17 results about "Microgravity Simulation" patented technology

The invention relates to a three-dimensional microgravity simulation system, and belongs to the field of spaceflight mechanism ground tests. According to the three-dimensional microgravity simulation system, ground six-degree-of-freedom microgravity simulation can be realized, the aircraft simulator and accessories thereof have a five-degree-of-freedom motion state on an air floating plane through the five-degree-of-freedom air floating platform, and the aircraft simulator can have a three-dimensional space six-degree-of-freedom motion state through the magnetic air suspension assembly. In the process of a ground microgravity experiment, the gravity of the movement of the aircraft and accessories thereof is unloaded by the magnetic suspension assembly, so that the movement interference of the aircraft simulator and the microgravity simulation tool is avoided, and the problem of dynamic high-precision gravity unloading is solved.

The present application relates to the technical field of biological cell culture, and particularly relates to a three-dimensional cell culture device with automatic liquid replacement function, comprising: a box body; a rotating assembly, a liquid replacement assembly and a control display assembly are integrally installed in the box body. The three-dimensional cell culture device with automatic liquid replacement function provided by the present application integrates microgravity simulation and liquid replacement function in a relatively closed culture box body space, ensures that the culture environment in the cell culture process has high stability by not excessively affecting the air flow, temperature and humidity environment, etc. in the culture box body during liquid replacement; the device for replacing culture solution does not need to rotate, effectively releases the culture space while reducing the energy consumption required in the rotation process, can load multiple culture bottles for three-dimensional culture and automatic liquid replacement at the same time, and has high potential for large-scale cell preparation.

The invention relates to the technical field of space robot ground testing, in particular to a space crawling robot surface and microgravity simulation system. Comprising a surface simulation assembly, an inclined plane adjusting assembly and a gravity balancing assembly, the surface simulation assembly is arranged on the inclined plane adjusting assembly, and the inclined plane adjusting assembly is used for adjusting the inclination angle of the surface simulation assembly; the gravity balancing assembly is arranged above the surface layer simulation assembly and used for being connected with the space crawling robot to be tested, and when the space crawling robot moves on the surface layer simulation assembly according to a set trajectory plan, the gravity balancing assembly can passively adapt to the motion trajectory of the space crawling robot; and the climbing motion of the simulated satellite surface in the space microgravity environment is completed. The space crawling robot simulates crawling on the surfaces of satellites and spacecrafts in the microgravity state, verification of the motion performance of the crawling robot under the space microgravity in a ground test is completed, and the problem that the ground test of the space crawling robot is difficult is solved.

The application provides a comprehensive environment simulation test system for rotating parts, comprising a vacuum cabin, a high-low temperature test subsystem arranged in the vacuum cabin and provided with a first temperature control assembly for cooling the vacuum cabin and a second temperature control assembly for heating the vacuum cabin, a high vacuum obtaining subsystem connected with the vacuum cabin for adjusting the vacuum degree of the vacuum cabin, a micro-gravity simulation subsystem arranged in the vacuum cabin and provided with a magnetic suspension bearing connected with the rotating part to be tested, a dynamic torque test subsystem provided with a driving motor, a magnetic powder brake and at least one shaft coupling, the driving motor and the magnetic powder brake being connected with the rotating part to be tested in the vacuum cabin through the shaft coupling and at least one magnetic fluid dynamic sealing device, and a dynamic parameter measurement subsystem arranged in the vacuum cabin and provided with at least one measurement unit for obtaining the dynamic parameters of the rotating part to be tested. Therefore, the application can improve the effectiveness of the space environment simulation test of the rotating part.

The application discloses a kind of spacecraft ground microgravity simulation platform dynamics modeling and mass balancing method, belong to the technical field of space technology.The application includes the following steps: according to the component assembly relationship of spacecraft ground microgravity semi-physical simulation platform, distinguish each component and component group;According to the condition of each component and component group and whole, respectively, each component and component group are established coordinate system;Dynamics derivation is carried out based on coordinate system, and dynamics model is obtained;The complete dynamics model of ground simulation platform is obtained by analyzing dynamics model by Lagrange method;The complete dynamics model of ground simulation platform is simplified by hypothesis, and simplified dynamics model is obtained;Mass balancing is carried out to simplified dynamics model, and the spacecraft ground microgravity semi-physical simulation platform of approximate quasi-zero stiffness is obtained.The introduction of pivot system makes the system reach approximate quasi-zero stiffness, and then reconstructs microgravity environment on the ground.

The application discloses a microgravity simulation device and method, and relates to the technical field of ground microgravity simulation, and aims to solve the problems of high cost and short experiment duration in the prior art. The microgravity simulation device comprises a rotating driving mechanism, at least one floater and at least one container for containing a liquid medium. The rotating driving mechanism has at least one power output shaft, each floater is arranged on a corresponding power output shaft, the floater floats on the liquid medium, the center of mass of the floater is located above the liquid medium, and the distance between the geometric center of the floater and the center of mass of the floater is greater than 0. The method of the microgravity simulation device is used for simulating microgravity. The microgravity simulation device and method provided by the application are used in microgravity simulation.

