CN101596940A - Ground simulation test device for space vehicle - Google Patents
Ground simulation test device for space vehicle Download PDFInfo
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- CN101596940A CN101596940A CNA2009100724924A CN200910072492A CN101596940A CN 101596940 A CN101596940 A CN 101596940A CN A2009100724924 A CNA2009100724924 A CN A2009100724924A CN 200910072492 A CN200910072492 A CN 200910072492A CN 101596940 A CN101596940 A CN 101596940A
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- upper trolley
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Abstract
The present invention relates to experimental set-up, be specially a kind of ground simulation test device for space vehicle.Be characterized in: above brace table 1, be provided with driver train, below brace table 1, be provided with virtual space aircraft mechanism.Be connected with virtual space aircraft 21 through three-axle table by flexible cable 13 1 ends connection driver train, the other end.One end of flexible cable 13 and the upper trolley 3 on the brace table 1 are fixedly connected on flexible cable attachment point 2, and the other end of flexible cable 13 is connected with axle 15 in the three-axle table.Eliminate because the suspension corner that the rotational motion of aircraft forms, make to hang and remain the angle of approach balance position, hang tersional stress thereby lower, this method can also be eliminated because the suspension that the motion of translation of aircraft produces departs from the gravitational equilibrium position simultaneously, make to hang and remain near the gravitational equilibrium position, lower and hang restoring force, the exciting force that assurance simulated aircraft is as far as possible little.
Description
Technical field:
The present invention relates to experimental set-up, be specially a kind of ground simulation test device for space vehicle.
Background technology:
When the space vehicle ground simulation test, need take measures to make that the space vehicle that simulated is all or part of overcomes gravity, and not introduce other exciting force.Comparatively the Chang Yong measure that overcomes gravity has liquid float glass process, air supporting method and suspension method.Suspension method utilizes the rope of flexibility (flexible, flexible) that the virtual space aircraft is hung exactly, and the virtual space aircraft can be moved in certain scope, and motion comprises rotates and translation.In present suspension method, the two ends of pendant line are directly to be fixed on virtual space aircraft and the brace table respectively.For such hang, because the rotational motion meeting of virtual space aircraft forms corner and makes suspension deviation angle balance position, hang the deviation angle balance position and tersional stress can occur hanging, this hangs tersional stress and acts on the virtual space aircraft, accurate simulation that will the interference simulation space vehicle.Because can making to hang, the motion of translation of virtual space aircraft departs from the gravitational equilibrium position, suspension departs from the gravitational equilibrium position restoring force can occur hanging, this hangs restoring force and acts on the virtual space aircraft, accurate simulation that will the interference simulation space vehicle.
Summary of the invention:
The object of the present invention is to provide a kind of simple in structure, with low cost, easy to operate, use flexibly, the high ground simulation test device for space vehicle of simulation accuracy rate.The object of the present invention is achieved like this: be provided with driver train above brace table, be provided with virtual space aircraft mechanism below brace table.Be connected with the virtual space aircraft through three-axle table by flexible cable one end connection driver train, the other end.One end of flexible cable and the upper trolley on the brace table are fixedly connected on the flexible cable attachment point, and the other end of flexible cable is connected with axle in the turntable.The driver train that brace table is provided with has flexible cable attachment point, upper trolley, upper trolley axle drive shaft, upper trolley wheel, upper trolley actuator, upper trolley track, lower floor's dolly axle drive shaft, lower floor's dolly actuator, lower floor's dolly, lower floor's dolly wheel, lower floor's trolley track, and three-axle table has to encircle in drive motor, the turntable in ring, fixed mount, interior axis drive motor, the turntable in axle, the turntable in ring drive motor, the turntable in the turntable and encircles.Lower floor dolly top is provided with upper trolley, upper trolley axle drive shaft, upper trolley wheel, upper trolley actuator, upper trolley track, lower floor dolly below is provided with lower floor's dolly wheel, lower floor's trolley track, the virtual space aircraft is provided with three-axle table, and three-axle