Layout optimization method and system for locking and releasing device between double super platform cabins

Abstract

The invention provides a layout optimization method and system for a locking and releasing device between double-super platform cabins, and relates to the technical field of spaceflight, and the method comprises the steps: obtaining the mass and rotational inertia of a load cabin and a platform cabin of a double-super satellite; obtaining center-of-mass coordinates of the load cabin and the platform cabin; the maximum attitude maneuvering angular velocity and the maximum angular acceleration of the whole satellite are obtained, and a repeated locking mechanism suction force arm is obtained; the distance from the center of mass of the load cabin to the suction surface; the transmission force is calculated, under the locking working condition, in the whole satellite attitude maneuver process, control torque generated by a platform cabin executing mechanism needs to be transmitted to a load cabin in the acceleration and deceleration sections, a repeated locking mechanism is in a suction state, and a control torque transmission path is provided by the repeated locking mechanism; calculating the maneuvering maximum angular acceleration of the whole satellite; calculating according to the rotational inertia and the maneuvering maximum angular acceleration of the load cabin to obtain a control moment acting on the load cabin and a required suction force; centrifugal force is calculated. According to the invention, on-orbit connection and release of the load cabin and the platform cabin of the double-super platform can be realized.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a method and system for optimizing the layout of a locking and releasing device between cabins of a dual super platform. Background Art

[0002] The "Double Super" satellite platform can achieve separation of the payload cabin and the platform cabin, dynamic and static isolation, and master-slave collaborative control. After the satellite enters orbit, the payload cabin and the platform cabin need to be unlocked and separated, and the two cabins need to be repeatedly connected and released according to the characteristics of the mission. The connection and release device consists of an electromagnetic suction cup bracket, an electromagnetic suction cup, an adsorption end, an adsorption end bracket, etc. The electromagnetic suction cup uses the electromagnetic principle to energize the internal coil to generate magnetic force. When the coil is de-energized, the magnetic force disappears to achieve demagnetization. In order to save space and resources on the satellite and achieve the effect of locking the two cabins at the same time, the electromagnetic suction cup needs to be reasonably arranged.

[0003] Patent publication number CN108791966B discloses a reusable, on-orbit spacecraft inter-module connection and release assembly. The assembly comprises a pyrotechnic connection and release assembly and an electromagnetic connection and release assembly. The electromagnetic connection and release assembly consists of an electromagnetic chuck bracket, an electromagnetic chuck, a suction end, and a suction end bracket. The connection and release assembly serves as the primary load-bearing mechanism during on-orbit maneuvers.

[0004] The invention patent with publication number CN105035368B discloses a low-impact, on-orbit reusable unlocking device and its usage method, which is used for on-orbit low-impact release of payloads. It has the advantages of high connection stiffness, small release impact load, and reusability.

[0005] The invention patent with publication number CN109649697B discloses a method for connecting satellite cabins under over-constraint conditions. The electromagnetic suction cup end of the repeatable unlocking device and the repeatable unlocking device tooling are installed on the top plate of the platform cabin, and the adsorption end of the repeatable connection and release device is installed on the payload cabin suspension plate, so that the bottom surface of the payload cabin suspension plate is in contact with the tooling of the repeatable unlocking device.

[0006] The invention patent with publication number CN103711363B discloses a new type of non-magnetic self-locking hinge used in space-expandable structures. It has the characteristics of simple structure, self-locking and non-magnetic, and has strong application value in space-expandable structures.

[0007] The invention patent with publication number CN108860660B discloses a tension compensation device for a flexible compression and release mechanism, which can provide tension compensation for the tension cable in the flexible compression and release mechanism of a spacecraft. It has a simple structure, good assembly process, and obvious anti-loosening effect. Summary of the Invention

[0008] In view of the defects in the prior art, the present invention provides a method and system for optimizing the layout of a locking and releasing device between cabins of a dual super platform.

