CN-121425542-B - Air-floating gravity unloading platform ground experiment system and method for satellite prototype

CN121425542BCN 121425542 BCN121425542 BCN 121425542BCN-121425542-B

Abstract

The invention discloses an air-floating gravity unloading platform ground experiment system and method for a satellite prototype, wherein the air-floating gravity unloading platform ground experiment system comprises an air-floating moving platform, at least two modularized spacecrafts, a controlled connection release mechanism and a cooperative control and evaluation system, wherein the air-floating moving platform is used for simulating a microgravity environment, the modularized spacecrafts are mounted on the corresponding air-floating moving platform, the modularized spacecrafts are provided with the controlled connection release mechanism for realizing physical connection and separation among the modularized spacecrafts in the experiment process, the cooperative control and evaluation system is used for calculating multidimensional indexes for quantitatively evaluating task efficiency based on collected pose and action data in the task execution process or after the task execution process is finished, and the space environment is simulated by building each subsystem.

Inventors

MENG LING
GUO PENGYU
LIU YONG
RAN DECHAO
ZHANG FEI
HUANG HAO
QIN JIANGYI

Assignees

中国人民解放军军事科学院国防科技创新研究院

Dates

Publication Date: 20260505
Application Date: 20251224

Claims (4)

1. A air supporting formula gravity uninstallation platform ground experimental system for satellite prototype, its characterized in that includes: the air floatation moving platform is used for simulating a microgravity environment; At least two modularized spacecrafts, wherein each modularized spacecraft is carried on the corresponding air floatation moving platform, and a controlled connection release mechanism is arranged between the modularized spacecrafts and used for realizing physical connection and separation between the modularized spacecrafts in the experimental process; The cooperative control and evaluation system calculates a multidimensional index for quantitatively evaluating task efficiency based on the collected pose and action data in the task execution process or after the task execution process is finished; wherein the cooperative control and evaluation system is configured to: Controlling the connection release mechanism to act and driving the air floatation moving platform to move so as to command the modularized spacecraft to execute an expected scene comprising dynamic reconstruction and collaborative maneuvering tasks in a simulated microgravity environment; the air floatation moving platform comprises an air floatation type gravity unloading platform and a marble platform, the modularized spacecraft is arranged on the air floatation type gravity unloading platform, and the modularized spacecraft is suspended on the marble platform through an air floatation base, so that three-degree-of-freedom motion simulation under the plane condition is realized, and the microgravity environment in the space is comprehensively simulated; the connection release mechanism is a magnetic connection mechanism, adopts a mode of combining an electromagnet with a permanent magnet, and is in auxiliary butt joint through a guide mechanism; the modularized spacecraft is integrated with a pose sensing module for measuring the relative state between satellites, wherein the pose sensing module is one or more of a visual recognition module, a laser ranging module and an ultra-wideband positioning module; The cooperative control and evaluation system fuses the state of a virtual space target with the real pose of the modularized spacecraft to form a hybrid simulation environment so as to drive the expected scene; The multi-dimensional index comprises a relative interception distance ratio SIR and an avoidance cost ratio for evaluating the synergistic interception performance And/or for assessing the approach success rate and fuel cost of the tracking effectiveness; The power unit of the air-floating motion platform comprises a force sensor, and the force sensor is used for measuring thrust and feeding back to the cooperative control and evaluation system for closed-loop control or for fuel consumption calculation in the multi-dimensional index.
2. An air-floating gravity unloading platform ground experiment method for a satellite prototype, the method being implemented based on the air-floating gravity unloading platform ground experiment system for a satellite prototype of claim 1, the method comprising the steps of: s1, an environment construction and initialization step, namely starting a system to enable an air floatation moving platform carrying a modularized spacecraft to enter a suspension working state simulating a microgravity environment; S2, task presuming execution step, wherein the cooperative control and evaluation system controls the modularized spacecraft to execute dynamic reconfiguration actions and cooperative maneuvering tasks according to the loaded expected scene, wherein the dynamic reconfiguration actions at least comprise separation and aggregation, and the cooperative maneuvering tasks at least comprise cooperative interception tasks and cooperative tracking tasks; And S3, data acquisition and efficiency evaluation, namely acquiring pose and motion data in the task execution process in real time, and calculating a multidimensional index for quantitatively evaluating the task efficiency based on the pose and the motion data.
3. The ground experiment method of the air-floating gravity unloading platform for the satellite prototype according to claim 2, wherein the collaborative interception task comprises the steps of controlling a protected modular spacecraft to be separated from a core modular spacecraft, and driving the protected modular spacecraft to maneuver so as to attract or block a virtual attack target and avoid the core modular spacecraft.
4. The ground experiment method of the air-floating gravity unloading platform for the satellite prototype according to claim 2, wherein the collaborative tracking task comprises the steps of controlling the cluster of the modularized spacecraft to approach to a virtual task target, and controlling part of the modularized spacecraft to separate from the cluster and execute a wrapping action when the cluster approaches to a preset distance, and forming a tracking or surrounding situation for the virtual task target by matching with other modularized spacecraft in the cluster.

