CN112650076A - Constellation cooperative control ground simulation system - Google Patents
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Abstract
The invention discloses a constellation cooperative control ground simulation system, which comprises a mathematical simulation subsystem and a physical simulation subsystem which are in communication connection; the mathematical simulation subsystem is used for generating dynamics and kinematics of the complete state of a task instruction mathematical simulation constellation according to the overall task, and cooperatively controlling the on-orbit motion of the constellation in real time according to constellation simulation data fed back in real time in the mathematical simulation subsystem and satellite simulation data fed back in real time by the physical simulation subsystem; the physical simulation subsystem is used for physically simulating the relative dynamics and dynamics among any satellite in the constellation according to the task instruction generated by the mathematical simulation subsystem, acquiring satellite simulation data in real time and sending the satellite simulation data to the mathematical simulation subsystem. The invention adopts a mode of combining mathematics and physics to simulate experiments, realizes cooperative control of large-scale constellation and solves the problem of poor authenticity of large-scale constellation ground tests.
Description
Technical Field
The invention relates to a micro/nano satellite cluster flight ground verification technology, in particular to a constellation cooperative control ground simulation system.
Background
A plurality of spacecraft formation in research at home and abroad attach great importance to ground verification work of key technology, particularly development of ground simulation verification systems of formation spacecrafts establishes full physical/semi-physical simulation systems with different forms and different simulation purposes so as to reduce system development risks and development cost. Regarding the ground simulation verification method and system for small-scale spacecraft formation, three-degree-of-freedom physical simulation systems capable of autonomously configuring hardware have been developed and established in succession, and the defects of limited attitude dimension still exist, and the requirement of large-scale spacecraft formation cooperative control verification cannot be met.
Aiming at a self-organizing control method of an artificial intelligence cluster on the ground, the Amur rock provides a method for establishing an artificial intelligence cluster control demonstration verification system at low cost in a laboratory environment. The method uses 4 detection mobile platforms to form a maneuvering self-organization detection cluster, and demonstrates and verifies the self-organization control strategy based on the artificial potential field method. The university of Illinois USA adopts 4 unmanned aerial vehicles to form a mobile cluster, and verifies the SCP, MPC-SCP and SATO cluster obstacle avoidance algorithm respectively.
No matter which simulation system is used, the simulation verification requirements of formation of small-scale spacecrafts (physical members) composed of 2-4 spacecrafts (physical members) are met, and the verification of technologies such as self-organizing networks and coordination control of large-scale spacecraft clusters is severely limited.
Disclosure of Invention
The invention provides a ground simulation system for cooperative control of a constellation, which can effectively solve the problem of poor authenticity of a large-scale constellation ground test by adopting a mode of a mathematical and physical combined simulation test and can also be applied to the ground test verification aspect of the large-scale constellation cooperative control.
In order to achieve the purpose, the invention provides a constellation cooperative control ground simulation system, which comprises a mathematical simulation subsystem and a physical simulation subsystem which are in communication connection;
the mathematical simulation subsystem is used for generating dynamics and kinematics of the complete state of a task instruction mathematical simulation constellation according to the overall task, and cooperatively controlling the on-orbit motion of the constellation in real time according to constellation simulation data fed back in real time in the mathematical simulation subsystem and satellite simulation data fed back in real time by the physical simulation subsystem;
the physical simulation subsystem is used for physically simulating the relative dynamics and dynamics among any satellite in the constellation according to the task instruction generated by the mathematical simulation subsystem, acquiring satellite simulation data in real time and sending the satellite simulation data to the mathematical simulation subsystem.
Further, the mathematical simulation subsystem comprises: the overall planning computer and the constellation simulation computer are in communication connection with the overall planning computer;
the overall planning computer is used for generating a task instruction according to an overall task, sending the task instruction to the constellation simulation computer, and receiving constellation simulation data fed back by the constellation simulation computer in real time;
the constellation simulation computer is used for simulating dynamics and kinematics of all states of all types of mathematical constellations according to the task instructions sent by the general planning computer, and feeding attitude and orbit state simulation data of the constellations back to the general planning computer in real time.
