Active gravity compensation spacecraft cabin separation test system and method

Abstract

The invention relates to an active gravity compensation spacecraft cabin separation test system and method. The test system is mainly composed of a tension control system, a comprehensive control system, a high-speed measurement subsystem, a system support subsystem and other subsystems. The tension control system and the comprehensive control system are closed-loop control systems taking a high-precision and fast-response torque motor as a core; the high-speed measurement system is used for acquiring parameters such as the inter-cabin separation speed and the angular speed, and performing whole-course monitoring on the state of an inter-cabin separation surface; the system support is a main bearing structure of the tension control system and the separation cabin section, provides a separation simulation space for a spacecraft, and provides an operation platform for ground workers at the same time. By adopting the test system disclosed by the invention, the vertical separation of the large spacecraft during ground development can be realized, the gravity unloading efficiency is as high as 95-105%, and effective separation parameters are obtained.

Description

TECHNICAL FIELD

[0001] The application relates to an active gravity compensation spacecraft cabin separation test system and method, and belongs to the technical field of large manned spacecraft tests. BACKGROUND

[0002] Large spacecraft involve multiple separation actions in manned lunar landing flight missions. For example, a lunar lander separates from a lunar module after the lander completes the main deceleration in the descent process, and a manned spacecraft separates from a service module before reentry. The separation technology involves the function and performance of the separation device between the cabins of the spacecraft, and the control of the flight trajectory of the separated cabins. If the separation action of the spacecraft fails, the space mission may fail directly.

[0003] In order to improve the reliability of spacecraft cabin separation in orbit, ground separation tests need to be carried out during the development phase. The spacecraft cabin separation test is usually carried out after the whole spacecraft mechanical test, to verify the ability of the unlocking and separation mechanism to work normally after being subjected to the mechanical environment, the correctness of the separation process design, the coordination of the mechanical and electrical separation, and to analyze the effectiveness and safety of the spacecraft separation process in orbit according to the separation parameters obtained in the test.

[0004] The spacecraft in orbit is in a zero-gravity or low-gravity environment, so eliminating the influence of the ground gravity field environment on the separation system is a key technology for ground separation tests. The current spacecraft cabin separation test methods at home and abroad mainly include suspension unlocking, horizontal separation and vertical gravity compensation. However, these methods have some limitations.

[0005] For example, Chen Youmei et al. disclosed a suspension unlocking separation test method in the document "Test method of micro-nano satellite release separation parameters" published in the Journal of Spacecraft Technology. However, due to the presence of gravity, the stress state of the separation surface is inconsistent with the on-orbit state, and the separation speed is affected by the acceleration of gravity. In addition, it is difficult to recover and protect the cabins of large spacecraft. The horizontal separation method requires a special tool for each cabin to be separated, which is difficult to implement in engineering, and the additional mass and inertia of the tool will affect the separation parameters. Li Haifei et al. described a vertical separation method based on counterweight compensation in the document "Separation resistance analysis and ground separation test verification of lunar sample return vehicle" published in Spacecraft Environment Engineering. This method has a simple structure and is easy to implement, but it has poor adaptability and may experience instantaneous weightlessness when the separation acceleration is greater than the gravitational acceleration.

[0006] The deep space probe separation test device designed in the patent CN113348753B "Deep space probe separation test device and test method thereof" can eliminate the effect of gravity through constant torque follow-up control, but the multiple pulley mechanisms in the system increase the complexity of the test system, and the long steel wire rope increases the flexibility of the test system. SUMMARY

[0007] The technical problem solved by the present application is that large spacecrafts usually do not have the ability to be hoisted horizontally, and large-size and large-tonnage cabin sections are difficult to protect effectively during free falling. The present application provides a spacecraft cabin section separation test system and method with active gravity compensation. The gravity compensation is performed by a constant tension control system, so that the gravity of the separation cabin section during the separation stroke can be effectively unloaded, and the separation cabin section can be smoothly locked after the separation is completed.

[0008] The technical solution of the present application is:

[0009] A spacecraft cabin section separation test system with active gravity compensation, comprising: a system support, a tension control system, a control system, a tension sensor, a spacecraft to be separated, and a lifting appliance; the spacecraft to be separated comprises a separation cabin section and a parking cabin section;

[0010] The spacecraft to be separated is vertically parked below the system support by using a transfer platform. The tension control system installed at the top of the system support is connected to the separation cabin section through the lifting appliance to unload the gravity of the separation cabin section. The control system sets the tension control system to make the separation surface of the separation cabin section and the parking cabin section in a force-free state. The tension sensor is connected between the tension control system and the separation cabin section to collect tension in real time.