The invention belongs to the technical field of spacecraft ground test equipment, and particularly relates to a microgravity simulation device for spacecraft component ground test, which comprises a base, an air floatation support mechanism, an ultrasonic standing wave stabilization mechanism, a self-adaptive clamping mechanism, a servo drive error compensation mechanism, a control system and a test platform. The air floatation supporting mechanism provides vertical non-contact supporting force to offset gravity, the ultrasonic stabilizing mechanism maintains horizontal stability, the self-adaptive clamping mechanism is adaptive to parts of multiple sizes, and the servo compensation mechanism corrects deviation in real time. The composite suspension structure is combined with PID-fuzzy closed-loop control, the simulation error is controlled within 4.0%, the defects that existing equipment is low in precision, short in time, prone to pollution and poor in universality are overcome, long-time stable simulation can be achieved, and reliable support is provided for part ground verification.

The application discloses an active quasi-zero stiffness construction method based on nonlinear characteristic digital fitting, and steps include: a quasi-zero stiffness system completes automatic zero point calibration, a force actuator unit drives a load platform to make a low-speed quasi-static scanning within a preset stroke, displacement and static force signals are synchronously collected, and a full-stroke force-displacement data set of a support assembly is constructed; then, a numerical approximation algorithm is used for fitting the data set, a digital twin mechanical model containing a high-order nonlinear term is established, and parameters are stored in a control unit. When the system is running, a high-frequency displacement detection unit collects instantaneous displacement of the load platform in real time, the control unit calls the model to calculate a current positive stiffness restoring force, generates a negative stiffness compensation instruction, drives the actuator unit to apply a compensation force to offset the positive stiffness, and makes the system present a quasi-zero stiffness characteristic within a working stroke. The method realizes quasi-zero stiffness, has advantages of no friction, parameter self-adaptation, large dynamic range and the like, and can be widely used in scenes such as spacecraft ground microgravity simulation and high-precision constant force assembly.

The application discloses a self-leveling air gap equalization and multi-cavity stable voltage ultra-low disturbance air cavity system and a control method, and belongs to the field of aircraft control and ground simulation. The system comprises an outer shaft air floating sleeve, an inner shaft movement sleeve, a lifting device, a surrounding air gap monitoring device, a distributed air pressure sensor array and an air path control board card; an automatic air gap pressure difference elimination is realized by adopting a surrounding communication air path, and a partitioned air supply and a feedforward pressure field shaping are matched, and a constant air cavity volume is maintained by the synchronous lifting device to weaken the hysteresis effect. The control method relies on a neural network offline training to build a compensation model, and realizes closed loop stable voltage and disturbance suppression by adopting a feedforward neural backstepping control. The application can effectively improve the precision, stability and dynamic response of vertical microgravity simulation, and solves the multi-source disturbance problem caused by air gap loss, air supply and exhaust coupling and hysteresis feedback of a traditional pneumatic compensation system.

The invention relates to the technical field of spaceflight, and particularly provides an optical-mechanical structure motion error measurement method, device and product under microgravity. The method comprises the following steps: acquiring a pre-constructed microgravity simulation device and a measurement platform; the measuring platform is used for fixing and supporting a to-be-measured optical machine structure, and the to-be-measured optical machine structure comprises an optical delay line and a fast reflecting mirror; under the condition that the trigger signal is received, the measuring platform does free falling motion in the microgravity simulation device; after the measurement platform completes the free falling motion, motion error data of the to-be-measured optical machine structure is acquired; wherein the kinematic error data of the optical delay line represents the rotational kinematic error of the optical machine structure to be measured in three degrees of freedom and the translational kinematic error in one direction, and the kinematic error data of the fast reflecting mirror represents the translational kinematic error in three directions. According to the invention, the rotation motion error data and the translation motion error data of the to-be-tested optical machine structure are obtained by respectively measuring the motion error data of the optical delay line and the fast reflecting mirror.

The application discloses a three-dimensional rotary gas recovery and acoustic suspension microgravity gas-thermal environment simulation cultivation method, and relates to the technical field of microgravity environment simulation. The method comprises the following steps: establishing a microgravity simulation cultivation experiment system based on acoustic suspension, gas recovery and RPM double closed-loop control; first closed-loop control: monitoring the environment parameters of the cultivation cabin, calculating the key physiological parameters based on the gas exchange diagnosis model; comparing with the first preset target to dynamically regulate the acoustic field parameters of the acoustic suspension and the environment parameters of the cultivation cabin; second closed-loop control: obtaining the multispectral image of the plants in the cultivation cabin to extract the phenotype data; comparing the phenotype data with the second preset target to correct the parameters of the stomatal conductance prediction model and the first preset target. Through the double closed-loop control mechanism, the traditional physical environment reproduction is innovated into an intelligent experiment system for actively studying and optimizing the physiological response of plants, and the problem that the environment simulation is disconnected with the physiological effect is solved.

