空间站对日定向装置半物理试验台关键技术
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摘要
为有效模拟空间站对日定向装置驱动性能受柔性太阳翼的扰动,验证对日定向装置驱动控制性能,采用半物理试验技术对对日定向装置进行地面试验考核。设计超高刚度及运动误差无附加力自适应的半物理试验台,对支撑连接机构和加载单元进行有限元分析与刚度测试;建立大尺度柔性太阳翼的动力学模型,并采用Wilson θ法进行动力学模型的实时数值求解;运用跟踪微分法对对日定向装置低速运行下的角速度和角加速度进行估计;最后通过对半物理试验台的响应精度、加载有效性进行仿真和试验考核,结果表明试验台加载力矩幅值为0～85 Nm、频率为0.01～3 Hz时,绝对精度优于0.85 Nm,相对精度优于1%,从而验证了半物理试验台对太阳翼扰动载荷模拟的真实有效性,可实现对日定向装置的性能测试。
In order to effectively simulate the disturbance of the flexible solar wing and verify the driving control performance of a space station Sun-tracking unit, a semi-physical ground test technology is proposed. A semi-physical test platform with ultra-high stiffness, which can automatically adapt to motion errors without additional force is designed. The finite element analysis and stiffness test are conducted on the connection mechanism and loading unit. The dynamic model of large-scale solar wing is established and the real-time numerical algorithm is built using the Wilson θ method. The angular velocity and angular acceleration estimation of the Sun-tracking unit is obtained under low-speed rotation. Finally, the simulation and experiment results of the semi-physical test platform on response accuracy and load validity show that the torque loading absolute accuracy and relative accuracy are better than 0.85 Nm and 1% when the amplitude and frequency of the loading torque are 0 to 85 Nm and 0.01 to 3 Hz, which validate the load simulation effectiveness of the solar wing disturbance using a semi-physical test platform and the platform can also achieve the performance test of the Sun-tracking unit.
In order to effectively simulate the disturbance of the flexible solar wing and verify the driving control performance of a space station Sun-tracking unit, a semi-physical ground test technology is proposed. A semi-physical test platform with ultra-high stiffness, which can automatically adapt to motion errors without additional force is designed. The finite element analysis and stiffness test are conducted on the connection mechanism and loading unit. The dynamic model of large-scale solar wing is established and the real-time numerical algorithm is built using the Wilson θ method. The angular velocity and angular acceleration estimation of the Sun-tracking unit is obtained under low-speed rotation. Finally, the simulation and experiment results of the semi-physical test platform on response accuracy and load validity show that the torque loading absolute accuracy and relative accuracy are better than 0.85 Nm and 1% when the amplitude and frequency of the loading torque are 0 to 85 Nm and 0.01 to 3 Hz, which validate the load simulation effectiveness of the solar wing disturbance using a semi-physical test platform and the platform can also achieve the performance test of the Sun-tracking unit.
引文
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[16] 赵真,肖余之,杜三虎,等.太阳电池阵大范围运动反作用力矩求解方法研究[J].振动与冲击,2010,29(7):116-120,240.[Zhao Zhen,Xiao Yu-zhi,Du San-hu,et al.Study on solving the reaction moment of solar array in large range motion[J].Journal of Vibration and Shock,2010,29(7):116-120,240.]
[17] 韩京清,王伟.非线性跟踪—微分器[J].系统科学与数学,1994(2):177-183.[Han Jing-qing,Wang Wei.Nonlinear tracking-differentiator[J].Journal of Systems Science and Mathematical Sciences,1994(2):177-183.]
[18] 韩京清,黄远灿.二阶跟踪—微分器的频率特性[J].数学的实践与认识,2003(3):71-74.[Han Jing-qing,Huang Yuan-can.Second order tracking-frequency characteristics of the diffe-rentiator[J].Journal of Mathematics in Practice and Theory,2003(3):71-74.]
[19] 王广雄.自动控制系统设计[M].北京:宇航出版社,1986.
[2] 李蒙,马晓兵.航天器远程自主交会方法设计与实现[J].宇航学报,2017,38(9):911-918.[Li Meng,Ma Xiao-bing.Devleopment of long distance autonomous rendezvous for spacecraft[J].Journal of Astronautics,2017,38(9):911-918.]
[3] 龚旻,谭杰,李大伟,等.临近空间高超声速飞行器黑障问题研究综述[J].宇航学报,2018,39(10):1059-1070.[Gong Min,Tan Jie,Li Da-wei,et al.Review of blackout problems of near space hypersonic vehicles[J].Journal of Astronautics,2018,39(10):1059-1070.]
[4] 崔乃刚,王平,郭继峰,等.空间在轨服务技术发展综述[J].宇航学报,2007(4):805-811.[Cui Nai-gang,Wang Ping,Guo Ji-feng,et al.A review of on-orbit serving[J].Journal of Astronautics,2007(4):805-811.]
