CN119240003A - A semi-physical simulation platform for simulating the reaction torque of a single-board solar wing - Google Patents
A semi-physical simulation platform for simulating the reaction torque of a single-board solar wing Download PDFInfo
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- CN119240003A CN119240003A CN202411311878.7A CN202411311878A CN119240003A CN 119240003 A CN119240003 A CN 119240003A CN 202411311878 A CN202411311878 A CN 202411311878A CN 119240003 A CN119240003 A CN 119240003A
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Abstract
本发明专利公开了一种模拟单板太阳翼反作用力矩的半物理仿真平台，具体涉及航天器地面试验领域。包括刚性底座和上位机，刚性底座上设有四根支撑柱，四根支撑柱内由下至上依次设有驱动电机、圆光栅、扭矩传感器和加载电机，驱动电机电连接有高稳定控制器，驱动电机用于控制对日定向装置，驱动电机与圆光栅连接，圆光栅与扭矩传感器连接，扭矩传感器与加载电机连接，加载电机上电连接有温度传感器；上位机用于大柔性太阳电池翼的动力学建模和实时解算，上位机分别与高稳定控制器电连接。采用本发明技术方案解决了现有试验无法对对日定向装置地面驱动性能进行测试的问题，能够精确模拟单板太阳翼在轨对于对日定向装置的反作用力矩。
The patent of the present invention discloses a semi-physical simulation platform for simulating the reaction torque of a single-board solar wing, which specifically relates to the field of ground tests of spacecraft. It includes a rigid base and a host computer. Four support columns are arranged on the rigid base. The four support columns are arranged from bottom to top in sequence with a drive motor, a circular grating, a torque sensor and a loading motor. The drive motor is electrically connected to a high-stability controller. The drive motor is used to control the solar orientation device. The drive motor is connected to the circular grating, the circular grating is connected to the torque sensor, the torque sensor is connected to the loading motor, and the loading motor is electrically connected to a temperature sensor; the host computer is used for dynamic modeling and real-time solution of large flexible solar cell wings, and the host computer is electrically connected to the high-stability controller. The technical solution of the present invention solves the problem that the existing test cannot test the ground driving performance of the solar orientation device, and can accurately simulate the reaction torque of the single-board solar wing on the solar orientation device in orbit.
Description
Technical Field
The invention relates to the field of spacecraft ground tests, in particular to a semi-physical simulation platform for simulating the reactive moment of a single-plate solar wing.
Background
The energy source of the high-orbit meteorological satellite is a flexible single-plate solar wing connected with the satellite body, and the flexible single-plate solar wing has the characteristics of large flexibility, large inertia, rigid-flexible coupling and dense mode, but the flexible single-plate solar wing also has the effect of changing load of large moment and high frequency response on the sun orientation device in the driving process. When the ground full physical test is carried out, the driving performance test of the sun orientation device is difficult to realize. Therefore, a set of semi-physical simulation platform of the solar wing driving mechanism is designed to simulate the driving process of the solar cell sailboard by the solar orientation device, and the design of related structures is perfected by applying variable load moment to the solar cell sailboard in a simulation test, so that the stable work of the high-orbit meteorological satellite can be maintained.
Disclosure of Invention
The invention aims to provide a semi-physical simulation platform for simulating the reactive moment of a single-plate solar wing, which solves the problem that the conventional test cannot test the ground driving performance of a sun orientation device.
In order to achieve the aim, the technical scheme of the invention is that the semi-physical simulation platform for simulating the reaction moment of the solar wing of the single board comprises a rigid base and an upper computer,
Four supporting columns which are symmetrically distributed are arranged on the rigid base, a driving motor, a circular grating, a torque sensor and a loading motor are sequentially arranged in the four supporting columns from bottom to top, the driving motor is connected with the supporting columns through a first placing plate, through holes which are coaxially arranged are respectively formed in the centers of the first placing plate and the rigid base, the through holes are used for placing the driving motor, the driving motor is electrically connected with a high-stability controller, the driving motor is used for controlling a sun alignment device, one side of the driving motor is connected with the circular grating through a first coupling flange, the circular grating is connected with the torque sensor, the torque sensor is connected with the loading motor through a second coupling flange, the loading motor is electrically connected with a temperature sensor, the circular grating, the torque sensor and the loading motor are all electrically connected with the high-stability controller, data generated in a simulation process are collected through the high-stability controller, and meanwhile, the loading motor is controlled to carry out loading simulation in real time and an angle value is uploaded to an upper computer;
The upper computer is used for dynamic modeling and real-time resolving of the flexible solar cell wings, and is electrically connected with the high-stability controller, and the upper computer is used for monitoring, displaying and processing data acquired by the high-stability controller.
