SPACECRAFT DOCKING SIMULATION USING HARDWARE-IN-THE-LOOP SIMULATOR WITH STEWART PLATFORM

A ground-based hardware-in-the-loop （HIL） simulation system with hydraulically driven Stewart platform for spacecraft docking simulation is presented. The system is used for simulating docking process of the on-orbit spacecraft. Principle and structure of the six-degree-of-freedom simulation system are introduced. The docking process dynamic of the vehicles is modeled. Experiment results and mathematical simulation data are compared to validating the simulation system. The comparisons of the results prove that the simulation system proposed can effectively simulate the on-orbit docking process of the spacecraft.

An integrated simulation system for operating solar sail spacecraft

An integrated simulation system for solar sail spacecraft with individually controllable elements(SSICE)is investigated in this paper,including the modelling of power management,thermal control,attitude control,umbra prediction,and orbit prediction subsystems.Considering the self-control and reactivity subsystems,an agent based method is applied to develop the subsystem models.Each subsystem is an individual agent component,which manages itself autonomously and reacts to the requirements from other agents.To reduce computing burden on a specified computer and improve the suitability and flexibility of the integrated simulation system,a distributed framework is employed in the system by deploying agent components on different computers.The data transmission among agents is based on the transmission control protocol/Internet protocol(TCP/IP).A practical example of sun pointing is used to test the operating effect of the integrated system and the working condition of subsystems.The simulation results verify that the integrated system has higher sun pointing accuracy,quicker dynamical response to variations of the lighting,attitude and temperature and fewer computing resources with effective and accurate subsystems.The integrated system proposed in this paper can be applied to solar sail design,operation,and mission planning.

Spacecraft aerodynamics and trajectory simulation during aerobraking

This paper uses a direct simulation Monte Carlo （DSMC） approach to simulate rarefied aerodynamic characteristics during the aerobraking process of the NASA Mars Global Surveyor （MGS） spacecraft. The research focuses on the flowfield and aerodynamic characteristics distribution under various free stream densities. The vari- ation regularity of aerodynamic coefficients is analyzed. The paper also develops an aerodynamics-aeroheating-trajectory integrative simulation model to preliminarily calculate the aerobraking orbit transfer by combining the DSMC technique and the classical kinematics theory. The results show that the effect of the planetary atmospheric density, the spacecraft yaw, and the pitch attitudes on the spacecraft aerodynamics is significant. The numerical results are in good agreement with the existing results reported in the literature. The aerodynamics-aeroheating-trajectory integrative simulation model can simulate the orbit transfer in the complete aerobraking mission. The current results of the spacecraft trajectory show that the aerobraking maneuvers have good performance of attitude control.

A Hardware-in-Loop Simulation System for Fractionated Spacecraft Cluster

FSC （Fractionated Spacecraft Cluster） is a kind of loosely distributed space system which is comprised of multiple physically independent spacecrafts orbiting closely and interactively communicating via wireless network. Spaceborne ad-hoc network, as the physical infrastructure for information exchanging, is one of the enabling technologies of FSC. The demonstration of FSC flying supported by ad-hoc network is worth for the sake of proving the rationality of FSC and seeking technological improvements. Considering this, a NNP （Network Node Prototype） for spaceborne ad-hoc network is developed in this paper, which transmits the information required by the FSC cooperation. Four NNPs are then built up and collaborated into a hardware-in-loop simulation system, in which a typical loose satellite cluster flying mission was performed. The simulation results showed that the NNPs can support the inter-satellite communication for satellite cluster flying.

Study on the Technology of Spacecraft Dynamic Simulation and Emulation

To meet the requirements and functions of spacecraft dynamic simulation and emulation according to different flight periods, the realization of real time system with different configurations, control of the development cycle and examples of application are presented in detail. On the basis of the satellite dynamic simulation technology, distributed network integrated with the component testing platforms is used to construct a multi-level bus network system. The system takes into full consideration the configuration flexibility, real time characteristics and extendibility. Test results show that both the software algorithm and the hardware integration of the system are correct and effective. The system could be used not only as the effective tool of designing and developing the components and whole assembly of satellites and missiles, but also for the dynamic simulation and emulation in all phases of a spacecraft development cycle.