[0011] During the separation stroke, the control system controls the tension control system based on the collected values of the tension sensor to ensure that the unloading efficiency meets the test requirements. After the separation stroke is completed, the control system controls the position and speed of the tension control system in a closed loop, regardless of the tension error, so that the speed of the separation cabin section is gently reduced to zero and remains in a stable and stationary state.

[0012] Further, it further comprises three high-speed photographic measurement cameras, which are arranged opposite to the separation surface and have a line of sight height level with the separation surface. Two high-speed photographic measurement cameras are vertically arranged to measure the separation speed and angular velocity of the cabin section, and the third high-speed photographic measurement camera is used to monitor the state of the separation surface between the cabins throughout the process.

[0013] Further, the tension control system comprises a servo motor, a reducer, a brake, a winch, and a steel wire rope. The output end of the servo motor is connected to the input end of the reducer, the output end of the reducer is connected to the winch, and the rotation of the winch drives the steel wire rope to rise or fall.

[0014] In the tension control system, a tension sensor is connected in series at the end of the wire rope and connected to the separation section through a lifting device. The tension sensor monitors the tension value acting on the separation section in real time and outputs the tension value to the integrated control system.

[0015] The brake is used to keep the separated compartment in a stable and stationary state after the compartment is separated.

[0016] Furthermore, during the separation stroke, the integrated control system performs constant tension control on the tension control system based on the collected values ​​from the tension sensor, specifically as follows:

[0017] (1) The tension control system loads the output tension to the desired value, the servo motor is in a stall state, and the tension value is in a stable state;

[0018] (2) The integrated control system sets the feedforward start threshold of the tension control system;

[0019] (3) The integrated control system issues a separation command, the inter-cabin connection device is unlocked, the separation spring pre-tightening thrust is applied to the separation cabin, the tension value in the wire rope decreases, and after the tension decreases beyond the set feedforward start threshold, the separation cabin is pulled up under the feedforward control. During this period, the gravity unloading efficiency is always maintained within the range of 95% to 105%.

[0020] (4) After the separation chamber moves beyond the working stroke of the separation spring, the separation chamber moves upward at a constant speed under the combined action of constant tension and gravity.

[0021] Furthermore, the expected value is the sum of the weight of the separation capsule, the weight of the lifting device, the weight of the sensor cable, and the safety margin, with the safety margin being 1% of the total weight of the separation capsule.

[0022] Furthermore, after the separation stroke is completed, the integrated control system performs closed-loop control of the position and speed of the tension control system, specifically as follows:

[0023] (1) The separation chamber moves upward at a constant speed under the combined action of constant tension and gravity. After moving at a constant speed for a certain distance, the integrated control system controls the tension control system to reduce the tension, so that the separation chamber moves at a constant deceleration until the speed of the separation chamber is reduced to zero within the specified height.

[0024] (2) When the speed of the separation chamber is reduced to zero, the brake is activated to keep the entire test system in a stable and static state.

[0025] Secondly, the present invention also proposes a test method for spacecraft segment separation with active gravity compensation, including: test preparation stage and test implementation stage;

[0026] The preparation phase of the experiment includes the following steps:

[0027] (1) Before the separation module and the parking module are docked during the spacecraft assembly stage, the lifting equipment of the separation module is leveled to ensure that the resultant force of the lifting equipment just passes through the center of mass of the separation module and keeps the state of the lifting equipment unchanged.

[0028] (2) Transfer the separation section spreader to the bottom of the system support, directly below the lifting point of the tension control system. Control the lifting point of the tension control system to descend through the integrated control system. After the operator connects the separation section spreader to the lifting point of the tension control system, lift the lifting point of the tension control system through the integrated control system to move the spreader to a high position.

[0029] (3) Move the entire assembly to the bottom of the system support, and make fine adjustments to the position of the transfer platform to ensure that the vertical center of the spreader passes exactly through the center of mass mark of the separation compartment. Then lower the transfer platform support to fix the position.