Further, each support column is covered with a reinforcing frame, and only one side of the reinforcing frame is provided with an opening matched with the support column.
Further, the high stability controller is used for realizing a double-loop PID controller and direct torque control.
Further, the high-stability controller adopts the terminal synovial membrane control with ESO, takes the part except the control quantity as the total disturbance, wherein the total disturbance comprises internal disturbance and external disturbance and gain estimation deviation of the control quantity, and the total disturbance f is
The expansion state equation after expanding the total disturbance f to one state variable of the system:
The ESO is as follows: after the pole configuration method is adopted, the pole configuration method,
Further, the calculation model adopted by the upper computer comprises a center rigid body-solar sailboard rotation equation, a solar sailboard vibration equation and a dynamics equation;
center rigid body-solar sailboard rotation equation: Where beta represents the angular displacement vector of the rotation,
Solar sailboard vibration equation: In the middle of The moment of inertia matrix of the solar wing, F a＝[Fa,1 Fa,2 … Fa,s is a vibration coupling matrix,Is a modal matrix, ω is angular velocity, η is generalized modal coordinates of the solar wing, and the kinetic equation is
Wherein M is a reaction moment, namely a reaction moment of the solar cell array on the driving mechanism, ζ is a modal damping ratio, Ω is a modal frequency diagonal array, and Ω 2 =Λ.
Compared with the prior art, the beneficial effect of this scheme:
1. the semi-physical simulation platform is based on a rapid prototyping technology, a subsystem closed-loop control strategy is adopted, a setting and debugging function of control parameters is designed, and real-time monitoring can be carried out on the speed, the output rotation angle, the load torque, the current and the voltage of a loading motor of an output end. Meanwhile, a flexible load dynamic model in the microgravity environment after calibration is used for replacing a real object, so that the influence caused by factors such as gravity, air resistance and the like in the microgravity environment in the ground environment is well solved.
2. The invention adopts high-precision angular velocity and torque measurement technology, and the sensor with the highest precision level is selected for measurement, and simultaneously, the influence of other factors on the measurement is repeatedly considered and avoided, thereby realizing the semi-physical loading of high-precision torque.
3. The invention establishes a flexible solar cell wing dynamic model and real-time calculation, can calculate alternating torque of flexible load to a high-stability control device in space high vacuum and microgravity environment in real time, and controls a loading motor to load in real time.
4. The invention establishes a high-rigidity gapless mechanical support and transmission system, can accurately simulate the load moment value of the single-plate flexible solar wing, and provides an effective solution for stability test, driving performance test and disturbance characteristic test of a driving motor and a high-stability controller for controlling a sun orienting device.
Drawings
FIG. 1 is a schematic diagram of a semi-physical simulation platform for simulating the reactive moment of a single-plate solar wing;
FIG. 2 is a side view of a semi-physical simulation platform of the present invention simulating a single plate solar wing reaction moment;
FIG. 3 is a hardware connection diagram of a semi-physical simulation platform simulating the reactive moment of a single-plate solar wing according to the present invention;
FIG. 4 is a system modeling diagram of a semi-physical simulation platform simulating the reactive moment of a single-plate solar wing according to the present invention;
FIG. 5 is a control block diagram of a semi-physical simulation platform simulating the reactive torque of a single-plate solar wing according to the present invention;
FIG. 6 is a relative mounting position of the flexible solar wing and the satellite in the present embodiment;
Fig. 7 is a graph of following experimental data for a 10NM step torque signal in this embodiment;
FIG. 8 is a graph of follow-up experimental data for 1HZ, 5HZ and 10HZ sinusoidal torque signals in this example;
Fig. 9 is a graph of following experimental data of the solar wing torsional moment signal in this embodiment.