Further, the mathematical simulation subsystem further comprises: and the visual simulation unit is in communication connection with the overall planning computer and is used for displaying the on-orbit motion of the constellation in real time according to simulation data fed back by the constellation simulation computer in real time and simulation data fed back by the physical simulation subsystem in real time.
Further, the constellation simulation computer includes but is not limited to: observation constellation simulation computer, attachment constellation simulation computer, and relay constellation simulation computer.
Furthermore, the physical simulation subsystem comprises a test integrated console, two motion simulators and a motion measurement unit which are in communication connection with each other;
the test integrated control console is in communication connection with a general task planning computer of the mathematical simulation subsystem and is used for generating a control instruction according to a task instruction issued by the general task planning computer so as to control the motion simulator and receiving satellite simulation data measured by the motion measurement unit in real time;
the motion simulator is used for physically simulating the dynamics and kinematics of any satellite in the constellation according to the control instruction;
and the motion measurement unit is used for measuring the attitude and orbit state information of each motion simulator and the relative position between the two motion simulators in real time so as to obtain satellite simulation data.
Further, the comprehensive test console comprises a demonstration platform, and the comprehensive test console converts the orbital plane of a constellation into a two-dimensional plane of the demonstration platform according to constellation simulation data sent by the overall mission planning computer.
Further, the motion simulator includes:
the satellite simulator is used for physically simulating the dynamics and kinematics of any satellite in the constellation;
the simulator platform comprises an air-foot system and a ball bearing air suspension system, and the satellite simulator is suspended on the demonstration platform through the air-foot system so as to simulate two-dimensional plane dynamics and kinematics; the satellite simulator is suspended on the demonstration platform through a ball bearing air suspension system to simulate three-dimensional plane dynamics and kinematics;
the first communication module is in communication connection with the test integrated console, the motion measurement unit and the other motion simulator, and is used for receiving a control instruction sent by the test integrated console, acquiring attitude and orbit state information of the motion simulator measured by the motion measurement unit and realizing attitude and orbit state information interaction between the two motion simulators;
and the control system module is respectively connected with the satellite simulator and the first communication module and is used for calculating a control instruction according to the control instruction, the inertia state information of the satellite simulator and the inertia state information of the other satellite simulator and executing the control of the satellite simulator.
Furthermore, the constellation simulation computer of the mathematical simulation subsystem further comprises a second communication module, and the second communication module is respectively in communication connection with the first communication module of each motion simulator; the constellation simulation computer realizes the attitude and orbit state information interaction between the stars with the motion simulator through the second communication module and the first communication module so as to simulate the real communication delay and communication topology between the stars.
Further, the control system module includes:
the inertia measurement unit is connected with the satellite simulator and is used for measuring the initial attitude and orbit state information of the satellite simulator;
the comprehensive electronic computer is connected with the first communication module and the inertia measurement unit and is used for resolving a control instruction issued by the test comprehensive console and generating a motion instruction according to the initial attitude and orbit state information of the satellite simulator and the attitude and orbit state information of the other satellite simulator;
the thruster and the flywheel are used for controlling the adjustment of the position and the posture of the satellite simulator according to the motion instruction.
The invention has the beneficial effects that:
the invention can realize the full-man full-state dynamics and the kinematics state mathematical simulation of a large-scale constellation (more than 100) through the mathematical simulation subsystem, and physically simulate the real dynamics evolution process between any two satellites in the large-scale constellation through the physical simulation subsystem, thereby realizing the cooperative control of the large-scale constellation and solving the problem of poor ground test authenticity of the large-scale constellation. Meanwhile, attitude and orbit state information interaction is carried out between the mathematical simulation constellation and the physical simulation satellite and between the physical simulation satellite and the physical simulation satellite through the communication module, real communication delay and communication topology simulation between the satellites are realized, and the accuracy of simulation of the invention is improved.
