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CN-121990193-A - Microgravity simulation device for ground test of spacecraft component

CN121990193ACN 121990193 ACN121990193 ACN 121990193ACN-121990193-A

Abstract

The invention belongs to the technical field of spacecraft ground test equipment, in particular to a microgravity simulation device for ground test of spacecraft parts, the ultrasonic standing wave testing device comprises a base, an air floatation supporting mechanism, an ultrasonic standing wave stabilizing mechanism, a self-adaptive clamping mechanism, a servo driving error compensating mechanism, a control system and a testing platform. The air supporting mechanism provides vertical non-contact supporting force to counteract gravity, the ultrasonic stabilizing mechanism maintains horizontal stability, the self-adaptive clamping mechanism is adapted to the multi-size component, and the servo compensating mechanism corrects deviation in real time. The invention combines the PID-fuzzy closed-loop control by the composite suspension structure to control the simulation error within 4.0%, solves the defects of low precision, short time, easy pollution and poor universality of the existing equipment, can realize long-time stable simulation, and provides reliable support for ground verification of components.

Inventors

  • LI WANJING
  • WANG SHAOBIN
  • FENG SHENGXUAN

Assignees

  • 天津奕亨机电工程有限公司

Dates

Publication Date
20260508
Application Date
20260408

Claims (13)

  1. 1. A microgravity simulation device for ground test of spacecraft parts is characterized by comprising a base, an air floatation supporting mechanism, an ultrasonic standing wave stabilizing mechanism, a self-adaptive clamping mechanism, a servo driving error compensating mechanism, a control system and a test platform, wherein the air floatation supporting mechanism is fixed at the center of the top of the base and is used for providing non-contact supporting force in the vertical direction to offset the gravity of the test parts, the ultrasonic standing wave stabilizing mechanism is symmetrically arranged on two sides of the air floatation supporting mechanism and is used for maintaining the stability of the test parts in the horizontal direction, the self-adaptive clamping mechanism is arranged on the top of the ultrasonic standing wave stabilizing mechanism and is used for realizing non-contact limiting of the test parts with different sizes, the servo driving error compensating mechanism is in linkage with the air floatation supporting mechanism and the ultrasonic standing wave stabilizing mechanism and is used for correcting microgravity simulation deviation in real time, the control system is respectively electrically connected with the mechanisms and is used for controlling the cooperative work of the mechanisms, and the test platform is arranged above the air floatation supporting mechanism and is used for placing the spacecraft test parts.
  2. 2. The microgravity simulation device for the ground test of the spacecraft component according to claim 1, wherein the air supporting mechanism comprises a cone angle diffusion type air supporting nozzle, a plurality of air outlets are uniformly formed in the top of the cone angle diffusion type air supporting nozzle, the nozzle diffusion angle is 30-60 degrees, and the ball-throat diameter ratio is 0.3-0.7.
  3. 3. The microgravity simulation device for ground test of spacecraft parts according to claim 2, wherein the air floatation supporting mechanism further comprises an air inlet pipeline, an air pressure stabilizing valve and an air filter, one end of the air inlet pipeline is connected with the air floatation nozzle, the other end of the air inlet pipeline is connected with an external high-pressure air source, the air pressure stabilizing valve and the air filter are sequentially connected with the air inlet pipeline in series, and the thickness of an air film generated by the air floatation supporting mechanism is controlled to be 0.05-0.1 mm.
  4. 4. The microgravity simulation device for ground test of spacecraft parts according to claim 1, wherein the ultrasonic standing wave stabilizing mechanism comprises an ultrasonic generator, an ultrasonic transducer, a reflecting end and a standing wave field adjusting module, wherein the ultrasonic transducer is arranged opposite to the reflecting end, and the ultrasonic generator is electrically connected with the ultrasonic transducer and is used for generating an ultrasonic signal of 20-80 kHz.
  5. 5. The microgravity simulation device for ground test of spacecraft parts according to claim 4, wherein the standing wave field adjusting module is electrically connected with an ultrasonic generator and used for adjusting the frequency and amplitude of ultrasonic signals, an ultrasonic standing wave field is formed between the ultrasonic transducer and the reflecting end, and the horizontal stability of the test part is maintained through the pressure of acoustic radiation.
  6. 6. The microgravity simulation device for ground testing of spacecraft parts according to claim 1, wherein the self-adaptive clamping mechanism comprises a telescopic connecting rod, an arc clamping jaw, a pressure sensor and a driving motor, the driving motor is connected with the telescopic connecting rod, the arc clamping jaw is fixed at the end part of the telescopic connecting rod, and a polytetrafluoroethylene flexible buffer layer is arranged on the inner side of the clamping jaw.
  7. 7. The microgravity simulation device for the ground test of the spacecraft component according to claim 6, wherein the pressure sensor is arranged on the inner side of the arc-shaped clamping jaw and used for detecting the gap between the clamping jaw and the test component and ensuring that the gap is maintained at 0.1-0.2mm, and the mechanism is suitable for the test component with the size range of 50-500mm and the weight of 0.5-5 kg.
  8. 8. The microgravity simulation device for ground test of spacecraft parts according to claim 1 is characterized in that the servo driving error compensation mechanism comprises a servo motor, a ball screw, a displacement sensor and a force sensor, wherein the servo motor is connected with the ball screw and is linked with an air floatation supporting mechanism and an ultrasonic standing wave stabilizing mechanism, the displacement sensor is arranged at the bottom of a test platform, the force sensor is arranged at the top of an air floatation nozzle, and the mechanism adjusts the air floatation supporting force and the air sound radiation pressure according to deviation signals to control the microgravity simulation error to be within 4.0%.
  9. 9. The microgravity simulation device for ground test of spacecraft parts according to claim 1, wherein the control system comprises a PLC (programmable logic controller), a data acquisition module, a PID-fuzzy controller and a man-machine interaction interface, wherein the data acquisition module is electrically connected with a displacement sensor, a force sensor and a pressure sensor and is used for acquiring signals of each sensor, the PID-fuzzy controller is connected with the data acquisition module and is used for processing deviation signals and outputting control instructions, and the PLC controls each mechanism to work cooperatively, and the man-machine interaction interface is used for parameter setting and data display.
  10. 10. Microgravity simulation device for ground testing of spacecraft components according to any of claims 1-9, characterized in that it implements a microgravity accurate simulation based on the following formula: target supporting force formula: Wherein Is the vertical target supporting force, m is the mass of the tested part, g is the earth gravity acceleration, The acceleration is the target microgravity acceleration; Error compensation control formula: Wherein u (t) is the control output, 、 、 And the proportional, integral and differential coefficients are respectively, and e (t) is a real-time analog deviation.
  11. 11. A microgravity simulation method based on the device of any one of claims 1-10, wherein the method comprises five steps of parameter setting, component limiting, compound suspension, error compensation and test completion.
  12. 12. The microgravity simulation method according to claim 11, wherein the composite suspension step comprises starting an air-floating supporting mechanism, jetting high-pressure gas through a cone angle diffusion type air-floating nozzle to form a gas film to counteract the gravity of the test part, and simultaneously starting an ultrasonic standing wave stabilizing mechanism to form an ultrasonic standing wave field, and maintaining the horizontal direction stability of the test part through the pressure of acoustic radiation.
  13. 13. The microgravity simulation method according to claim 11, wherein the error compensation step comprises the steps of acquiring displacement deviation and supporting force deviation of the test component in real time by a displacement sensor and a force sensor, processing deviation signals by a controller and outputting control instructions, and driving a ball screw by a servo motor according to the instructions to adjust air inlet pressure and air sound radiation pressure of the air floatation supporting mechanism so as to correct the deviation.