Detailed Description
The invention is described in further detail below by way of specific embodiments:
The reference numerals in the drawings of the specification comprise a rigid base 1, a support column 2, a reinforcing frame 3, a driving motor 4, a circular grating 5, a torque sensor 6, a loading motor 7, a first placing plate 8, a through hole 9, a support tube 10, a flange plate 11, a first coupling flange plate 12, a second placing plate 13, a connecting plate 14, a second coupling flange plate 15 and a third placing plate 16.
Examples
As shown in fig. 1 to 9, a semi-physical simulation platform for simulating the reaction moment of a single-plate solar wing comprises a rigid base 1 and an upper computer, wherein rubber pads are connected to four corners of the bottom of the rigid base 1 through screws, four symmetrically distributed support columns 2 are arranged on the upper surface of the rigid base 1, reinforcing frames 3 are connected to the outer wall of each support column 2 through bolts, openings matched with the support columns 2 are formed in one side of each reinforcing frame 3, the reinforcing frames 3 are connected to the rigid base 1 through bolts, and the rigid base 1, the support columns 2 and the reinforcing frames 3 are used together to form a mounting base in the scheme, so that the whole simulation platform is ensured to keep high rigidity and high strength, and is not easy to be influenced by resonance. The four support columns 2 are internally and sequentially provided with a driving motor 4, a circular grating 5, a torque sensor 6 and a loading motor 7 from bottom to top, the driving motor 4 is used for connecting and driving a sun orienting device, a high-stability controller is electrically connected to the driving motor 4 and is an actual model measured product, the high-stability controller realizes accurate and stable control of the driving motor 4 through a limit switch, in the embodiment, the controllers of the temperature sensor, the circular grating 5, the torque sensor 6, the loading motor 7, the driver and the loading motor 7 are electrically connected with the high-stability controller, data generated in a simulation process are collected through the high-stability controller, meanwhile, the loading motor 7 is controlled to perform real-time loading simulation, and an angle value measured by an encoder electrically connected with the loading motor 7 is uploaded to an upper computer.
The driving motor 4 is connected with a first placing plate 8 through a flange plate 11, the center of the first placing plate 8 and the center of the rigid base 1 are both provided with through holes 9 which are coaxially arranged, the two through holes 9 are commonly used for placing the driving motor 4, openings matched with the support columns 2 are formed in four corners of the first placing plate 8, the first placing plate 8 is connected with a plurality of support tubes 10 through bolts, the support tubes 10 are connected between two adjacent support columns 2 through bolts, and the mounting position of the flange plate 11 on the first placing plate 8 can be adjusted during mounting, so that the loading motor 7 and the driving motor 4 are coaxially arranged, and the loading precision of torque is improved. The top of the driving motor 4 is connected with the circular grating 5 through a first coupling flange 12, in the embodiment, the circular grating 5 feeds back a position signal to the high-stability controller through a differential RS422 interface, the circular grating 5 is connected between four support columns 2 through a second placing plate 13 and support tubes 10, the second placing plate 13 is connected on the support tubes 10 through bolts, and the support tubes 10 are connected between adjacent support columns 2 through bolts. The circular grating 5 is connected with the torque sensor 6, the torque sensor 6 is symmetrically provided with L-shaped connecting plates 14, the two connecting plates 14 are connected with supporting rods through bolts, and the supporting rods are connected between the two supporting columns 2 positioned on the rear side through bolts. The input shaft of the torque sensor 6 is connected with a second coupling flange 15, the output shaft of the torque sensor 6 is connected with the circular grating 5, and the torque difference between the input shaft and the output shaft is measured and transmitted to the high-stability controller through an RS232 interface.
The second coupling flange 15 is connected with an output shaft of the loading motor 7, the loading motor 7 is connected with a third placing plate 16 through bolts, the third placing plate 16 is connected between four support columns 2 through a plurality of support tubes 10, the third placing plate 16 is connected on the support tubes 10 through bolts, and the support tubes 10 are connected between adjacent support columns 2 through bolts. The loading motor 7 is internally provided with a temperature sensor, the temperature sensor is used for monitoring the temperature condition of the loading motor 7 during working, the loading motor 7 is also electrically connected with a driver, the loading motor 7 receives moment signals through the driver, the driver drives the loading motor 7 to carry out periodic moment loading, and the reaction moment of the solar wing is simulated. In this embodiment, the loading motor 7 can be transversely adjusted on the support tube 10 through the third placing plate 16 and the bolts, the torque sensor 6 can be assembled on the support tube 10 through the connecting plate 14 for transverse and longitudinal adjustment, the driving motor 4 can be longitudinally adjusted through the first placing plate 8 and the flange 11, and the position adjustment of the loading motor 7 in the two-dimensional direction relative to the tested product is realized through mutual cooperation.