Drawings
Fig. 1 is a schematic structural diagram of a constellation cooperative control ground simulation system according to an embodiment of the present invention.
Detailed Description
The present invention provides a constellation cooperative control ground simulation system, which is further described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
As shown in FIG. 1, the present invention provides a constellation cooperative control ground simulation system, which comprises a mathematical simulation subsystem and a physical simulation subsystem connected by wired network communication,
the mathematical simulation subsystem is used for generating dynamics and kinematics of the complete state of a task instruction mathematical simulation constellation according to the overall task, and cooperatively controlling the on-orbit motion of the constellation in real time according to constellation simulation data fed back in real time in the mathematical simulation subsystem and satellite simulation data fed back in real time by the physical simulation subsystem;
the physical simulation subsystem is used for physically simulating the relative dynamics and dynamics among any satellite in the constellation according to the task instruction generated by the mathematical simulation subsystem, acquiring satellite simulation data in real time and sending the satellite simulation data to the mathematical simulation subsystem.
The mathematical simulation subsystem comprises: the overall planning computer, and a constellation simulation computer and a visual simulation unit which are in communication connection with the overall planning computer. The overall planning computer is used for generating a task instruction according to an overall task, sending the task instruction to the constellation simulation computer, and receiving constellation simulation data fed back by the constellation simulation computer in real time, and is also used for sending the task instruction and the constellation simulation data to the physical simulation subsystem, and receiving satellite simulation data fed back by the physical simulation subsystem in real time, so as to cooperatively control the on-orbit motion of the constellation in real time; in addition, the overall planning computer can also compare with the system index efficiency, thereby analyzing and evaluating the performance of the simulation system. The constellation simulation computer is used for simulating dynamics and kinematics of all states of all types of mathematical constellations according to the task instructions sent by the general planning computer, and feeding attitude and orbit state simulation data of the constellations back to the general planning computer in real time. And the visual simulation unit is in communication connection with the overall planning computer and is used for displaying the on-orbit motion of the constellation in real time according to simulation data fed back by the constellation simulation computer in real time and simulation data fed back by the physical simulation subsystem in real time.
Further, the constellation simulation computer includes but is not limited to: observation constellation simulation computer, attachment constellation simulation computer, and relay constellation simulation computer.
The physical simulation subsystem comprises: the test comprehensive control platform, the two motion simulators and the motion measurement unit are in communication connection with each other.
The test integrated control console is in communication connection with the overall task planning computer of the mathematical simulation subsystem and is used for generating a control instruction according to a task instruction issued by the overall task planning computer so as to control the motion simulator and receive satellite simulation data obtained by real-time measurement of the motion measurement unit. The motion simulator is used for physically simulating the dynamics and kinematics of any satellite in the constellation according to the control instruction. And the motion measurement unit is used for measuring the attitude and orbit state information of each motion simulator and the relative position between the two motion simulators in real time so as to obtain satellite simulation data. Preferably, the motion simulator adopts a five-degree-of-freedom air floatation motion simulator, and the motion measurement unit adopts a distributed motion measurement unit.
Furthermore, the comprehensive test console also comprises a demonstration platform, and the comprehensive test console converts the orbital plane of a constellation into a two-dimensional plane of the demonstration platform according to constellation simulation data sent by the overall mission planning computer.
The motion simulator includes: the satellite simulator is used for physically simulating the dynamics and kinematics of any satellite in the constellation; the simulator platform comprises an air-foot system and a ball bearing air suspension system, and the satellite simulator is suspended on the demonstration platform through the air-foot system so as to simulate two-dimensional plane dynamics and kinematics; the satellite simulator is suspended on the demonstration platform through a ball bearing air suspension system to simulate three-dimensional plane dynamics and kinematics; the first communication module is in communication connection with the test integrated console, the motion measurement unit and the other motion simulator, and is used for receiving a control instruction sent by the test integrated console, acquiring attitude and orbit state information of the motion simulator measured by the motion measurement unit and realizing attitude and orbit state information interaction between the two motion simulators; and the control system module is respectively connected with the satellite simulator and the first communication module and is used for calculating a control instruction according to the control instruction, the inertia state information of the satellite simulator and the inertia state information of the other satellite simulator and executing the control of the satellite simulator.