table has to encircle in drive motor, the turntable in ring, fixed mount, interior axis drive motor, the turntable in axle, the turntable in ring drive motor, the turntable in the turntable and encircles.Upper trolley axle drive shaft one end is fixing even with upper trolley, the other end is captiveed joint with the upper trolley actuator, upper trolley track 7 is consistent with the OX direction of rectangular coordinate system O-XYZ, the upper trolley track is located on lower floor's dolly, lower floor's dolly is connected with lower floor dolly actuator through lower floor's dolly axle drive shaft, lower floor's trolley track is consistent with the OY direction of rectangular coordinate system O-XYZ, lower floor's trolley track is laid on the brace table, the upper trolley wheel is connected with upper trolley through axle, the upper trolley wheel is located on the upper trolley track, dynamically connects; Lower floor's dolly wheel is connected with horizontal lower floor's cart stationary through axle, and lower floor's dolly wheel vertically is located on lower floor's trolley track, dynamically connects.The stator of ring drive motor is vertically captiveed joint with the virtual space aircraft through fixed mount in the turntable that encircles in the turntable, encircle in rotor and the turntable of ring drive motor in the turntable and be connected, the ring drive motor drives to encircle in the turntable and rotates along the OY direction of principal axis in the turntable, on the stator that encircles drive motor in the turntable in the turntable of ring is fixed on and encircles in the turntable, the rotor of ring drive motor is connected with the interior ring of turntable in the turntable, and the interior ring of turntable drive motor drives the interior ring of turntable and rotates along the OX direction of principal axis; The stator of the interior axis drive motor of axle is fixed on the interior ring of turntable in the turntable, and the rotor of interior axis drive motor is connected with axle in the turntable, and interior axis drive motor drives the interior axle of turntable and rotates along the OZ direction of principal axis.Advantage of the present invention is: eliminate because the suspension corner that the rotational motion of aircraft forms, make to hang and remain the angle of approach balance position, hang tersional stress thereby lower, this method can also be eliminated because the suspension that the motion of translation of aircraft produces departs from the gravitational equilibrium position simultaneously, make to hang and remain near the gravitational equilibrium position, lower and hang restoring force, the exciting force that assurance simulated aircraft is as far as possible little.
Description of drawings:
Fig. 1 is a structural principle scheme drawing of the present invention; Fig. 2 is that flexible cable of the present invention hangs the structural principle scheme drawing that departs from gravitational equilibrium point; Fig. 3 is the structural principle scheme drawing between pulling force of the present invention and gravity, the restoring force; Fig. 4 is that flexible cable of the present invention is reversed the principle schematic that the back produces tersional stress; Fig. 5 is that the present invention is twisted the principle schematic that the back produces twisting stress about flexible cable.The TS-flexible cable, m-has the thing that is draped that quality is m, the a-flexible cable departs from the angle of hanging balancing position, the Fg-restoring force, mg-gravity, TT-is along the pulling force of flexible cable direction, the T-flexible cable is reversed the reverse torsional stress that departs from balance position,-T-flexible cable is reversed the reverse torsional stress that departs from balance position, R point on the A-flexible cable, R point under the B-flexible cable (flexible cable when balance position, A, B point in-line), the new location that R point A is rotated on the A1-flexible cable, the oppositely directed torsional stress that M-produces after departing from the original equilibrium position when flexible cable is twisted, the oppositely directed torsional stress that-M-produces after departing from the original equilibrium position when flexible cable is twisted.When the thing m that is draped departs from gravitational equilibrium point, restoring force Fg will appear, and when being draped thing m when gravitational equilibrium is put, restoring force Fg is zero, flexible cable pulling force TT and gravity mg equal and opposite in direction, direction is opposite, and acting on the last external force of the thing m that is draped is zero; When being reversed, flexible cable will produce an oppositely directed torsional stress T after departing from the original equilibrium position; When being twisted, flexible cable will produce an oppositely directed torsional stress M after departing from the original equilibrium position.
