose simulator 7, the spacecraft centroid adjustment platform 5, and the pose measurement unit 6 are sequentially installed above it; The pose measurement unit 6 is provided with a number of sensors for detecting the position, attitude, angular velocity, and angular acceleration information of the spacecraft. The planar pose simulator 1 is used to realize the full physical simulation of the planar motion of the spacecraft; the high-pressure gas supply unit 2 is used to provide high-pressure nitrogen. The spacecraft centroid adjustment platform 5 provides a rich docking interface for the spacecraft and the counterweight, and is also used to realize the balance of the spacecraft in any attitude and the multi-directional, high-precision, and high-fidelity simulation of the micro low-gravity test; the spherical pose simulator 7 is used to realize the high-precision semi-physical simulation of the angular velocity and attitude boundary of the spacecraft; the vertical zero-stiffness mechanism 8 and the stroke amplification mechanism 9 cooperate to realize the vertical large-stroke constant force support.

[0025] In the present invention, the planar pose simulator and the spherical pose simulator innovatively adopt a pneumatic-magnetic hybrid method to simulate the speed, position and attitude of the spacecraft, which can achieve high-precision boundary condition simulation of the on-orbit service spacecraft, and the pose simulation accuracy ranges from centimeter level to millimeter level. The test equipment does not require external air sources and power supplies. During the movement of the equipment, there is no external interference force from cables and air pipes. All moving joints are in a gas suspension state, realizing high-fidelity dynamic tests of the on-orbit service spacecraft and vividly simulating the floating collision during on-orbit operation. The spacecraft centroid adjustment platform has rich interfaces and can adapt to various spacecraft for ground simulation tests combining micro low-gravity full / semi-physical, which has extremely high scientific and application values.

[0026] The planar pose simulator 1 includes a magneto-conductive air-bearing table 10, a porous aerostatic bearing arranged above it, and a speed-up device 13. The speed-up device 13 is installed inside the porous aerostatic bearing and is used to achieve high-precision semi-physical simulation of the speed and position boundaries of the spacecraft; the porous aerostatic bearing is used to provide a stable air-floating repulsive force to balance the gravity of the spacecraft and the equipment itself, so that the whole equipment is in a gas suspension state and realizes the full-physical simulation of the planar motion of the spacecraft.

[0027] The porous aerostatic bearing includes a bearing housing 15 and a porous graphite 11 installed below it. The porous graphite 11 is in a ring structure, and the bearing housing 15 is a hollow frustum with openings at both the top and the bottom. The bearing housing 15 is provided with several annular grooves, and the bearing housing 15 is provided with a high-pressure air supply hole 14, and the high-pressure air supply hole 14 communicates with the annular groove at the bearing end face; Preferably, the porous graphite 11 is used as a throttling element, which is filled with uniform tiny pores inside and is embedded in the annular groove of the bearing housing 15. The high-pressure gas of the porous aerostatic bearing is introduced through the high-pressure air supply hole 14 by the high-pressure air supply unit 2, and enters the gap of the porous aerostatic bearing through countless capillary pores in the porous graphite 11 to form a high-pressure air film. Due to the characteristics of the porous graphite 11 material, the surface pressure distribution of the bearing is uniform, so that the bearing has good load-bearing capacity and stiffness, can provide a stable air-floating repulsive force to balance the gravity of the spacecraft and the equipment itself, and the whole equipment is in a gas suspension state, realizing the full-physical simulation of the planar motion of the spacecraft.