[0009] According to the present invention, a method and system for optimizing the layout of inter-cabin locking and releasing devices of a dual-super platform is provided, and the solution is as follows:

[0010] In a first aspect, a method for optimizing the layout of a locking and releasing device between cabins of a dual super platform is provided, the method comprising:

[0011] Step S1: Obtain the mass and moment of inertia of the dual super satellite payload cabin and platform cabin;

[0012] Step S2: Obtain the coordinates of the center of mass of the payload cabin and the platform cabin;

[0013] Step S3: Obtain the maximum attitude maneuvering angular velocity and maximum angular acceleration of the entire satellite, the repeated locking mechanism suction arm, and the distance from the center of mass of the payload cabin to the suction surface;

[0014] Step S4: Calculate the transmission force. Under the locking condition, during the entire satellite attitude maneuver, the control torque generated by the platform cabin actuator needs to be transmitted to the payload cabin during the acceleration and deceleration phases. The re-locking mechanism is in the engaged state, and the re-locking mechanism provides a control torque transmission path.

[0015] Step S5: Calculate the maximum angular acceleration of the entire satellite maneuver based on the maximum control torque that the entire satellite actuator can provide; calculate the control torque acting on the payload cabin based on the payload cabin's moment of inertia and the maximum angular acceleration of the maneuver; calculate the required pull-in force based on the layout position of the locking and releasing device;

[0016] Step S6: Calculate the centrifugal force.

[0017] Preferably, in step S1, the mass of the payload compartment is m z , the mass of the platform cabin is m p The moment of inertia of the entire star is [I sx I sx I sx ], the moment of inertia of the payload cabin is [I zx I zx I zx ];

[0018] In step S2, the coordinates of the center of mass of the payload cabin are [X z Y z Z z ], the coordinates of the center of mass of the platform cabin are [X p Y p Z p ], where both are in the same coordinate system.

[0019] Preferably, in step S3, the maximum attitude maneuvering angular velocity of the entire satellite is wmax , the maximum angular acceleration is a max , the repeated locking mechanism suction arm is L b ; Distance L from the center of mass of the payload cabin to the suction surface x ;

[0020] In order to simplify the layout of the electromagnetic chuck, it is considered that only one electromagnetic chuck is installed at the geometric center of the payload cabin, and the force arm is the worst working condition.

[0021] Preferably, step S5 includes: obtaining the torque in the Y / Z direction by the suction force of the electromagnetic chuck, obtaining the torque in the X axis by the friction force, and calculating the required attraction force for the three axes according to the design of the entire satellite; wherein the torque for rotation around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force;

[0022] If the control torque provided by the flywheel is T max , let the moment of inertia of the whole star be I s , then the maximum angular acceleration is:

[0023]

[0024] Assume the moment of inertia of the load compartment is I z , then the control torque acting on the load compartment is:

[0025]

[0026] As mentioned above, the suction force arm is L b The Y / Z-axis torque is obtained by the electromagnetic suction force, and the X-axis torque is obtained by the friction force. The required suction force is:

[0027]

[0028] According to the design of the entire satellite, the required attraction force of the three axes is calculated; among them, the torque around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force. The maximum force required is F p / Friction coefficient.

[0029] Preferably, the centrifugal force calculation in step S6 includes:

[0030] During the on-orbit maneuver, the two cabins maneuver around the center of mass of the entire satellite. Assume the mass of the payload cabin is m z , the mass of the platform cabin is m p The distances from the mass center of the payload cabin and the mass center of the platform cabin to the mass center of the entire satellite are L1 and L2 respectively; the distance between the mass centers of the two cabins is L c =[L x L y L z ], the three-way centrifugal force calculation formula is as follows:

[0031]

[0032] w max is the maximum attitude maneuvering angular velocity of the entire satellite. The centrifugal forces in the Y and Z directions are overcome by friction, i.e., Fy and Fz; the centrifugal forces in the X direction are overcome by suction, i.e., Fx. In short, the maximum force required by the electromagnetic chuck is 10*max[Fy,Fz]+Fx.

[0033] In a second aspect, a system for optimizing the layout of inter-cabin locking and releasing devices of a dual-super platform is provided, the system comprising:

[0034] Model M1: Obtain the mass and moment of inertia of the dual supersatellite payload module and platform module;

[0035] Model M2: Obtain the coordinates of the center of mass of the payload cabin and the platform cabin;

[0036] Model M3: Obtain the maximum attitude maneuvering angular velocity of the entire satellite, the maximum angular acceleration, the repeated locking mechanism's pull-in arm; and the distance from the payload cabin's center of mass to the pull-in surface.