The specific embodiment:
Above brace table 1, be provided with driver train, below brace table 1, be provided with virtual space aircraft mechanism.Be connected with virtual space aircraft 21 through three-axle table by flexible cable 13 1 ends connection driver train, the other end.One end of flexible cable 13 and the upper trolley 3 on the brace table 1 are fixedly connected on flexible cable attachment point 2, and the other end of flexible cable 13 is connected with axle 15 in the turntable.The driver train that brace table 1 is provided with has flexible cable attachment point 2, upper trolley 3, upper trolley axle drive shaft 4, upper trolley wheel 5, upper trolley actuator 6, upper trolley track 7, lower floor's dolly axle drive shaft 8, lower floor's dolly actuator 9, lower floor's dolly 10, lower floor's dolly wheel 11, lower floor's trolley track 12, and three-axle table has in the turntable and encircles 20 in ring drive motor 19, the turntable in ring 16, fixed mount 17, interior axis drive motor 18, the turntable in axle 15, the turntable in ring drive motor 14, the turntable.Lower floor's dolly 10 tops are provided with upper trolley 3, upper trolley axle drive shaft 4, upper trolley wheel 5, upper trolley actuator 6, upper trolley track 7, lower floor's dolly 10 belows are provided with lower floor's dolly wheel 11, lower floor's trolley track 12, virtual space aircraft 21 is provided with three-axle table, and three-axle table has in the turntable and encircles 20 in ring drive motor 19, the turntable in ring 16, fixed mount 17, interior axis drive motor 18, the turntable in axle 15, the turntable in ring drive motor 14, the turntable.Upper trolley axle drive shaft 4 one ends are captiveed joint with upper trolley actuator 6 with upper trolley 3 companies of fixing, the other end, upper trolley track 7 is consistent with the OX direction of rectangular coordinate system O-XYZ, upper trolley track 7 is located on lower floor's dolly 10, lower floor's dolly 10 is connected with lower floor dolly actuator 9 through lower floor's dolly axle drive shaft 8, lower floor's trolley track 12 is consistent with the OY direction of rectangular coordinate system O-XYZ, lower floor's trolley track 12 is laid on the brace table 1, upper trolley wheel 5 is connected with upper trolley 3 through axle, upper trolley wheel 5 is located on the upper trolley track 7, dynamically connects; Lower floor's dolly wheel 11 is captiveed joint with horizontal lower floor's dolly 10 through axle, and lower floor's dolly wheel 11 vertically is located on lower floor's trolley track 12, dynamically connects.The stator that encircles drive motor 19 in the turntable in the turntable of ring 20 is vertically captiveed joint with virtual space aircraft 21 through fixed mount 17, the rotor of ring drive motor 19 is connected with ring 20 in the turntable in the turntable, ring drive motor 19 drives in the turntables ring 20 and rotates along the OY direction of principal axis in the turntable, the stator that encircles drive motor 14 in the turntable in the turntable of ring 16 is fixed on and encircles on 20 in the turntable, the rotor of ring drive motor 14 is connected with ring 16 in the turntable in the turntable, and ring drive motor 14 drives that turntables are interior to be encircled 16 and rotate along the OX direction of principal axis in the turntable; The stator of the interior axis drive motor 18 of axle 15 is fixed in the turntable on the ring 16 in the turntable, and the rotor of interior axis drive motor 18 is connected with axle 15 in the turntable, and interior axis drive motor 18 drives interior 15 of turntable and rotates along the OZ direction of principal axis.Principle of work and working process: when work, when the virtual space aircraft was in balance position, axle 15 directions were consistent with flexible cable 13 directions in the turntable, and turntable inner ring axis direction is consistent with the OX direction, the ring axis direction is consistent with the OY direction in the turntable, and OX is vertical with flexible cable 13 with OY.When the virtual space aircraft was in balance position, flexible cable 13 also was to be in unstress state.At this moment flexible cable 13 acts on pulling force and the gravitational equilibrium on the virtual space aircraft 21, all external force and be zero on the virtual space aircraft 21.