[0028] The starting device 13 includes 12 independently powered armature windings 18, 12 mover iron cores 17, 12 first mover iron cores 16, a control cabinet 3, and a DC power supply unit 4. When the starting device operates, the magnetic path starts from the first mover iron core 17, passes through the air gap and then enters the magnetic conductive air bearing platform 10, passes through the remaining iron cores through the magnetic conductive air bearing platform 10, and finally returns to the excitation source via the mover yoke. The electromagnetic windings 18 are divided into two groups, and three-phase excitation currents with two opposite phase sequences are applied to establish a pair of traveling magnetic fields with opposite directions. The moving magnetic field acts on the magnetic conductive air bearing platform 10, and an induced electromotive force will be generated on the surface of the magnetic conductive air bearing platform 10, and then an induced current will be generated to form eddy currents. The induced magnetic field generated by the eddy currents interacts with the excitation magnetic field to generate an electromagnetic force. The electromagnetic forces generated by the two magnetic fields B1 and B2 in the circumferential direction of the starting device cancel each other out, and finally only the electromagnetic force Fem moving in a straight line is manifested. Based on the above analysis, by changing the winding energization method to change the direction of Fem, 12 basic electromagnetic force directions can be formed. Through coil switching, electromagnetic thrusts in any direction can be combined to form, and the starting device can achieve high-precision semi-physical simulation of the speed and position boundaries of the spacecraft.

[0029] The main function of the spacecraft centroid adjustment platform 5 is to provide rich docking interfaces for the spacecraft and the counterweight.

[0030] The spacecraft centroid adjustment platform 5 includes a platform main body and a pose measurement unit connection plate 52 installed outside it. A spacecraft connection plate 51 is also installed on the platform main body, and a counterweight is also provided on the platform main body. By reasonably arranging the counterweight, the combined centroid of the spacecraft centroid adjustment platform 5 is located at the center of the mover magnetic conductive air bearing sphere 75 of the spherical pose simulator 7, realizing the balance of the spacecraft in any attitude; at the same time, the reasonable layout of the counterweight can simulate the mass and inertia of the entire spacecraft, realizing multi-directional, high-precision, and high-fidelity simulation of the micro low-gravity test.

[0031] The working principle of the spherical pose simulator 7 is the same as that of the planar pose simulator 1.

[0032] The spherical pose simulator 7 includes an air bearing stator and a balanced mover magnetic conductive air bearing sphere 75 above it. After the air bearing stator is filled with high-pressure nitrogen, it can provide a stable air floating repulsive force to balance the gravity of the mover magnetic conductive air bearing sphere 75, the spacecraft, and the spacecraft centroid adjustment platform 5, so that the magnetic conductive air bearing sphere 75 is in an air suspension state, realizing the full physical simulation of the spacecraft's attitude.

[0033] The aerostatic bearing stator consists of a spherical stator housing 71 and a porous spherical graphite 72 provided at the bottom thereof. A number of stator magnetic cores 74 are circumferentially and uniformly distributed on the spherical stator housing 71, and a number of electromagnetic windings and cores 73 are provided inside each stator magnetic core 74. The electromagnetic windings and cores 73, the stator magnetic cores 74, the moving magnetic aerostatic ball 75, the control cabinet 3 and the DC power supply unit 4 form an attitude simulation device, and the attitude of the moving magnetic aerostatic ball 75 is controlled by generating an induced electromagnetic force through controlling the three-way excitation current in the electromagnetic windings, so as to achieve high-precision semi-physical simulation of the angular velocity and attitude boundary of the spacecraft.

[0034] The vertical zero-stiffness mechanism 8 includes a magnetic unit 81, a spring unit 82, a grating sensor 83, a top plate 84 and a bottom plate 85. A number of spring units 82 and a number of magnetic units 81 are installed between the top plate 84 and the bottom plate 85. The spring unit 82 provides a positive stiffness in the vertical upward direction, and the magnetic unit 81 provides a negative stiffness in the downward direction. By adjusting the compression amount of the spring, the longitudinal supporting force of the zero-stiffness mechanism is always balanced with the load force, thereby realizing the release of the vertical degree of freedom of movement.

[0035] Preferably, the magnetic unit 81 includes an upper magnet 811 installed on the top plate 84 and a lower magnet 812 installed on the bottom plate 85, and a magnetic force can be generated between the upper magnet 811 and the lower magnet 812 without contact.