Description

Air-floating gravity unloading platform ground experiment system and method for satellite prototype Technical Field The invention relates to the technical field of ground simulation verification of a modularized self-reconstruction spacecraft, in particular to an air-floating gravity unloading platform ground experiment system and method for a satellite prototype. Background In the ground environment, in order to verify the performances of attitude control, structural stability, cooperative work among modules and the like of a modularized satellite in space, a common practice is to fixedly connect an air-floating gravity unloading platform with the modularized satellite by utilizing a gas dynamic principle, build a ground semi-physical simulation verification environment, realize friction-free and low-interference movement of a satellite model or assembly on the ground, and simulate a microgravity environment in space to achieve a weightlessness state. At present, aiming at the ground verification requirement of the key satellite technology of the universities and scientific institutions in China, the common microgravity environment simulation methods include an air floatation method, a tower falling method, a suspension method, a water floatation method and the like. The air floatation method can realize high-precision microgravity simulation by precisely controlling the air pressure. And the cost is low, compared with other methods, the construction and operation cost of the air floatation method is low. The equipment has simple structure and convenient maintenance. The tower falling method can simulate the microgravity environment more accurately by enabling the object to fall freely in the tower. But expensive, and requires high costs to build and maintain the tower-dropping facility. Furthermore, the microgravity simulation time of a single experiment is short due to the limited falling time. The size and weight of the equipment to be tested is limited by the structure of the tower. The design of the suspension device of the suspension method is relatively simple, the suspension device is easy to realize, and the microgravity simulation experiment can be continuously carried out for a long time. However, the truss mechanism for supporting the ropes is complex, and the ropes are affected by friction force when moving, so that the simulation precision is limited. The suspension device requires a large space for installation and operation. Factors such as flexibility of the rope, shaking, inertial effect of the balancing weight and the like can bring adverse effects to microgravity simulation. The water float test equipment needs to be specially waterproof, and the complexity of experimental preparation work is increased. The traditional single spacecraft mission system is characterized in that a single spacecraft platform with integrated functions is used for executing specific missions, such as a reconnaissance satellite, a communication satellite and the like. Their countermeasures are limited and often do not have the ability to change their physical configuration or function assignment on-track. Simplified ground physical simulation systems often employ a single or multiple independent mobile robotic platforms to simulate a portion of the spacecraft's movements on a plane (e.g., a smooth ground surface) to validate the control algorithm. Such systems are generally simple in functionality, cannot simulate critical physical processes such as on-orbit separation, docking, reconstruction, etc. of a spacecraft, and lack high-fidelity simulation of complex spatial environmental effects (such as microgravity characteristics). The evaluation method based on numerical simulation is mainly used for carrying out mathematical modeling and simulation on task scenes through computer software, the evaluation result depends on the accuracy of the model, closed loop interactive verification with a real physical system (comprising execution mechanism delay, sensor noise, connecting mechanism dynamics and the like) is lacked, and the reliability of an evaluation conclusion and the guidance on engineering reality are limited. Disclosure of Invention Aiming at the problems existing in the prior art, the invention aims to provide an air-floating gravity unloading platform ground experiment system for a satellite prototype, so as to form a semi-physical simulation verification environment of a ground prototype system of a modularized self-reconstruction spacecraft, and effectively support application research of the modularized self-reconstruction spacecraft. The invention further aims to provide an air-floating gravity unloading platform ground experiment method for the satellite prototype, which is implemented based on the air-floating gravity unloading platform ground experiment system for the satellite prototype. In order to achieve the above purpose, the air-floating gravity unloading platform ground experiment system