[0037] Model M4: Calculates the transmission force. Under the locking condition, during the entire satellite attitude maneuver, the control torque generated by the platform cabin actuator needs to be transmitted to the payload cabin during the acceleration and deceleration phases. The relocking mechanism is in the engaged state, providing a control torque transmission path.

[0038] Model M5: Calculate the maximum angular acceleration of the entire satellite maneuver based on the maximum control torque that the entire satellite actuator can provide; calculate the control torque acting on the payload cabin based on the payload cabin's moment of inertia and the maximum angular acceleration of the maneuver; calculate the required pull-in force based on the layout position of the locking and release device;

[0039] Model M6: Calculation of centrifugal force.

[0040] Preferably, in the module M1 package, the mass of the payload compartment is m z , the mass of the platform cabin is m p The moment of inertia of the entire star is [I sx I sx I sx ], the moment of inertia of the payload cabin is [I zx I zx I zx ];

[0041] In the module M2, the coordinates of the center of mass of the payload cabin are [X z Y z Z z ], the coordinates of the center of mass of the platform cabin are [X p Y p Z p ], where both are in the same coordinate system.

[0042] Preferably, in the module M3, the maximum attitude maneuvering angular velocity of the entire satellite is w max , the maximum angular acceleration is a max , the repeated locking mechanism suction arm is L b ; Distance L from the center of mass of the payload cabin to the suction surface x ;

[0043] In order to simplify the layout of the electromagnetic chuck, it is considered that only one electromagnetic chuck is installed at the geometric center of the payload cabin, and the force arm is the worst working condition.

[0044] Preferably, the module M5 includes: the torque in the Y / Z direction is obtained by the suction force of the electromagnetic chuck, the torque in the X axis is obtained by the friction force, and the required attraction force of the three axes is calculated according to the design of the entire satellite; wherein, the torque for rotation around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force;

[0045] If the control torque provided by the flywheel is T max , let the moment of inertia of the whole star be I s , then the maximum angular acceleration is:

[0046]

[0047] Assume the moment of inertia of the load compartment is I z , then the control torque acting on the load compartment is:

[0048]

[0049] As mentioned above, the suction force arm is L b The Y / Z-axis torque is obtained by the electromagnetic suction force, and the X-axis torque is obtained by the friction force. The required suction force is:

[0050]

[0051] According to the design of the entire satellite, the required attraction force of the three axes is calculated; among them, the torque around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force. The maximum force required is F p / Friction coefficient.

[0052] Preferably, the centrifugal force calculation module M6 includes:

[0053] During the on-orbit maneuver, the two cabins maneuver around the center of mass of the entire satellite. Assume the mass of the payload cabin is m z , the mass of the platform cabin is m p The distances from the mass center of the payload cabin and the mass center of the platform cabin to the mass center of the entire satellite are L1 and L2 respectively; the distance between the mass centers of the two cabins is L c =[L x L y Lz ], the three-way centrifugal force calculation formula is as follows:

[0054]

[0055] w max is the maximum attitude maneuvering angular velocity of the entire satellite. The centrifugal forces in the Y and Z directions are overcome by friction, i.e., Fy and Fz; the centrifugal forces in the X direction are overcome by suction, i.e., Fx. In short, the maximum force required by the electromagnetic chuck is 10*max[Fy,Fz]+Fx.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] 1. This invention uses electromagnetic principles to achieve on-orbit connection and release of the dual super platform payload cabin and the platform cabin, which is lightweight and convenient;

[0058] 2. The present invention optimizes the layout of the electromagnetic chuck, saving the quality of the entire satellite, onboard resources, and layout space;

[0059] 3. The present invention can be flexibly applied to the selection and layout of other dual-super platform inter-cabin locking and releasing devices.