The control system module includes: the inertia measurement unit is connected with the satellite simulator and is used for measuring the inertia state information of the satellite simulator; the comprehensive electronic computer is connected with the first communication module and the inertia measurement unit and is used for resolving a control instruction issued by the test comprehensive console and generating a motion instruction according to the initial attitude and orbit state information of the satellite simulator and the attitude and orbit state information of the other satellite simulator; the thruster and the flywheel are used for controlling the adjustment of the position and the posture of the satellite simulator according to the motion instruction. Further, the inertial state information is inertial state information such as attitude and angular velocity.
Furthermore, the constellation simulation computer in the mathematical simulation subsystem further comprises a second communication module, and the second communication module is respectively in communication connection with the first communication module of each motion simulator and is used for simulating real communication delay and communication topology among satellites. The constellation simulation computer realizes the attitude and orbit state information interaction between the stars with the motion simulator through the second communication module and the first communication module, so as to adjust the attitude and orbit state of the mathematical simulation constellation in time according to the attitude and orbit state information of the motion simulator, and realize the cooperative control of the constellation.
The working principle of the invention is as follows:
and the overall planning computer in the mathematical simulation subsystem plans according to the overall task and generates a task instruction. And the overall planning computer sends the task instruction to a constellation simulation computer in the mathematical simulation subsystem through a wired network. And the constellation simulation computer mathematically simulates the dynamics and kinematics simulation of the complete state of the constellation according to the task instruction to obtain the simulation data of the constellation and feeds the simulation data back to the general planning computer in real time. The mathematical simulation subsystem sends the task instruction and the constellation simulation data to a test integrated console in the physical simulation subsystem through a wireless network. And the test integrated control console converts the orbit plane information of the constellation into a two-dimensional plane of the demonstration platform according to the constellation simulation data, simultaneously solves the task instruction to generate a control instruction, and respectively sends the control instruction to each motion simulator. And the two motion simulators carry out attitude and orbit state information interaction through the first communication module. The inertia measurement unit in each motion simulator measures inertia state information of the motion simulator, the comprehensive electronic computer in each motion simulator calculates the control instruction according to the calculation result, generates a motion instruction according to the inertia state information of the motion simulator and the inertia state information of the other motion simulator, and sends the motion instruction to a thruster and a flywheel in the motion simulator, and the thruster and the flywheel control the position and the posture of the satellite simulator on the demonstration platform according to the motion instruction. The constellation simulation computer is also in communication connection with the first communication modules of the two motion simulators through the second communication modules respectively, so that the interaction of attitude and orbit state information between the mathematical simulation constellation and the physical simulation satellite is realized, and the real communication delay and communication topology between the satellites are simulated, so that the constellation simulation computer can realize the cooperative control of the constellation even if the attitude and orbit state of the mathematical simulation constellation is adjusted. Meanwhile, a motion measurement unit in the physical simulation subsystem measures attitude and orbit state information of each motion simulator and the relative position between the two motion simulators in real time, so that satellite simulation data are obtained and sent to the test integrated control console, and the test integrated control console feeds the satellite simulation data back to a general task planning computer in the mathematical simulation subsystem. The comprehensive planning task computer cooperatively controls the on-orbit motion of the constellation in real time according to the constellation simulation data fed back by the constellation simulation computer and the satellite simulation data fed back by the test comprehensive control console, and can display the on-orbit motion of the constellation in real time in the visual simulation unit.
The constellation cooperative control ground simulation system disclosed by the invention can be used for tasks such as micro-nano constellation approaching attachment failure satellites, constellation cooperative clearing of space debris, constellation cooperative detection sensing and the like. In this embodiment, the application scene of a typical micro-nano constellation approaching and attaching to a failed satellite is described by using the ground simulation system based on cooperative control of the constellation: and the attached constellation rapidly approaches the failed satellite from the outside of 100km, and approaches the failed satellite when the constellation approaches to about 5 m. In the application scene, the constellation simulation computer is an attached constellation simulation computer; the first motion simulator in the physical simulation subsystem is used for simulating any one attached satellite in the attached constellation, and the second motion simulator is used for simulating the failed satellite.