Breakthrough on Ultra-High-Temperature Simulation Technology for Spacecraft Thermal Vacuum Test

The Center of Assembly,Integration and Test of CAST made an important technical breakthrough on high-temperature and high heat flux simulation technology recently.The test specimen was heated up to 1850℃by a simulation system developed by the center inside a container simulating the vacuum,cold and dark space environment.Ultra-high-temperature test on the ground is required by spacecraft and relevant parts to simulate the space en-

基于Matlab/Simulink的航天器姿态动力学与控制仿真框架

搭建了基于Matlab/Simulink的航天器姿态动力学与控制仿真框架;基于该框架和非线性控制设计模块完成了一类带动量轮机构的航天器PD姿态控制器参数优化设计与姿态仿真研究。研究结果表明:1)基于Matlab/Simulink的航天器姿态动力学与控制仿真框架具有可重用性好、继承性强的优点;2)非线性控制设计模块可以有效地完成非线性系统控制器参数优化设计。

Modeling of disturbance torque in an aerostatic bearings-based nano-satellite simulator

The disturbance torque of aerostatic bearings is in the same order of the reaction wheel, which causes difficulty in evaluation of the designed attitude control strategy of a nano-satellite based on the aerostatic bearing. Two approaches are proposed to model the disturbance torque. Firstly, the gravity induced moment,the vortex torque, and the damping moment are modeled separately. However, the vortex torque and the damping moment are coupled with each other as both of them are caused by the viscosity. In the second approach, the coupling effect is considered. A nano-satellite is constructed based on aerostatic bearing. The time history of the free rotation rate from an initial speed is measured by the gyro, which is further used to calculate the rotation angle and acceleration. The static vortex torque is measured via the removable micro-torque measurement system. Based on these data, the model parameters are identified and modeling errors are presented. Results show that the second model is more precise.The root mean squire error is less than 0.5×10^（-4） N·m and the relative error of the static vortex torque is 0.16%.

SOIS中时间访问服务的Simulink仿真

SOIS是关于星上互联协议和软件服务的一种标准,其最外层为用户定义了统一的服务调用接口。时间访问服务是其中最基本的一种。提出了一种对时间访问服务采用Simulink/Stateflow混合建模的方法。

基于Simulink的航天器姿态动力学仿真教学研究

针对航天器姿态动力学课程理论性、逻辑性和应用性强的特点,开展图形化可视化Simulink仿真教学研究。梳理课程内容体系,分析典型姿控系统自闭环回路特征,提出基于航天器姿控仿真教学系统的理论辅助教学和实验实践教学的教学模式。设计航天器Simulink姿控仿真教学系统总体方案,依据航天器姿态欧拉动力学和四元数运动学方程构建Simulink姿态运动模型,建立速率陀螺和反作用飞轮等典型姿控硬件模型,运用虚拟现实三维建模语言和Simulink/3D Animation工具阐明可视化姿态模拟的实现思路。搭建了反作用飞轮姿控Simulink仿真教学系统实例,通过姿态非线性微分方程数值解实时驱动下的动态立体姿控视觉效果,使学员以闭环交互方式获得课程内容学习的多重感知。

CHAOTIC ATTITUDE MOTION OF A MAGNETIC RIGID SPACECRAFT

Chaotic attitude motion of a magnetic rigid spacecraft in a circular orbit of the earth is treated. The dynamical model of the problem was derived from the law of moment of momentum. The Melnikov analysis was carried out to prove the existence of a complicated nonwandering Cantor set. The dynamical behaviors were numerically investigated by means of time history, Poincar map, power spectrum and Liapunov exponents. Numerical simulations indicate that the onset of chaos is characterized by break of torus as the increase of the torque of the magnetic forces.

航天器多级自由边界模拟系统姿态平衡协调控制

为了消除天地力学环境不一致对航天器在轨运行精度的影响,需要在地面开展航天器在轨微振动环境模拟试验,因此针对航天器的设施部分和平台部分,在航天器上、下两端建立了自由边界模拟系统和自动控制模块,通过力闭环和位移闭环对航天器重力卸载过程的平衡协调控制算法进行了设计和实施;并通过硬件设施搭建和软件程序编写完成现场试验,验证了控制系统的可行性和稳定性,也为未来航天器地面模拟试验中重力卸载过程控制系统的设计提供技术支撑并积累了工程经验。

新一代载人飞船卫生区功能性空间优化设计研究

目的开展中国新一代载人飞船卫生区的空间优化研究,探索功能性空间优化设计方法,提高载人飞船空间利用效率,同时提升航天员的舒适性体验。方法以中国空间站卫生区的功能和结构为依据,探讨中国新一代载人飞船卫生区功能组件的构成;依据航天员在微重力状态下使用卫生区的动作与姿态,建立卫生区空间布置的初步概念;根据卫生区的舱壁布局、微重力下航天员视野区域及最佳操作空间分析,开展相关功能组件建模,基于卫生区的人机交互节点,利用JACK软件进行仿真分析与评估,结合评估结果改进设计方案,并通过追踪航天员活动轨迹产生的包络体完成卫生区的空间优化。结论通过对比中国新一代载人飞船卫生区优化前后设计方案的舒适性、可操作性和空间尺寸,验证了功能性空间优化设计方法的有效性和可靠性,为载人航天器舒适性与集成化设计提供了参考。