Description

Microgravity simulation device for ground test of spacecraft component Technical Field The invention belongs to the technical field of spacecraft ground test equipment, and particularly relates to a microgravity simulation device for ground test of spacecraft components. Background The on-orbit working performance of the spacecraft component highly depends on the space microgravity environment, and the structural reliability, the functional stability and the working precision of the component can be accurately verified only by reproducing the space microgravity effect through a microgravity simulation device in the ground test stage, so that the on-orbit operation safety of the spacecraft is ensured. The national space science long-term development planning (2024-2050) proposes that the technical innovation of spacecraft ground test is enhanced, key technologies such as high-precision microgravity simulation are broken through, and the industrialized development of the small spacecraft is supported. At present, microgravity simulation technologies for ground test of spacecraft parts at home and abroad mainly comprise acceleration control, physical support and suspension methods, and various technologies have obvious defects and cannot meet the high-efficiency and high-precision test requirements of small spacecraft precision parts, and the specific problems are as follows: The device generates reverse acceleration to simulate microgravity by controlling the motion of an experimental platform, but the device can truly reproduce the microgravity state, but has the fatal defect that the effective microgravity time of the tower falling device is usually only 3.6 seconds, the electromagnetic ejection device is only 4 seconds at maximum, the long-time static performance test (usually more than 30 minutes) of a small spacecraft precise component (such as a miniature sensor) cannot be completed, the equipment is huge (the traditional tower falling height is more than 100 m), the manufacturing cost is high (the single manufacturing cost is more than 5000 ten thousand yuan), the experimental efficiency is low (the traditional tower falling can only complete 2-3 experiments a day), and the device is not suitable for batch component test. And (II) physical support devices (such as a suspension method and a water float method) realize microgravity simulation by counteracting gravity through solid support, but inevitably directly contact with a test part, so that the surface abrasion and pollution of the part are easily caused, and the device is especially not suitable for testing parts which are easy to pollute, such as space metal 3D printing related parts, precision sensors and the like, meanwhile, the suspension method has elastic deformation interference (deformation error can reach 0.5 mm) of ropes, the water float method has liquid resistance influence (resistance error can reach 1.2N), the microgravity simulation precision is low, the maximum force compensation error can reach 13.9%, and the requirement of high-precision test (the requirement error is less than or equal to 5.0%) cannot be met. The air-floating device forms an air film to support the test part through high-pressure air, the problems of uneven air film thickness (fluctuation range of 0.03-0.15 mm) and poor vertical stability are solved, the part deflection (deflection amount can reach 0.8 mm) is easy to occur, the ultrasonic standing wave suspension device can only maintain the stability of the test part in the horizontal direction and cannot realize effective vertical support, and both the ultrasonic standing wave suspension device lack a real-time error compensation mechanism, and the simulation device is easy to be interfered by the outside (such as air flow and vibration) in the simulation process, so that simulation precision fluctuation (fluctuation range of +/-2.1%) is caused, and the ultrasonic standing wave suspension device cannot be adapted to small spacecraft parts with different sizes and weights, and has poor universality. The existing composite suspension device has the advantages that although part of the composite suspension system combines the advantages of air floatation and ultrasonic standing waves, the existing composite suspension device is not provided with an efficient error compensation mechanism, the problems of inconsistent rigidity and insufficient compensation precision caused by friction exist, meanwhile, the motion range of the existing composite suspension device is limited (generally only 800 mm), the existing composite suspension device cannot be adapted to small spacecraft components with different sizes (the size range is 50-500 mm), the response speed of a control algorithm is low (the response time is more than or equal to 0.5 s), microgravity simulation deviation cannot be dynamically corrected, and the requirement of diversified tests is difficult to meet. In summary, the conventional microgravity simulation