[0030] (4) Level the separation surface by adjusting the height of each leg of the transfer platform, and use a level to measure until the levelness requirement is met.

[0031] (5) Set up a high-speed photogrammetry camera. The line of sight of the high-speed photogrammetry camera should be level with the separation surface. Attach the high-speed photogrammetry target to the separation compartment. After the connection and debugging are qualified, confirm the field of view of the high-speed photogrammetry camera and the angle of the target.

[0032] (6) The lifting point of the tension control system is slowly lowered through the integrated control system, which drives the spreader to slowly descend. The operator connects the spreader to the separation compartment. After the connection is completed, the spreader is raised through the integrated control system so that the slings of the spreader are slightly taut and the force is even. The operator then confirms whether the reading of the tension sensor is normal.

[0033] (7) Measure the mass of the separation section, lifting gear, and lifting lugs to predict the magnitude of the unloading force during the separation test;

[0034] The trial implementation phase includes the following steps:

[0035] (1) The tension control system loads the output tension to the desired value, the servo motor is in a stall state, and the tension value is in a stable state;

[0036] (2) The integrated control system sets the feedforward start threshold of the tension control system;

[0037] (3) The integrated control system issues a separation command, the inter-cabin connection device is unlocked, the separation spring pre-tightening thrust is applied to the separation cabin, the tension value in the wire rope decreases, and after the tension decreases beyond the set feedforward start threshold, the separation cabin is pulled up under the feedforward control. During this period, the gravity unloading efficiency is always maintained within the range of 95% to 105%.

[0038] (4) After the separation chamber moves beyond the working stroke of the separation spring, the separation chamber moves upward at a constant speed under the combined action of constant tension and gravity.

[0039] (5) The separation chamber moves upward at a constant speed under the combined action of constant tension and gravity. After moving at a constant speed for a certain distance, the integrated control system controls the tension control system to reduce the tension, so that the separation chamber moves at a constant deceleration until the speed of the separation chamber is reduced to zero within the specified height.

[0040] (6) When the speed of the separation chamber is reduced to zero, the brake is activated to keep the entire test system in a stable and static state.

[0041] Furthermore, the expected value is the sum of the weight of the separation capsule, the weight of the lifting device, the weight of the sensor cable, and the safety margin, with the safety margin being 1% of the total weight of the separation capsule.

[0042] Furthermore, it also includes a trial withdrawal phase, which includes the following operational steps:

[0043] (1) Confirm that there is a sufficient safe distance between the lowest point of the separation section and the top of the parking section, and that there is no motion interference;

[0044] (2) Raise the outriggers of the transfer platform, and the transfer platform will drive the parking compartment to be removed from under the system support and parked in place;

[0045] (3) The parking fixture for the separation compartment is placed into the test bracket and positioned directly below the separation compartment;

[0046] (4) The lifting point of the descent control system is lowered through the integrated control system to drive the separation compartment to descend until it is smoothly placed on the parking fixture;

[0047] (5) Disconnect the connection between the separation compartment and the lifting equipment, and use the integrated control system to lift the lifting equipment until a safe distance is left between it and the separation compartment;

[0048] (6) The separation section is rotated out from under the system support and parked in place;

[0049] (7) The integrated control system slowly lowers the lifting device to the ground and disconnects the lifting device from the tension control system;

[0050] (8) The lifting device is removed from the test support and the tension control system is restored to a safe state.

[0051] The advantages of this invention compared to the prior art are:

[0052] (1) This invention proposes a separation test method for gravity unloading of separation compartments using an active pull control system. The correctness of the separation test method has been verified through multiple tests, and effective data has been obtained. Compared with the separation method of hoisting and balancing, it has the characteristics of high unloading accuracy and good versatility.

[0053] (2) During the separation process of spacecraft modules, the gravity unloading efficiency of the separation module is within 95% to 105%, which can simulate the stress state during on-orbit separation more realistically. Based on this, the separation speed obtained is closer to the theoretical separation speed.