[5] 王明明,罗建军,王嘉文,等.空间机器人捕获非合作目标后的消旋策略及阻抗控制[J].机器人,2018,40(5):750-761.[Wang Ming-ming,Luo Jian-jun,Wang Jia-wen,et al.Detumbling strategy and impedance control for space robot after capturing an uncooperative satellite[J].Robot,2018,40(5):750-761.]
[6] 赵航,赵阳,田浩,等.空间细胞机器人系统关键技术及其应用[J].宇航学报,2018,39(10):1071-1080.[Zhao Hang,Zhao Yang,Tian Hao,et al.Key techniques and applications of space cellular robotic system[J].Journal of Astronautics,2018,39(10):1071-1080.]
[7] 贺云,张飞龙,杨明毅,等.卫星天线展开臂的随动吊挂重力补偿系统设计[J].机器人,2018,40(3):377-384,392.[He Yun,Zhang Fei-long,Yang Ming-yi,et al.Design of tracking suspension gravity compensation system for satellite deployable manipulator[J].Robot,2018,40(3):377-384,392.]
[8] 王永志.实施我国载人空间站工程推动载人航天事业科学发展[J].载人航天,2011,17(1):1-4.[Wang Yong-zhi.Develop China’s manned space station project and promote the scientific manned spaceflight[J].Manned Space,2011,17(1):1-4.]
[9] 苏怀朋,赵振昊,孙永进,等.载人空间站空间科学应用研究[J].宇航学报,2014,35(9):985-991.[Su Huai-peng,Zhao Zhen-hao,Sun Yong-jin,et al.Study on space science and technology of manned space station[J].Journal of Astronautics,2014,35(9):985-991.]
[10] 谢宗武,宫钇成,史士财,等.空间太阳能电池阵列技术综述[J].宇航学报,2014,35(5):491-498.[Xie Zong-wu,Gong Yi-cheng,Shi Shi-cai,et al.A survey of the space solar array technique[J].Journal of Astronautics,2014,35(5):491-498.]
[11] 周建平.我国空间站工程总体构想[J].载人航天,2013,19(2):1-10.[Zhou Jian-ping.Overall plan of China’s space station project[J].Manned Space,2013,19(2):1-10.]
[12] 刘明洋.基于连续小推力空间太阳能电站静止轨道保持方法研究[D].哈尔滨:哈尔滨工业大学,2014.[Liu Ming-yang.Study of low thrust station keeping maneuver planning for solar power satellite on geostationary orbit[D].Harbin:Harbin Institute of Technology,2014.]
[13] 尹猛,贺云,徐志刚,等.扭振系统试验方案的可行性仿真验证[J].系统仿真学报,2018,30(8):3206-3212.[Yin Meng,He Yun,Xu Zhi-gang,et al.Simulation and verification of feasibility for the torsional vibration system test scheme[J].Journal of System Simulation,2018,30(8):3206-3212.]
[14] 贺云,尹猛,徐志刚,等.对日定向半物理试验台的加载有效性验证[J].宇航学报,2017,38(2):198-204.[He Yun,Yin Meng,Xu Zhi-gang,et al.Effectiveness validation of the semi-physical test bench for the Sun orientation[J].Journal of Astronautics,2017,38(2):198-204.]
[15] 贺云,张飞龙,刘明洋,等.空间站对日定向装置试验台的控制器设计与精度考核[J].宇航学报,2018,39(6):674-682.[He Yun,Zhang Fei-long,Liu Ming-yang,et al.Controller design and accuracy evaluation for the space station Sun directional device test system[J].Journal of Astronautics,2018,39(6):674-682.]
[16] 赵真,肖余之,杜三虎,等.太阳电池阵大范围运动反作用力矩求解方法研究[J].振动与冲击,2010,29(7):116-120,240.[Zhao Zhen,Xiao Yu-zhi,Du San-hu,et al.Study on solving the reaction moment of solar array in large range motion[J].Journal of Vibration and Shock,2010,29(7):116-120,240.]
[17] 韩京清,王伟.非线性跟踪—微分器[J].系统科学与数学,1994(2):177-183.[Han Jing-qing,Wang Wei.Nonlinear tracking-differentiator[J].Journal of Systems Science and Mathematical Sciences,1994(2):177-183.]
[18] 韩京清,黄远灿.二阶跟踪—微分器的频率特性[J].数学的实践与认识,2003(3):71-74.[Han Jing-qing,Huang Yuan-can.Second order tracking-frequency characteristics of the diffe-rentiator[J].Journal of Mathematics in Practice and Theory,2003(3):71-74.]
[19] 王广雄.自动控制系统设计[M].北京:宇航出版社,1986.
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