The upper computer is electrically connected with the high-stability controller, and monitors, displays and processes the data acquired by the high-stability controller by using the upper computer, in the embodiment, the upper computer can realize a real-time distributed control scheme, and information exchange is performed with the high-stability controller in real time by utilizing the MATLAB interface and through the API interface, and the design is performed by adopting a C# wind technology for a main operation platform and a monitoring platform. The upper computer is used for dynamic modeling and real-time calculation of the large flexible solar cell wing, and calculating alternating torque of flexible load to the high-stability controller under the space high-vacuum and microgravity environment, wherein a calculation model adopted by the upper computer comprises a central rigid body-solar sailboard rotation equation, a solar sailboard vibration equation and a dynamic equation;
center rigid body-solar sailboard rotation equation: Where beta represents the angular displacement vector of the rotation,
Solar sailboard vibration equation: In the middle of The moment of inertia matrix of the solar wing, F a＝[Fa,1Fa,2…Fa,s is a vibration coupling matrix,Is a modal matrix, omega is angular velocity, eta represents generalized modal coordinates of the solar wing
The kinetic equation is
Wherein M is a reaction moment, namely a reaction moment of the solar cell array on the driving motor 4, ζ is a modal damping ratio, Ω is a modal frequency diagonal array, and Ω 2 =Λ.
In the embodiment, the loading motor 7 adopts a TDR170-0410-50 type direct current torque motor, a driver matched with CDHD _EtherCAT type bus is adopted, the loading motor 7 meets the requirement that the reproduction capability of the frequency range of 0.04 Hz-5 Hz is realized within the rotation angle of +/-360 degrees, the loading amplitude is 1Nm-5Nm, the frequency range of 0.04 Hz-1 Hz in the low frequency range is realized, the load amplitude deviation is less than 3%, and the load amplitude deviation is less than 10% within the frequency range of 1 Hz-5 Hz. The torque sensor 6 adopts a DY-2000 torque sensor, an output interface is RS232, the torque sensor 6 is respectively connected with the driving motor 4 and the loading motor 7 through a coupler, the accuracy of the DYN-200 torque sensor reaches 1% FS, and data is uploaded to a high-stability controller through the RS232 interface, so that the baud rate of 115200 is supported maximally. The round grating 5 adopts Ranshao RSM20USB115, the matched subdivision box adopts TI20KDA20A, the reading head adopts T2001-30A, the round grating 5 is a 24bit position feedback element, the angle of the output shaft of the loading motor 7 is measured in real time, the angle is converted into angular velocity and angular acceleration through a differential module and is output to the high-stability controller, the communication interface is a differential RS422 interface, and data communication is carried out after the angle is converted into a 3.3V single-ended signal which can be identified by the high-stability controller through a differential to single-ended circuit.
The high-stability controller selects Zynq-7Z020clg-4, and is used for realizing the control of a double-ring PID controller and direct torque, and the bandwidth of the outer-ring torque PID controller is 5 times and more than that of the inner-ring current PID controller. The high-stability controller takes a ZYNQ controller as a core, realizes the exchange of data and control instructions between the control units through an asynchronous communication serial port, an SPI communication interface, a GPIO interface and the like, is directly and electrically connected with each sensor and the loading motor 7, and is used for collecting sensing information and embedding a torque/position control closed loop into a Ucos-III real-time operating system to ensure the real-time performance of the task degree. The driver of the loading motor 7 selects VCII-E03-230, the controller of the loading motor 7 selects ECI3428, and the upper computer selects CT7GK. In the simulation process, the high-stability controller is used as a main controller, is firstly responsible for data acquisition, acquires data information generated by elements such as the torque sensor 6, the circular grating 5 and the temperature sensor in the simulation process, is secondly responsible for controlling the loading motor 7, realizes the position mode and the moment mode servo control of the loading motor 7 through a CAN bus, an EtherCAT interface and the like, is communicated with an upper computer, receives a moment control instruction from the upper computer, and uploads the acquired data to the upper computer for real-time display.