In the first stage, the micro-nano star group approaches:
a. the overall planning computer plans the close task of the constellation and sends a task instruction to the attached constellation simulation computer;
b. the attached constellation simulation computer plans a path according to the task instruction, mathematically simulates the attached constellation to rapidly approach the failure satellite, and feeds back the position and attitude and orbit state information of the attached constellation to the overall planning computer in real time;
c. the overall planning computer receives the real-time simulation data fed back by the attached constellation computer, and simultaneously sends the real-time simulation data to the visual simulation unit for real-time visual display;
and in the second stage, attaching a failure satellite to the micro-nano constellation:
d. the overall planning computer plans the close task of the constellation and sends a task instruction to the attached constellation simulation computer;
e. the attached constellation simulation computer plans a path according to the task instruction, mathematically simulates the motion state of the attached constellation, and feeds back the position and attitude and orbit state information of the attached constellation to the overall planning computer in real time;
f. the overall planning computer plans and sends the task instruction and the attitude and orbit state information of the attached constellation to the comprehensive test console;
g. the test integrated control console generates a control instruction according to the task instruction, and converts the orbital plane attached to the constellation into a two-dimensional plane of the demonstration platform;
h. the control system module resolves the control instruction according to the control instruction and the inertial state information of the attached satellite, controls the attached satellite simulated by the first motion simulator to approach the failed satellite simulated by the second motion simulator, and controls the attached satellite to fly around the failed satellite to despin the failed satellite;
i. the motion measurement unit measures the position and posture information of the two motion simulators and sends the position and posture information to the test comprehensive control console;
j. the overall planning computer receives the simulation data fed back by the test integrated console in real time, coordinates the on-orbit motion of the constellation in real time by combining the simulation data fed back by the attached constellation simulation computer in real time, and simultaneously displays the on-orbit motion of the constellation in real time through the visual simulation unit.
After the test is finished, the overall planning computer can also perform performance analysis on indexes such as control accuracy of the control algorithm according to simulation data of the simulation data set.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. A constellation cooperative control ground simulation system is characterized by comprising a mathematical simulation subsystem and a physical simulation subsystem which are in communication connection;
the mathematical simulation subsystem is used for generating a task instruction according to the overall task to mathematically simulate the dynamics and kinematics of the whole state of the constellation, and cooperatively controlling the on-orbit motion of the constellation in real time according to constellation simulation data fed back in real time in the mathematical simulation subsystem and satellite simulation data fed back in real time by the physical simulation subsystem;
the physical simulation subsystem is used for physically simulating the relative dynamics and dynamics among any satellite in the constellation according to the task instruction generated by the mathematical simulation subsystem, acquiring satellite simulation data in real time and sending the satellite simulation data to the mathematical simulation subsystem.
2. The constellation coordination control ground simulation system of claim 1, wherein the mathematical simulation subsystem comprises: the overall planning computer and the constellation simulation computer are in communication connection with the overall planning computer;
the overall planning computer is used for generating a task instruction according to an overall task, sending the task instruction to the constellation simulation computer, and receiving constellation simulation data fed back by the constellation simulation computer in real time;
the star group simulation computer is used for simulating dynamics and kinematics of all states of all mathematical star groups according to the task instructions issued by the general planning computer, and feeding back simulation data of the star groups to the general planning computer in real time.
3. The constellation coordination control ground simulation system of claim 2, wherein the mathematical simulation subsystem further comprises: and the visual simulation unit is in communication connection with the overall planning computer and is used for displaying the on-orbit motion of the constellation in real time according to simulation data fed back by the constellation simulation computer in real time and simulation data fed back by the physical simulation subsystem in real time.