[0054] (3) For the separation test requirements of different spacecraft, only the parameters of the control system need to be adjusted to meet the requirements. This invention has the advantages of high efficiency and good versatility. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of a force-controlled vertical separation test system;

[0056] Figure 2 This is a diagram showing the placement of the high-speed camera;

[0057] Figure 3 This is a schematic diagram of the dynamic model of a force-controlled vertical separation test system, in which... Figure 3 'a' represents the separated travel path. Figure 3 b represents the end of the separation process;

[0058] Figure 4 This is a schematic diagram of the control principle of an active vertical separation test system. Detailed Implementation

[0059] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0060] Since large spacecraft typically lack the capability for horizontal hoisting, and large-sized, heavy-tonnage modules are difficult to protect effectively during free fall, this invention proposes a vertical separation test scheme that uses an active tension control system to perform gravity unloading. The gravity of the separated modules can be effectively unloaded during the separation stroke, and the modules can be smoothly locked after separation.

[0061] like Figure 1 As shown, the present invention proposes an active gravity-compensated spacecraft segment separation test system, comprising: a system support, a tension control system, an integrated control system, a tension sensor, a spacecraft to be separated, and a lifting device; the spacecraft to be separated includes a separation segment and a parking segment;

[0062] The spacecraft to be separated is vertically placed under the system support using a transfer platform. The tension control system installed on the top of the system support is connected to the separation module via a lifting device to unload the separation module by gravity. The tension control system is set by the integrated control system to ensure that the separation surface between the separation module and the parking module is in a stress-free state. Tension sensors are connected between the tension control system and the separation module to collect tension data in real time.

[0063] During the separation stroke, the integrated control system uses the collected values ​​from the tension sensor to perform constant tension control on the tension control system to ensure that the unloading efficiency meets the test requirements. After the separation stroke ends, the integrated control system performs position and speed closed-loop control on the tension control system, ignoring tension errors, so that the speed of the separation compartment gradually decreases to zero and keeps it in a stable and stationary state.

[0064] The testing system also includes three high-speed photogrammetry cameras, the placement of which is as follows: Figure 2 As shown. Positioned directly opposite the separation surface, with the line of sight level with the separation surface, two vertically placed high-speed photogrammetry cameras are used to measure the separation velocity and angular velocity of the compartments, and a third high-speed photogrammetry camera is used to monitor the state of the inter-compartment separation surface throughout the process.

[0065] In this invention, the tension control system includes a servo motor, a reducer, a brake, a winch, and a wire rope. The output end of the servo motor is connected to the input end of the reducer, and the output end of the reducer is connected to the winch. The rotation of the winch drives the wire rope to rise or fall. A tension sensor is connected in series at the end of the wire rope in the tension control system and is connected to the separation section through a lifting device. The tension sensor monitors the tension value acting on the separation section in real time and outputs the tension value to the integrated control system. The brake is used to keep the separation section in a stable and stationary state after separation.

[0066] like Figure 3 The figure shows the dynamic model of the system. During the separation stroke, as follows: Figure 3 As shown in Figure a, the integrated control system performs constant tension control on the tension control system based on the data collected by the tension sensor, specifically as follows:

[0067] (1) The tension control system loads the output tension to the desired value, the servo motor is in a stall state, and the tension value is in a stable state;

[0068] (2) The integrated control system sets the feedforward start threshold of the tension control system;

[0069] (3) The integrated control system issues a separation command, the inter-cabin connection device unlocks, the separation spring preload thrust is applied to the separation compartment, the tension in the wire rope decreases, and after the tension decreases beyond the set feedforward start threshold, the separation compartment is pulled upward under feedforward control. During this period, the gravity unloading efficiency remains within the range of 95% to 105%. Figure 4 As shown;

[0070] (4) After the separation chamber moves beyond the working stroke of the separation spring, the separation chamber moves upward at a constant speed under the combined action of constant tension and gravity.

[0071] Preferably, the expected value is the sum of the weight of the separation capsule, the weight of the lifting device, the weight of the sensor cable, and the safety margin, where the safety margin is 1% of the total weight of the separation capsule.

[0072] like Figure 3 As shown in b, after the separation stroke is completed, the integrated control system performs closed-loop control of the position and speed of the tension control system, specifically as follows:

[0073] (1) The separation chamber moves upward at a constant speed under the combined action of constant tension and gravity. After moving at a constant speed for a certain distance, the integrated control system controls the tension control system to reduce the tension, so that the separation chamber moves at a constant deceleration until the speed of the separation chamber is reduced to zero within the specified height.

[0074] (2) When the speed of the separation chamber is reduced to zero, the brake is activated to keep the entire test system in a stable and static state.