The mathematical abstraction of the driver is expressed as input voltage u (t) to torque T m output, T m＝Kmu(t),Km is the proportionality coefficient between the output torque and the input voltage;
The kinematic equation of the loading motor 7 comprises T m＝Jmωm+Bmωm+Tl+Tf,Jm moment of inertia, omega m angular velocity, B m damping coefficient, T l load moment, and the sum of unknown disturbance moment caused by factors such as friction nonlinearity, external uncertain disturbance and the like of T f;
Torque sensor 6 modeling, T l＝KA(θm-θr), where T l,θm is measurable in real time, so [ x 1(t),x2(t)]T＝[Tl,ωm]T;
combining the three formulas to obtain:
Consider that ESO can convert equations still further into:
Wherein the method comprises the steps of Respectively representing the estimation of the output angle of the drive motor 4, and the estimated losses;
the high-stability controller adopts the terminal synovial membrane control with ESO, takes the parts except the control quantity as total disturbance, wherein the total disturbance comprises internal disturbance, external disturbance and gain estimation deviation of the control quantity, and the total disturbance f is
The expansion state equation after expanding the total disturbance f to one state variable of the system:
The ESO is as follows: after the pole configuration method is adopted, the pole configuration method,
Case analysis:
the torsional vibration system and the loading system under different frequencies are subjected to experiments under the action of the semi-physical simulation platform of the embodiment through the 10NM step signal, the sine wave signals of 1HZ, 5HZ and 10HZ and the reaction moment signals in the X-axis direction solved according to the actual flexible solar wing, and the torsional vibration system and the loading system are subjected to the following table after the torsional vibration system and the loading system enter a stable running state in a transition starting stage;
After the expansion state observer for observing redundant moment and other external interference is added, the dynamic response and moment following capacity of the simulation platform are greatly improved, and compared with the twenty-rule required by the traditional load simulator, namely, the amplitude deviation and the phase angle deviation are both smaller than 10%, and the beneficial effects of the simulation platform are far lower than the traditional judging standard. As shown by combining the conclusions of fig. 7-9 and the results of the table above, by testing the different input signals, it can be seen that the amplitude deviation is less than 0.5%, the phase angle deviation is less than 5%, and the judgment standard of 10% is far smaller.
The foregoing is merely exemplary of the present application and the details of construction and/or the general knowledge of the structures and/or characteristics of the present application as it is known in the art will not be described in any detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
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Citations (4)
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|---|---|---|---|---|
| EP1092626A2 (en) * | 1999-10-11 | 2001-04-18 | Hughes Electronics Corporation | Solar wing thermal shock compensation using solar wing position actuator |
| US20070129922A1 (en) * | 2005-12-01 | 2007-06-07 | Electronics And Telecommunications Research Institute | Satellite simulation system using component-based satellite modeling |
| CN106218924A (en) * | 2016-07-14 | 2016-12-14 | 上海宇航系统工程研究所 | α Direct to the sun device driveability ground, space station semi physical test system |
| CN109782787A (en) * | 2019-03-08 | 2019-05-21 | 北京航空航天大学 | A dual-mode MPC control method for the attitude of an underactuated spacecraft assisted by solar light pressure |
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- 2024-09-20 CN CN202411311878.7A patent/CN119240003B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1092626A2 (en) * | 1999-10-11 | 2001-04-18 | Hughes Electronics Corporation | Solar wing thermal shock compensation using solar wing position actuator |
| US20070129922A1 (en) * | 2005-12-01 | 2007-06-07 | Electronics And Telecommunications Research Institute | Satellite simulation system using component-based satellite modeling |
| CN106218924A (en) * | 2016-07-14 | 2016-12-14 | 上海宇航系统工程研究所 | α Direct to the sun device driveability ground, space station semi physical test system |
| CN109782787A (en) * | 2019-03-08 | 2019-05-21 | 北京航空航天大学 | A dual-mode MPC control method for the attitude of an underactuated spacecraft assisted by solar light pressure |
Non-Patent Citations (1)
| Title |
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| 刘明洋;贺云;徐志刚;白鑫林;: "空间站对日定向装置半物理试验台关键技术", 宇航学报, no. 05, 30 May 2019 (2019-05-30) * |
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