[0036] The spring unit 82 includes an upper guide post 821 installed on the top plate 84 and a lower guide post 822 installed on the bottom plate, and the upper guide post 821 and the lower guide post 822 are connected by a compression spring 823.

[0037] The vertical zero-stiffness mechanism 8 further includes a grating sensor 83. The grating sensor 83 is used to collect the vertical movement of the zero-stiffness mechanism 8 and control the driving unit 93 in the stroke amplification mechanism 9 to actively follow, so as to realize vertical large-stroke constant force support.

[0038] The stroke amplification mechanism 9 includes a movable frame 91, a fixed frame 92 and a driving unit 93. The movable frame 91 is fixedly connected to the bottom plate 85, slidably connected to the fixed frame 92 below, and the driving unit 93 drives the movable frame 91 to move up and down along the fixed frame 92. The driving unit is a servo motor.

[0039] All the sensors and servo motors in this article are signal-connected to the control cabinet 3, and the above connections are all common knowledge and will not be elaborated here.

[0040] The usage steps of an aeromagnetic hybrid micro low-gravity simulation test device are as follows: (1) Use 3D drawing software to preliminarily design and calculate the distribution of the spacecraft and the counterweight, and install the spacecraft and the counterweight when the device is in the state of cut off gas and power. (2) The operator gently holds the spacecraft centroid adjustment platform 5 by hand, supplies high-pressure nitrogen from the high-pressure gas supply unit 2 to the spherical pose simulator 7, slowly releases the spacecraft centroid adjustment platform 5, observes its deflection direction, calculates and finely adjusts the counterweight position according to the angular acceleration data of the pose measurement unit 6, and finally ensures that the spacecraft centroid adjustment platform 5 can hover at any position. (3) Before using the gas-magnetic hybrid micro low-gravity simulation test equipment, measure and debug the levelness (north-south direction and east-west direction) of the magnetic levitation platform 10 to within 15″, and then use a push-pull force gauge to push the equipment to ensure that the horizontal magnetic levitation interference force of the equipment meets the test requirements.

[0041] (4) According to the requirements of the spacecraft rendezvous and docking test, set the drive programs of the planar pose simulator 1 and the spherical pose simulator 7 to achieve high-precision simulation of the spacecraft boundary conditions.

[0042] (5) When the spacecraft boundary conditions reach the test condition requirements, the controller of the control cabinet 3 closes the input. At this time, the equipment is in a 6-degree-of-freedom full physical simulation state, and can realize the high-fidelity dynamics test of the on-orbit service spacecraft, vividly presenting the floating collision during on-orbit operation.

[0043] This solution realizes a new mode of a brand-new high-precision, high-fidelity, and general-purpose test product for future on-orbit services through a new simulation test method combining gas-magnetic hybrid semi / full physics.

[0044] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A gas-magnetic hybrid micro low-gravity simulation test device, characterized in that: It includes a planar pose simulator, and a high-pressure gas supply unit, a control cabinet, a DC power supply unit, and a stroke amplification mechanism installed above it. The stroke amplification mechanism is located at the center of the planar pose simulator, and a vertical zero-stiffness mechanism, a spherical pose simulator, a spacecraft centroid adjustment platform, and a pose measurement unit are sequentially installed above it. A number of sensors are provided on the pose measurement unit to detect the position and attitude, angular velocity, and angular acceleration information of the spacecraft. The planar pose simulator is used to realize the full physical simulation of the planar motion of the spacecraft. The spherical pose simulator is used to realize the high-precision semi-physical simulation of the angular velocity and attitude boundary of the spacecraft. The vertical zero-stiffness mechanism and the stroke amplification mechanism cooperate to realize the vertical large-stroke constant force support.

2. The pneumatic-magnetic hybrid micro low-gravity simulation test equipment according to claim 1, characterized in that: The planar pose simulator includes a magnetic levitation air-bearing table, a porous aerostatic bearing, and a starting device arranged above it. The starting device is installed inside the porous aerostatic bearing and is used to realize the high-precision semi-physical simulation of the speed and position boundary of the spacecraft. The porous aerostatic bearing is used to provide a stable aerostatic repulsive force to balance the gravity of the spacecraft and the equipment itself, so that the whole equipment is in an aerostatic suspension state and realizes the full physical simulation of the planar motion of the spacecraft.