4. The constellation coordination control ground simulation system of claim 2, wherein the constellation simulation computer includes but is not limited to: observation constellation simulation computer, attachment constellation simulation computer, and relay constellation simulation computer.
5. The constellation coordination control ground simulation system of claim 2, wherein the physical simulation subsystem comprises a test integrated console, two motion simulators and a motion measurement unit which are in communication connection with each other;
the test integrated control console is in communication connection with a general task planning computer of the mathematical simulation subsystem and is used for generating a control instruction according to a task instruction issued by the general task planning computer so as to control the motion simulator and receiving satellite simulation data measured by the motion measurement unit in real time;
the motion simulator is used for physically simulating the dynamics and kinematics of any satellite in the constellation according to the control instruction;
the motion measurement unit is used for measuring attitude and orbit state information of each motion simulator in real time and relative positions of the two motion simulators, so that satellite simulation data are obtained.
6. The constellation coordination control ground simulation system of claim 5, wherein the test integration console comprises a demonstration platform, and the test integration console converts an orbital plane of a constellation into a two-dimensional plane of the demonstration platform according to constellation simulation data sent by the overall mission planning computer.
7. The constellation-coordinated control ground simulation system of claim 6, wherein the motion simulator comprises:
the satellite simulator is used for physically simulating the dynamics and kinematics of any satellite in the constellation;
the simulator platform comprises an air-foot system and a ball bearing air suspension system, and the satellite simulator is suspended on the demonstration platform through the air-foot system so as to simulate two-dimensional plane dynamics and kinematics; the satellite simulator is suspended on the demonstration platform through a ball bearing air suspension system to simulate three-dimensional plane dynamics and kinematics;
the first communication module is in communication connection with the test integrated console, the motion measurement unit and the other motion simulator, and is used for receiving a control instruction sent by the test integrated console, acquiring attitude and orbit state information of the motion simulator measured by the motion measurement unit and realizing attitude and orbit state information interaction between the two motion simulators;
and the control system module is respectively connected with the satellite simulator and the first communication module and is used for calculating a control instruction according to the control instruction, the inertia state information of the satellite simulator and the inertia state information of the other satellite simulator and executing the control of the satellite simulator.
8. The constellation coordination control ground simulation system of claim 7, wherein the constellation simulation computer of the mathematical simulation subsystem further comprises a second communication module, the second communication module being in communication connection with the first communication module of each motion simulator, respectively; the constellation simulation computer realizes the attitude and orbit state information interaction between the stars with the motion simulator through the second communication module and the first communication module so as to simulate the real communication delay and communication topology between the stars.
9. The constellation-coordinated control ground simulation system of claim 7, wherein the control system module comprises:
the inertia measurement unit is connected with the satellite simulator and is used for measuring the inertia state information of the satellite simulator;
the comprehensive electronic computer is connected with the first communication module and the inertia measurement unit and is used for resolving a control instruction issued by the test comprehensive console and generating a motion instruction according to the inertia state information of the satellite simulator and the inertia state information of the other satellite simulator;
the thruster and the flywheel are used for controlling the adjustment of the position and the posture of the satellite simulator according to the motion instruction.
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| CN113608244B (en) * | 2021-07-27 | 2023-12-29 | 中国科学院微小卫星创新研究院 | Space gravitational wave detection satellite constellation ground demonstration verification system |
| CN116068990A (en) * | 2022-12-16 | 2023-05-05 | 天津大学 | Star group intelligent fault diagnosis interactive virtual simulation platform verification method |
| CN116068990B (en) * | 2022-12-16 | 2023-11-10 | 天津大学 | Star group intelligent fault diagnosis interactive virtual simulation platform verification method |
| CN117008498A (en) * | 2023-08-02 | 2023-11-07 | 南京理工大学 | Ground semi-physical simulation platform system and method for multi-star intelligent cooperative control |
| CN117806185A (en) * | 2024-02-28 | 2024-04-02 | 华中科技大学 | Physical simulation verification device for space gravitational wave detection satellite formation |
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