[0075] Example:

[0076] This embodiment provides an example of the application of a vertical force-controlled separation test system on a large spacecraft, using this example to illustrate the specific implementation of the test system.

[0077] I. Experimental Preparation

[0078] (1) Before the two modules are docked during the spacecraft assembly stage, the lifting equipment of the separation module is leveled to ensure that the resultant force of the lifting equipment just passes through the center of mass of the separation module and keeps the state of the lifting equipment unchanged.

[0079] (2) Transfer the separation section spreader to the bottom of the system support, directly below the lifting point of the tension control system. Control the lifting point of the tension control system to descend through the integrated control system. After the operator connects the separation section spreader to the lifting point of the tension control system, lift the lifting point of the tension control system through the integrated control system to move the spreader to a high position (the lowest point of the spreader is higher than the highest point of the whole device).

[0080] (3) Move the entire assembly to the bottom of the separation test system support, and make fine adjustments to the position of the transfer platform to ensure that the vertical center of the lifting device passes exactly through the center of mass mark of the separation compartment. Then lower the platform support and fix the position.

[0081] (4) Level the separation surface by adjusting the height of each leg of the transfer platform, and use a level to measure the horizontal state of the flange under the support until the horizontality requirement (1mm) is met.

[0082] (5) Set up a high-speed photogrammetry system. The line of sight of the high-speed camera should be level with the separation surface. Attach the high-speed photogrammetry target to the separation compartment. After the connection and debugging are qualified, confirm the field of view of each camera and the angle of the target.

[0083] (6) The lifting point of the tension control system is slowly lowered through the integrated control system, which drives the spreader to slowly descend. The operator connects the spreader to the separation compartment. After the connection is completed, the spreader is raised through the integrated control system so that the slings of the spreader are slightly taut and the force is even. The operator then confirms whether the reading of the tension sensor is normal.

[0084] (7) Measure the mass of the separation compartment, lifting gear, lifting lugs and other additional mass to predict the magnitude of the unloading force during the separation test.

[0085] II. Implementation of the Experiment

[0086] (1) The tension control system loads the output tension to the desired value, the servo motor is in a stall state, the tension value is in a stable state, and the desired tension value should be the sum of the weight of the separation cabin, the weight of the lifting gear, the weight of the sensor cable and the safety margin. The safety margin is about 1% of the total weight of the cabin.

[0087] (2) The tension control system sets a feedforward start threshold. The smaller the threshold, the more sensitive the control system is.

[0088] (3) When the separation command is issued, the inter-cabin connection device is unlocked, the separation spring pre-tightening thrust is applied to the separation cabin, the tension value in the hoisting rope decreases, and after the tension decreases beyond the set threshold, the separation cabin is pulled up under the feedforward control. During this period, the gravity unloading efficiency is always maintained within the range of 95% to 105%.

[0089] (4) After the cabin moves beyond the working stroke of the separation spring, the separation cabin moves upward at a constant speed under the combined action of constant tension and gravity.

[0090] (5) After moving at a constant speed for a certain distance, the tension control system controls the magnitude of the tension to make it decelerate uniformly until the speed of the cabin is reduced to zero.

[0091] (6) When the speed of the separation chamber is reduced to zero, the brake is activated to keep the entire test system in a stable and static state.

[0092] III. Trial Withdrawal

[0093] (1) Confirm that there is a sufficient safe distance between the lowest point of the separation section and the top of the parking section, and that there is no motion interference;

[0094] (2) Raise the outriggers of the transfer platform, and the transfer platform will pull the parking compartment out from under the test system support and park it in place;

[0095] (3) The parking fixture for the separation compartment is placed into the test bracket and positioned directly below the separation compartment;

[0096] (4) The lunar lander is lowered by the lifting point of the descent tension control system through the integrated control system until it lands smoothly on the parking fixture;

[0097] (5) Disconnect the connection between the separation compartment and the lifting equipment, and use the integrated control system to lift the lifting equipment until a safe distance is left between it and the separation compartment;

[0098] (6) The separation section is rotated out from under the system support and parked in place;

[0099] (7) The integrated control system slowly lowers the lifting device to the ground and disconnects the lifting device from the tension control system;

[0100] (8) The lifting device is removed from the test support and the tension control system is restored to a safe state.