This invention discloses a self-leveling air gap equalization and multi-cavity pressure-stabilized ultra-low disturbance air cavity system and control method, belonging to the field of aircraft control and ground simulation. The system includes an outer axis air-bearing sleeve, an inner axis moving sleeve, a lifting device, a surrounding air gap monitoring device, a distributed air pressure sensor array, and an air path control board. A surrounding interconnected air path is used to automatically eliminate air gap pressure difference. Combined with zoned air supply and feedforward pressure field shaping, a synchronous lifting device maintains a constant air cavity volume to reduce hysteresis effects. The control method relies on offline training of a neural network to construct a compensation model and uses feedforward neural backstepping control to achieve closed-loop pressure stabilization and disturbance suppression. This invention can effectively improve the accuracy, stability, and dynamic response of vertical microgravity simulation, solving the multi-source disturbance problems caused by air gap imbalance, supply and exhaust coupling, and hysteresis feedback in traditional aerodynamic compensation systems.

The micro-gravity simulation test system for fine operation of a space dexterous arm in a narrow area comprises a space dynamics target machine, a ground test system console, a motion simulator console, a wireless communication module, an optical darkroom, a distributed infrared measurement camera, a sunlight simulation device, a service star motion simulator, a target star motion simulator, a suspension type micro-gravity simulation system and a marble air floatation table; the light illumination condition and the micro-gravity condition in the space environment can be simulated simultaneously, and the actual operation environment of the space dexterous arm is simulated with high fidelity. The micro-gravity compensation scheme combining the air floatation system and the suspension mechanism can provide more accurate gravity compensation in more directions without being limited by the interference collision between the ropes and the mechanism. The rope winding and unwinding devices for horizontal and vertical motions are designed, and the contradiction between the high gravity compensation accuracy of the dexterous arm and the narrow space operation is considered, so that the dexterous arm end can be deeply operated in the narrow space of the sailboard slit.

The invention discloses a universal multi-degree-of-freedom microgravity simulation device. The device comprises a first-stage platform, a second-stage platform, a rotating assembly and a target load, wherein the secondary platform is mounted on the primary platform; the rotating assembly is mounted on the secondary platform; the target load is installed on the rotating assembly. The device has the advantages of being high in compatibility and capable of achieving multi-degree-of-freedom simulation and having a locking function.

The invention discloses a microgravity simulation system capable of repeatedly unfolding and folding a solar wing, which comprises a foldable solar wing, a gravity compensation device, a driving device and a six-degree-of-freedom mechanical arm, and is characterized in that the foldable solar wing is formed by hinging a plurality of panels, and the tail end of the six-degree-of-freedom mechanical arm is hinged with the innermost panel of the foldable solar wing through a bracket; the gravity compensation device comprises lifting lugs arranged in the geometric center of each panel, pulley assemblies, sliding rails, ropes and springs, the number of the pulley assemblies is the same as that of the lifting lugs, one ends of the ropes are connected with the lifting lugs, the other ends of the ropes are connected to the pulley assemblies through the springs, and the pulley assemblies are slidably connected to the sliding rails. The spring is configured to provide elastic force equal to the gravity of the corresponding panel; the track of the slide rail is matched with the horizontal movement path of the hanging point of the corresponding panel in the unfolding and folding process of the solar wing; the driving device is used for driving the panels to rotate relatively, and unfolding and folding of the solar wing are achieved. And the requirements of a large-scale multi-panel solar wing ground test can be met.

The invention discloses a low-speed single-shaft microgravity simulation pulley, and relates to the technical field of microgravity simulation. An auxiliary wheel shaft and a main wheel shaft are arranged at the front end and the rear end of the top of the tackle body, a driven roller and a driving roller are installed, a gear motor is installed on the side of the tackle body, and the driving roller is controlled to rotate through a driving gear and a driven gear which are meshed. The unfolding mechanism is suspended below through two ropes with the same length, and when the unfolding mechanism moves under external force and the readings of the two force sensors are inconsistent or exceed a set threshold range, the computer or the single-chip microcomputer sends a driving signal to the H bridge to control the pulley to move. Friction resistance in the moving process of the tackle is counteracted by combining a gear motor with gear transmission, and when an unfolding mechanism is subjected to external force, a binding force sensor detects and controls the gear motor in real time to drive the tackle to perform movement compensation, so that equivalent friction-free smooth movement is realized.

The invention designs a magnetic-gas suspension servo device which is used for gravity unloading in the ground unfolding experiment process of a space manipulator, and belongs to the technical field of ground microgravity simulation tests. According to the magnetic air suspension servo device, active following of a suspended object in all directions is achieved through the omni-directional wheels, additional resistance and additional resistance moment in the gravity unloading process are remarkably reduced, the precision of a microgravity simulation test is improved, magnetic attraction force is provided by the three magnetic suspension air feet which are arranged in a 120-degree mode, the whole device is attracted to a working platform, and the working efficiency is improved. And friction between the bottom surface of the magnetic-air combined type magnetic suspension air foot and the contact surface of the magnetic suspension plate is eliminated through the high-pressure air film, so that friction-free suspension is realized.