[0060] Other beneficial effects of the present invention will be explained through the introduction of specific technical features and technical solutions in the specific implementation methods. Those skilled in the art should be able to understand the beneficial technical effects brought about by the introduction of these technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0062] Figure 1 A flow chart of the optimization method for the layout of the inter-bay locking and releasing devices of the dual-super platform;

[0063] Figure 2 Optimize the layout of the front locking and releasing devices (a total of 4 sets of locking and releasing devices);

[0064] Figure 3 This is a schematic diagram of the optimized locking and releasing device layout (a total of 1 set of locking and releasing devices);

[0065] Figure 4 Schematic diagram of the locking and releasing device (i.e., electromagnetic chuck). DETAILED DESCRIPTION

[0066] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0067] The embodiment of the present invention provides a method for optimizing the layout of the locking and releasing device between the cabins of a double super platform, referring to Figure 1 As shown, the method specifically includes:

[0068] Step S1: Obtain the mass and moment of inertia of the payload cabin and platform cabin of the dual super satellite. The mass of the payload cabin is m z , the mass of the platform cabin is m p The moment of inertia of the entire star is [I sx I sx I sx ], the moment of inertia of the payload cabin is [I zx I zx I zx ].

[0069] Step S2: Obtain the coordinates of the center of mass of the payload cabin and the platform cabin; the coordinates of the center of mass of the payload cabin are [X z Y z Z z ], the coordinates of the center of mass of the platform cabin are [X p Y p Z p ], where both are in the same coordinate system.

[0070] Step S3: Obtain the maximum attitude maneuvering angular velocity and maximum angular acceleration of the entire satellite, the repeated locking mechanism attraction arm, and the distance from the center of mass of the payload cabin to the attraction surface.

[0071] Specifically, the maximum attitude maneuver angular velocity of the entire satellite is w max , the maximum angular acceleration is a max , the repeated locking mechanism suction arm is L b ; Distance L from the center of mass of the payload cabin to the suction surface x In order to simplify the layout of the electromagnetic chuck, it is considered that only one electromagnetic chuck is installed at the geometric center of the payload compartment, and the force arm is the worst working condition.

[0072] Reference Figure 2 and Figure 3 As shown, step S4: calculate the transmission force. Under the locking condition, during the whole satellite attitude maneuver, the control torque generated by the platform cabin actuator (flywheel or control torque gyro) needs to be transmitted to the payload cabin during the acceleration and deceleration stage. The repeated locking mechanism is in the attracted state, and the repeated locking mechanism provides a control torque transmission path.

[0073] Reference Figure 4 As shown, step S5: calculate the maximum angular acceleration of the entire satellite maneuver according to the maximum control torque that the entire satellite actuator can provide; calculate the control torque acting on the payload cabin according to the moment of inertia of the payload cabin and the maximum angular acceleration of the maneuver; calculate the required attraction force according to the layout position of the locking and releasing device.

[0074] The torque in the Y / Z direction is obtained by the suction force of the electromagnetic chuck, and the torque in the X axis is obtained by the friction force. The required attraction force of the three axes is calculated based on the design of the entire satellite. Among them, the torque around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force.

[0075] If the control torque provided by the flywheel is T max , let the moment of inertia of the whole star be I s , then the maximum angular acceleration is:

[0076]

[0077] Assume the moment of inertia of the load compartment is I z , then the control torque acting on the load compartment is:

[0078]

[0079] As mentioned above, the suction force arm is L b The Y / Z-axis torque is obtained by the electromagnetic suction force, and the X-axis torque is obtained by the friction force. The required suction force is:

[0080]

[0081] According to the design of the entire satellite, the required attraction force of the three axes is calculated; among them, the torque around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force. The maximum force required is F p / Friction coefficient. Based on a friction coefficient of 0.1, the maximum force required is F p / 0.1.

[0082] Step S6: Calculate the centrifugal force.

[0083] Specifically, the centrifugal force calculation includes:

[0084] During the on-orbit maneuver, the two cabins maneuver around the center of mass of the entire satellite. Assume the mass of the payload cabin is m z , the mass of the platform cabin is m p The distances from the mass center of the payload cabin and the mass center of the platform cabin to the mass center of the entire satellite are L1 and L2 respectively; the distance between the mass centers of the two cabins is L c =[L x L y L z ], the three-way centrifugal force calculation formula is as follows:

[0085]

[0086] w max is the maximum attitude maneuvering angular velocity of the entire satellite. The centrifugal forces in the Y and Z directions are overcome by friction, i.e., Fy and Fz; the centrifugal forces in the X direction are overcome by suction, i.e., Fx. In short, the maximum force required by the electromagnetic chuck is 10*max[Fy,Fz]+Fx.