[0101] This invention's tension control system employs a unique control method for the separation capsule during each stage of the test. During the separation stroke, constant tension control is applied, primarily to allow the separation capsule to follow gravity unloading. After the separation stroke, uniform deceleration control is applied to reduce the capsule's speed to zero within a specified altitude, and then the brake is activated to bring the test system to a stable, stationary state. Furthermore, this invention addresses the separation test requirements of different spacecraft segments, requiring only adjustments to the control parameters. The specific selection of these parameters can be determined based on the mass of the separated component, the deceleration distance, and the unloading efficiency. The operational procedure of this invention's active vertical separation test method is clear, avoiding repetitive test steps and improving efficiency.

[0102] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. An active gravity-compensated spacecraft segment separation test system, characterized in that, include: System support frame, tension control system, integrated control system, tension sensor, spacecraft to be separated, lifting device; The spacecraft to be separated includes a separation module and a parking module; The spacecraft to be separated is vertically placed under the system support using a transfer platform. The tension control system installed on the top of the system support is connected to the separation module via a lifting device to unload the separation module by gravity. The tension control system is set by the integrated control system to ensure that the separation surface between the separation module and the parking module is in a stress-free state. Tension sensors are connected between the tension control system and the separation module to collect tension data in real time. During the separation stroke, the integrated control system uses the collected values ​​from the tension sensor to perform constant tension control on the tension control system to ensure that the unloading efficiency meets the test requirements. After the separation stroke ends, the integrated control system performs position and speed closed-loop control on the tension control system, ignoring tension errors, so that the speed of the separation compartment gradually decreases to zero and keeps it in a stable and stationary state.

2. The spacecraft segment separation test system with active gravity compensation according to claim 1, characterized in that: It also includes three high-speed photogrammetry cameras, positioned directly opposite the separation surface, with the line of sight level with the separation surface. Two vertically placed high-speed photogrammetry cameras are used to measure the separation velocity and angular velocity of the compartments, and the third high-speed photogrammetry camera is used to monitor the state of the inter-compartment separation surface throughout the process.

3. The spacecraft segment separation test system with active gravity compensation according to claim 1, characterized in that: The tension control system includes a servo motor, a reducer, a brake, a winch, and a wire rope. The output end of the servo motor is connected to the input end of the reducer, and the output end of the reducer is connected to the winch. The rotation of the winch drives the wire rope to rise or fall. In the tension control system, a tension sensor is connected in series at the end of the wire rope and connected to the separation section through a lifting device. The tension sensor monitors the tension value acting on the separation section in real time and outputs the tension value to the integrated control system. The brake is used to keep the separated compartment in a stable and stationary state after the compartment is separated.

4. The spacecraft segment separation test system with active gravity compensation according to claim 1, characterized in that: During the separation stroke, the integrated control system performs constant tension control on the tension control system based on the values ​​collected by the tension sensor, specifically as follows: (1) The tension control system loads the output tension to the desired value, the servo motor is in a stall state, and the tension value is in a stable state; (2) The integrated control system sets the feedforward start threshold of the tension control system; (3) The integrated control system issues a separation command, the inter-cabin connection device is unlocked, the separation spring pre-tightening thrust is applied to the separation cabin, the tension value in the wire rope decreases, and after the tension decreases beyond the set feedforward start threshold, the separation cabin is pulled up under the feedforward control. During this period, the gravity unloading efficiency is always maintained within the range of 95% to 105%. (4) After the separation chamber moves beyond the working stroke of the separation spring, the separation chamber moves upward at a constant speed under the combined action of constant tension and gravity.

5. The spacecraft segment separation test system with active gravity compensation according to claim 4, characterized in that: The expected value is the sum of the weight of the separation capsule, the weight of the lifting device, the weight of the sensor cable, and the safety margin, with the safety margin being 1% of the total weight of the separation capsule.

6. The spacecraft segment separation test system with active gravity compensation according to claim 1, characterized in that: After the separation stroke is completed, the integrated control system performs closed-loop position and speed control on the tension control system, specifically as follows: (1) The separation chamber moves upward at a constant speed under the combined action of constant tension and gravity. After moving at a constant speed for a certain distance, the integrated control system controls the tension control system to reduce the tension, so that the separation chamber moves at a constant deceleration until the speed of the separation chamber is reduced to zero within the specified height. (2) When the speed of the separation chamber is reduced to zero, the brake is activated to keep the entire test system in a stable and static state.