3. The pneumatic and magnetic hybrid micro low-gravity simulation test equipment according to claim 2, characterized in that: The porous aerostatic bearing includes a bearing housing and porous graphite installed below it. The porous graphite is a ring structure, and the bearing housing is a hollow frustum with openings at both the top and the bottom. A number of annular grooves are provided on the bearing housing, and a high-pressure air supply hole is provided on the bearing housing. The high-pressure air supply hole communicates with the annular groove on the bearing end face. The high-pressure gas supply unit is introduced through the high-pressure air supply hole and enters the gap of the porous aerostatic bearing through countless capillary pores in the porous graphite to form a high-pressure gas film.

4. A gas-magnetic hybrid micro low-gravity simulation test device according to claim 2, characterized in that: The starting device includes 12 independently powered armature windings, and each armature winding is internally provided with a second mover iron core, and a first mover iron core is provided between two adjacent armature windings.

5. A gas-magnetic hybrid micro low-gravity simulation test device according to claim 1, characterized in that: The spherical pose simulator includes an aerostatic bearing stator and a balanced mover magnetic levitation air-bearing ball above it. After high-pressure nitrogen is introduced into the aerostatic bearing stator, it can provide a stable aerostatic repulsive force to balance the gravity of the mover magnetic levitation air-bearing ball, the spacecraft, and the spacecraft centroid adjustment platform, so that the magnetic levitation air-bearing ball is in an aerostatic suspension state and realizes the full physical simulation of the attitude of the spacecraft.

6. The pneumatic and magnetic hybrid micro low-gravity simulation test equipment according to claim 1, wherein: The spacecraft centroid adjustment platform includes a platform main body and a pose measurement unit connection plate installed outside it. A spacecraft connection plate and a counterweight are also installed on the platform main body, and the counterweight makes the combined centroid of the spacecraft centroid adjustment platform located at the center of the ball of the mover magnetic levitation air-bearing ball.

7. A pneumatic-magnetic hybrid micro low-gravity simulation test device according to claim 6, characterized in that: The aerostatic bearing stator is composed of a spherical stator housing and porous spherical graphite arranged at the bottom. A number of stator magnetic cores are circumferentially distributed on the spherical stator housing. Each stator magnetic core is internally provided with a number of electromagnetic windings and iron cores. The electromagnetic windings and iron cores, the stator magnetic cores, the mover magnetic levitation air-bearing ball, the control cabinet, and the DC power supply unit form an attitude simulation device. By controlling the three-way excitation current in the electromagnetic windings, an induced electromagnetic force is generated to control the attitude of the mover magnetic levitation air-bearing ball, and the high-precision semi-physical simulation of the angular velocity and attitude boundary of the spacecraft is realized.

8. A pneumatic-magnetic hybrid micro low-gravity simulation test device according to claim 1, characterized in that: The vertical zero-stiffness mechanism includes a top plate and a bottom plate. A grating sensor, a number of spring units and a number of magnetic units are installed between the top plate and the bottom plate. The spring units are used to provide positive stiffness in the vertical upward direction, and the magnetic units are used to provide negative stiffness in the downward direction.

9. A gas-magnetic hybrid micro low-gravity simulation test device according to claim 8, characterized in that: The magnetic unit includes an upper magnet installed on the top plate and a lower magnet installed on the bottom plate, and a magnetic force can be generated between the upper magnet and the lower magnet without contact.

10. A pneumatic and magnetic hybrid micro low-gravity simulation test device according to claim 8, characterized in that: The stroke amplification mechanism includes a movable frame, a fixed frame and a driving unit. The movable frame is fixedly connected to the bottom plate and is slidably connected to the fixed frame below, and the driving unit drives the movable frame to move up and down along the fixed frame.

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