[0087] The present invention also provides a system for optimizing the layout of inter-cabin locking and releasing devices for dual super platforms. The system can be implemented by executing the process steps of the method for optimizing the layout of inter-cabin locking and releasing devices for dual super platforms. That is, those skilled in the art can understand the method for optimizing the layout of inter-cabin locking and releasing devices for dual super platforms as a preferred embodiment of the system for optimizing the layout of inter-cabin locking and releasing devices for dual super platforms. The system includes:

[0088] Module M1: Obtain the mass and moment of inertia of the payload cabin and platform cabin of the dual super satellite. The mass of the payload cabin is m z , the mass of the platform cabin is m p The moment of inertia of the entire star is [I sx I sx I sx ], the moment of inertia of the payload cabin is [I zx I zx I zx ].

[0089] Module M2: Get the coordinates of the center of mass of the payload cabin and the platform cabin; the coordinates of the center of mass of the payload cabin are [X z Y z Z z ], the coordinates of the center of mass of the platform cabin are [X p Y p Z p ], where both are in the same coordinate system.

[0090] Module M3: Obtain the maximum attitude maneuver angular velocity of the entire satellite, maximum angular acceleration, repeated locking mechanism suction arm; and the distance from the center of mass of the payload cabin to the suction surface.

[0091] Specifically, the maximum attitude maneuver angular velocity of the entire satellite is w max , the maximum angular acceleration is a max , the repeated locking mechanism suction arm is L b ; Distance L from the center of mass of the payload cabin to the suction surface x In order to simplify the layout of the electromagnetic chuck, it is considered that only one electromagnetic chuck is installed at the geometric center of the payload compartment, and the force arm is the worst working condition.

[0092] Module M4: Calculates the transmission force. Under the locking condition, during the entire satellite attitude maneuver, the control torque generated by the platform cabin actuator (flywheel or control torque gyro) needs to be transmitted to the payload cabin during the acceleration and deceleration stages. The re-locking mechanism is in the engaged state, and the re-locking mechanism provides a control torque transmission path.

[0093] Module M5: Calculate the maximum angular acceleration of the entire satellite maneuver based on the maximum control torque that the entire satellite actuator can provide; calculate the control torque acting on the payload cabin based on the payload cabin's moment of inertia and the maximum angular acceleration of the maneuver; calculate the required pull-in force based on the layout position of the locking and release device.

[0094] The torque in the Y / Z direction is obtained by the suction force of the electromagnetic chuck, and the torque in the X axis is obtained by the friction force. The required attraction force of the three axes is calculated based on the design of the entire satellite. Among them, the torque around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force.

[0095] If the control torque provided by the flywheel is T max , let the moment of inertia of the whole star be I s , then the maximum angular acceleration is:

[0096]

[0097] Assume the moment of inertia of the load compartment is I z , then the control torque acting on the load compartment is:

[0098]

[0099] As mentioned above, the suction force arm is L b The Y / Z-axis torque is obtained by the electromagnetic suction force, and the X-axis torque is obtained by the friction force. The required suction force is:

[0100]

[0101] According to the design of the entire satellite, the required attraction force of the three axes is calculated; among them, the torque around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force. The maximum force required is F p / Friction coefficient. Based on a friction coefficient of 0.1, the maximum force required is F p / 0.1.

[0102] Module M6: Calculation of centrifugal forces.

[0103] Specifically, the centrifugal force calculation includes:

[0104] During the on-orbit maneuver, the two cabins maneuver around the center of mass of the entire satellite. Assume the mass of the payload cabin is m z , the mass of the platform cabin is m pThe distances from the mass center of the payload cabin and the mass center of the platform cabin to the mass center of the entire satellite are L1 and L2 respectively; the distance between the mass centers of the two cabins is L c =[L x L y L z ], the three-way centrifugal force calculation formula is as follows:

[0105]

[0106] w max is the maximum attitude maneuvering angular velocity of the entire satellite. The centrifugal forces in the Y and Z directions are overcome by friction, i.e., Fy and Fz; the centrifugal forces in the X direction are overcome by suction, i.e., Fx. In short, the maximum force required by the electromagnetic chuck is 10*max[Fy,Fz]+Fx.