7. A method for conducting active gravity-compensated spacecraft module separation tests using the active gravity-compensated spacecraft module separation test system according to claim 1, characterized in that, include: Experiment preparation phase; Experiment implementation phase; The preparation phase of the experiment includes the following steps: (1) Before the separation module and the parking module are docked during the spacecraft assembly stage, the lifting equipment of the separation module is leveled to ensure that the resultant force of the lifting equipment just passes through the center of mass of the separation module and keeps the state of the lifting equipment unchanged. (2) Transfer the separation section spreader to the bottom of the system support, directly below the lifting point of the tension control system. Control the lifting point of the tension control system to descend through the integrated control system. After the operator connects the separation section spreader to the lifting point of the tension control system, lift the lifting point of the tension control system through the integrated control system to move the spreader to a high position. (3) Move the entire assembly to the bottom of the system support, and make fine adjustments to the position of the transfer platform to ensure that the vertical center of the spreader passes exactly through the center of mass mark of the separation compartment. Then lower the transfer platform support to fix the position. (4) Level the separation surface by adjusting the height of each leg of the transfer platform, and use a level to measure until the levelness requirement is met. (5) Set up a high-speed photogrammetry camera. The line of sight of the high-speed photogrammetry camera should be level with the separation surface. Attach the high-speed photogrammetry target to the separation compartment. After the connection and debugging are qualified, confirm the field of view of the high-speed photogrammetry camera and the angle of the target. (6) The lifting point of the tension control system is slowly lowered through the integrated control system, which drives the spreader to slowly descend. The operator connects the spreader to the separation compartment. After the connection is completed, the spreader is raised through the integrated control system so that the slings of the spreader are slightly taut and the force is even. The operator then confirms whether the reading of the tension sensor is normal. (7) Measure the mass of the separation section, lifting gear, and lifting lugs to predict the magnitude of the unloading force during the separation test; The trial implementation phase includes the following steps: (1) The tension control system loads the output tension to the desired value, the servo motor is in a stall state, and the tension value is in a stable state; (2) The integrated control system sets the feedforward start threshold of the tension control system; (3) The integrated control system issues a separation command, the inter-cabin connection device is unlocked, the separation spring pre-tightening thrust is applied to the separation cabin, the tension value in the wire rope decreases, and after the tension decreases beyond the set feedforward start threshold, the separation cabin is pulled up under the feedforward control. During this period, the gravity unloading efficiency is always maintained within the range of 95% to 105%. (4) After the separation chamber moves beyond the working stroke of the separation spring, the separation chamber moves upward at a constant speed under the combined action of constant tension and gravity. (5) The separation chamber moves upward at a constant speed under the combined action of constant tension and gravity. After moving at a constant speed for a certain distance, the integrated control system controls the tension control system to reduce the tension, so that the separation chamber moves at a constant deceleration until the speed of the separation chamber is reduced to zero within the specified height. (6) When the speed of the separation chamber is reduced to zero, the brake is activated to keep the entire test system in a stable and static state.

8. The spacecraft segment separation test method with active gravity compensation according to claim 7, characterized in that: The expected value is the sum of the weight of the separation capsule, the weight of the lifting device, the weight of the sensor cable, and the safety margin, with the safety margin being 1% of the total weight of the separation capsule.

9. The spacecraft segment separation test method with active gravity compensation according to claim 7, characterized in that: It also includes a trial withdrawal phase, which includes the following operational steps: (1) Confirm that there is a sufficient safe distance between the lowest point of the separation section and the top of the parking section, and that there is no motion interference; (2) Raise the outriggers of the transfer platform, and the transfer platform will drive the parking compartment to be removed from under the system support and parked in place; (3) The parking fixture for the separation compartment is placed into the test bracket and positioned directly below the separation compartment; (4) The lifting point of the descent control system is lowered through the integrated control system to drive the separation compartment to descend until it is smoothly placed on the parking fixture; (5) Disconnect the connection between the separation compartment and the lifting equipment, and use the integrated control system to lift the lifting equipment until a safe distance is left between it and the separation compartment; (6) The separation section is rotated out from under the system support and parked in place; (7) The integrated control system slowly lowers the lifting device to the ground and disconnects the lifting device from the tension control system; (8) The lifting device is removed from the test support and the tension control system is restored to a safe state.

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