基于虚拟仿真平台的航天器编队实践课程建设

北京航空航天大学开设的“航天器智能自主编队控制”课程较侧重于理论性,缺少有特色的创新实践模块,不利入学生直观理解理论知识的原理和应用方法。为激发学生对该前沿领域的兴趣和树立空天报国的航天梦,通过采用虚拟仿真设计技术,开发了航天器编队经典构型仿真实验平台以及航天器线性双脉冲交会仿真实验平台,构筑了理论课程与工程实践中的桥梁,培养了学生创新实践能力。

航天器原子氧通量仿真软件AOFS的验证计算

仿真计算是获得航天器表面原子氧(AO)撞击通量分布情况的重要手段之一。文章首先介绍自主研发的适用于复杂构型航天器AO通量仿真计算的AOFS软件的基本特性;然后利用无遮挡、有遮挡以及多次反射等AO与航天器相互作用的典型测试算例对该软件性能进行验证,并与自由分子流理论解和SYSTEMA软件的计算结果进行对比分析。研究发现:对于无遮挡和有遮挡算例,采用反向射线追踪方法的SYSTEMA软件比AOFS软件具有更好的算法稳定性;而对于多次反射算例,AOFS软件结果和SYSTEMA软件结果差别较大。以上结果可为后续复杂构型航天器AO通量计算软件的研制及验证提供参考依据。

空间操作任务的分布式仿真系统

针对非合作目标抓捕、在轨维护、空间装配等复杂空间操作任务的地面验证需求,构建一套分布式仿真系统,主要由后台仿真模型、前端视景演示系统和前端主控制器组成。为实现不同建模工具或编程语言之间的多学科模型耦合与交互,引入FMI(functional mock-up interface)标准进行系统集成,提高了系统的模块化程度、通用性与可移植性。为充分利用计算资源、提高仿真效率,分布式部署仿真子系统与模块,利用DDS(data distribution service)通信机制实现高效、可靠的数据交互。双臂空间机器人抓捕非合作目标的演示案例表明,该仿真系统能够高保真模拟从远距离导引到近距离操作的全过程,满足实时仿真的要求。

ECRIT等离子体特性数值模拟分析

针对航天器推进系统电子回旋共振离子推力器(ECRIT)电离效率易受放电室结构参数和工作参数影响,主要技术参数之间存在耦合不能单独优化的问题,文章采用多物理场仿真软件开展数值模拟,利用自适应函数细化电子回旋共振(ECR)区网格法提高仿真精度,探究不同磁路结构参数、工质气体、天线构型、微波功率对ECR推力器性能的影响规律,使电子在ECR区能够获得最大能量,经部分试验验证(微波输入功率和工质气体对放电影响),结果表明:磁环间距、内磁环-波导小端面距离和磁体高度对ECR区的分布影响较大,磁体宽度的影响较小;氙气的电子数密度高于氩气;L型天线电子密度和功率沉积高于杆天线;电子数密度和碰撞功率损耗随着入射微波功率增大而增大,可为ECR推力器设计提供参考。

一种多飞行器协同的GNC系统飞行模拟平台设计

空间站在轨组装和长期运营阶段涉及到多飞行器独立飞行、飞行器间交会对接、多飞行器组合体融合控制、多飞行器分离过程控制和飞行器返回再入等复杂飞行任务,完整、真实的飞行模拟是必需且至关重要的.基于时间同步、实时数据交换的分布式一体化仿真架构,设计了一种多飞行器协同的通用半物理制导、导航与控制(guidance,navigation and control,GNC)系统飞行模拟平台,可很好地满足复杂系统的飞行模拟需要.平台由若干灵活、可扩展的通用模拟器构成,单个模拟器通过配置可以实现任一飞行器的功能,能够独立对指定飞行器的全任务过程进行仿真.平台通过靶场仪器组B时间码(inter-range instramentation group-B,IRIG-B)信号进行时间同步,利用1553B总线完成动力学仿真数据实时交换,并在多模拟器之间通过协调机制实现热并网后进行协同仿真.该模拟平台成功应用于空间站飞行控制演练.

空间飞行器重力卸载用弹力绳特性试验研究

在空间飞行器地面微重力模拟试验前需要测试弹力绳的特性,以确定弹力绳是否满足重力卸载需求。文章提出弹力绳特性测试方法,通过刚度、频率和蠕变测试,获得其重力卸载特性,并讨论了静态频率和动态频率不一致问题,以及温度对弹力绳动态频率的影响。针对某型号微重力环境模拟需求,对弹力绳选型进行了分析,在满足总负载的前提下选择纵向频率低、单根负载质量大、空间需求小及蠕变稳定时间短的弹力绳。该研究可为地面微重力模拟试验中弹力绳的选用提供参考。