[0107] The embodiments of the present invention provide a method and system for optimizing the layout of a locking and releasing device between cabins of a dual super-platform. By utilizing electromagnetic principles, the method realizes the on-orbit connection and release of the payload cabin and the platform cabin of the dual super-platform. This optimizes the layout of the electromagnetic chuck, saves the mass of the entire satellite, onboard resources, and layout space, and can be flexibly applied to the selection and layout of other locking and releasing devices between cabins of the dual super-platform.

[0108] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices, modules, and units provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; the devices, modules, and units for implementing various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0109] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A method for optimizing the layout of inter-cabin locking and releasing devices of a dual-super platform, characterized in that: include: Step S1: Obtain the mass and moment of inertia of the dual super satellite payload cabin and platform cabin; Step S2: Obtain the coordinates of the center of mass of the payload cabin and the platform cabin; Step S3: Obtain the maximum attitude maneuvering angular velocity and maximum angular acceleration of the entire satellite, the repeated locking mechanism suction arm, and the distance from the center of mass of the payload cabin to the suction surface; Step S4: Calculate the transmission force. Under the locking condition, during the entire satellite attitude maneuver, the control torque generated by the platform cabin actuator needs to be transmitted to the payload cabin during the acceleration and deceleration phases. The re-locking mechanism is in the engaged state, and the re-locking mechanism provides a control torque transmission path. Step S5: Calculate the maximum angular acceleration of the entire satellite maneuver based on the maximum control torque that the entire satellite actuator can provide; calculate the control torque acting on the payload cabin based on the payload cabin's moment of inertia and the maximum angular acceleration of the maneuver; calculate the required pull-in force based on the layout position of the locking and releasing device; Step S6: Calculate the centrifugal force.

2. The method for optimizing the layout of the inter-cabin locking and releasing device of the dual super platform according to claim 1 is characterized in that: In step S1, the mass of the payload compartment is m z , the mass of the platform cabin is m p The moment of inertia of the entire star is [I sx I sx I sx ], the moment of inertia of the payload cabin is [I zx I zx I zx ]; In step S2, the coordinates of the center of mass of the payload cabin are [X z Y z Z z ], the coordinates of the center of mass of the platform cabin are [X p Y p Z p ], where both are in the same coordinate system.

3. The method for optimizing the layout of the inter-cabin locking and releasing device of a dual super platform according to claim 1, characterized in that: In step S3, the maximum attitude maneuvering angular velocity of the entire satellite is w max , the maximum angular acceleration is a max , the repeated locking mechanism suction arm is L b ; Distance L from the center of mass of the payload cabin to the suction surface x ; In order to simplify the layout of the electromagnetic chuck, it is considered that only one electromagnetic chuck is installed at the geometric center of the payload cabin, and the force arm is the worst working condition.

4. The method for optimizing the layout of the inter-cabin locking and releasing device of a dual super platform according to claim 1, characterized in that: Step S5 includes: obtaining the torque in the Y / Z directions from the suction force of the electromagnetic chuck, obtaining the torque in the X axis from the friction force, and calculating the required attraction force for the three axes based on the entire satellite design; wherein the torque for rotation around the Y / Z axes is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force; If the control torque provided by the flywheel is T max , let the moment of inertia of the whole star be I s , then the maximum angular acceleration is: Assume the moment of inertia of the load compartment is I z , then the control torque acting on the load compartment is: As mentioned above, the suction force arm is L b The Y / Z-axis torque is obtained by the electromagnetic suction force, and the X-axis torque is obtained by the friction force. The required suction force is: According to the design of the entire satellite, the required attraction force of the three axes is calculated; among them, the torque around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force. The maximum force required is F p / Friction coefficient.

5. The method for optimizing the layout of the inter-cabin locking and releasing device of a dual super platform according to claim 1, characterized in that: The centrifugal force calculation step S6 includes: During the on-orbit maneuver, the two cabins maneuver around the center of mass of the entire satellite. Assume the mass of the payload cabin is m z , the mass of the platform cabin is m p The distances from the mass center of the payload cabin and the mass center of the platform cabin to the mass center of the entire satellite are L1 and L2 respectively; the distance between the mass centers of the two cabins is L c =[L x L y L z ], the three-way centrifugal force calculation formula is as follows: w max is the maximum attitude maneuvering angular velocity of the entire satellite. The centrifugal forces in the Y and Z directions are overcome by friction, i.e., Fy and Fz; the centrifugal forces in the X direction are overcome by suction, i.e., Fx. In short, the maximum force required by the electromagnetic chuck is 10*max[Fy,Fz]+Fx.

6. A dual-super platform inter-cabin locking and releasing device layout optimization system, characterized in that: include: Model M1: Obtain the mass and moment of inertia of the dual supersatellite payload module and platform module; Model M2: Obtain the coordinates of the center of mass of the payload cabin and the platform cabin; Model M3: Obtain the maximum attitude maneuvering angular velocity of the entire satellite, the maximum angular acceleration, the repeated locking mechanism's pull-in arm; and the distance from the payload cabin's center of mass to the pull-in surface. Model M4: Calculates the transmission force. Under the locking condition, during the entire satellite attitude maneuver, the control torque generated by the platform cabin actuator needs to be transmitted to the payload cabin during the acceleration and deceleration phases. The relocking mechanism is in the engaged state, providing a control torque transmission path. Model M5: Calculate the maximum angular acceleration of the entire satellite maneuver based on the maximum control torque that the entire satellite actuator can provide; calculate the control torque acting on the payload cabin based on the payload cabin's moment of inertia and the maximum angular acceleration of the maneuver; calculate the required pull-in force based on the layout position of the locking and release device; Model M6: Calculation of centrifugal force.

7. The dual super platform inter-cabin locking and releasing device layout optimization system according to claim 6, characterized in that: In the module M1 package, the mass of the payload compartment is m z , the mass of the platform cabin is m p The moment of inertia of the entire star is [I sx I sx I sx ], the moment of inertia of the payload cabin is [I zx I zx I zx ]; In the module M2, the coordinates of the center of mass of the payload cabin are [X z Y z Z z ], the coordinates of the center of mass of the platform cabin are [X p Y p Z p ], where both are in the same coordinate system.

8. The dual super platform inter-cabin locking and releasing device layout optimization system according to claim 6, characterized in that: In the module M3, the maximum attitude maneuvering angular velocity of the entire satellite is w max , the maximum angular acceleration is a max , the repeated locking mechanism suction arm is L b ; Distance L from the center of mass of the payload cabin to the suction surface x ; In order to simplify the layout of the electromagnetic chuck, it is considered that only one electromagnetic chuck is installed at the geometric center of the payload cabin, and the force arm is the worst working condition.

9. The dual super platform inter-cabin locking and releasing device layout optimization system according to claim 6, characterized in that: The module M5 includes: the torque in the Y / Z direction is obtained by the suction force of the electromagnetic chuck, the torque in the X axis is obtained by the friction force, and the required attraction force of the three axes is calculated according to the design of the entire satellite; among which, the torque around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force; If the control torque provided by the flywheel is T max , let the moment of inertia of the whole star be I s , then the maximum angular acceleration is: Assume the moment of inertia of the load compartment is I z , then the control torque acting on the load compartment is: As mentioned above, the suction force arm is L b The Y / Z-axis torque is obtained by the electromagnetic suction force, and the X-axis torque is obtained by the friction force. The required suction force is: According to the design of the entire satellite, the required attraction force of the three axes is calculated; among them, the torque around the Y / Z axis is provided by the axial attraction force, and the force required for rotation around the X axis is provided by the attraction friction force. The maximum force required is F p / Friction coefficient.

10. The dual super platform inter-cabin locking and releasing device layout optimization system according to claim 6, characterized in that: The module M6 centrifugal force calculation includes: During the on-orbit maneuver, the two cabins maneuver around the center of mass of the entire satellite. Assume the mass of the payload cabin is m z , the mass of the platform cabin is m p The distances from the mass center of the payload cabin and the mass center of the platform cabin to the mass center of the entire satellite are L1 and L2 respectively; the distance between the mass centers of the two cabins is L c =[L x L y L z ], the three-way centrifugal force calculation formula is as follows: w max is the maximum attitude maneuvering angular velocity of the entire satellite, and the centrifugal force in the Y and Z directions is overcome by the friction force, that is, Fy, Fz; The X direction is overcome by the suction force, that is, Fx; in short, the maximum force required by the electromagnetic chuck is 10*max[Fy,Fz]+Fx.

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