When work, because the rotational motion meeting of virtual space aircraft makes flexible cable 13 deviation angle balance positions, flexible cable 13 will occur reversing at the OZ direction of principal axis, bending appears along the OX direction of principal axis with along the OY direction of principal axis, stress will appear in flexible cable in this case, and this stress produces interference to the virtual space aircraft.At this moment three-axle table work, ring drive motor 19 drives and encircles 20 in the turntable along the rotation of OY direction of principal axis in the turntable, eliminates flexible cable 13 at the axial deviation angle of OY; The interior ring 16 of ring drive motor 14 driving turntables rotates along the OX direction of principal axis in the turntable, eliminates flexible cable 13 at the axial deviation angle of OX; Interior axis drive motor 18 drives the interior axle 15 of turntable and rotates along the OZ direction of principal axis, eliminates flexible cable 13 at the axial deviation angle of OZ.Guarantee that like this flexible cable 13 is all the time at the angle balance position.According to the Hookean elasticity law, the tersional stress in the flexible cable 13 is zero, and the stress of interference simulation space vehicle is zero.Working process, motor rotate and carried out by the controlled reset real-time continuous, so the stress of perfect condition interference simulation space vehicle remains zero always.Because during real work, outer corner measurement, driving rotating shaft have certain deviation, so the tersional stresss in the flexible cable 13 can not be entirely zero, but can be less than the tolerance limit of interference simulation space vehicle.
When work, when the virtual space aircraft was in balance position, axle 15 (at virtual space aircraft center of gravity) and last flexible cable attachment point 2 were on same gravity vertical in the following flexible cable attachment point turntable of flexible cable 13.When the virtual space aircraft was in balance position, flexible cable 13 acted on pulling force TT and the gravity mg balance on the virtual space aircraft 21, all external force and be zero on the virtual space aircraft 21.When if the virtual space aircraft is not in balance position, flexible cable 13 acts on the pulling force TT and the gravity mg overbalance of virtual space aircraft 21, produces a restoring force Fg, all external force and non-vanishing on the virtual space aircraft 21.The purpose that one end of flexible cable 13 is fixed on the upper trolley 3 is to eliminate the position overbalance, makes on the virtual space aircraft 21 all external force and is zero.
When work, because the motion of translation of virtual space aircraft can make the interior axle 15 of the following flexible cable attachment point turntable of flexible cable 13 depart from balance position, at this moment upper trolley 3,10 work of lower floor's dolly, lower floor's dolly actuator 9 drives lower floor's dolly 10 and moves along lower floor's trolley track 12, eliminates the position deviation of OY direction.Upper trolley actuator 6 drives upper trolley 3 and moves along upper trolley track 7, eliminates the position deviation of OX direction.Guarantee that like this flexible cable 13 is all the time at balance position.The restoring force of interference simulation space vehicle simulation is zero.Working process, upper trolley actuator 6 and lower floor's dolly actuator 9 are carried out by the controlled reset real-time continuous, so the restoring force of perfect condition interference simulation space vehicle simulation remains zero always.Because during real work, position measurement, actuation movement have certain deviation, so the restoring force of flexible cable 13 can not be entirely zero, but can be less than the tolerance limit of interference simulation space vehicle.
Claims (7)
1, a kind of ground simulation test device for space vehicle is characterized in that: be provided with driver train above brace table, be provided with virtual space aircraft mechanism below brace table.
2, a kind of ground simulation test device for space vehicle according to claim 1 is characterized in that: be connected with the virtual space aircraft through three-axle table by flexible cable one end connection driver train, the other end.
3, a kind of ground simulation test device for space vehicle according to claim 1 is characterized in that: an end of flexible cable and the upper trolley on the brace table are fixedly connected on the flexible cable attachment point, and the other end of flexible cable is connected with axle in the turntable.
4, a kind of ground simulation test device for space vehicle according to claim 1, it is characterized in that: the driver train that brace table is provided with has flexible cable attachment point, upper trolley, upper trolley axle drive shaft, upper trolley wheel, upper trolley actuator, upper trolley track, lower floor's dolly axle drive shaft, lower floor's dolly actuator, lower floor's dolly, lower floor's dolly wheel, lower floor's trolley track, and three-axle table has to encircle in drive motor, the turntable in ring, fixed mount, interior axis drive motor, the turntable in axle, the turntable in ring drive motor, the turntable in the turntable and encircles.
5, a kind of ground simulation test device for space vehicle according to claim 1, it is characterized in that: lower floor dolly top is provided with upper trolley, upper trolley axle drive shaft, upper trolley wheel, upper trolley actuator, upper trolley track, lower floor dolly below is provided with lower floor's dolly wheel, lower floor's trolley track, the virtual space aircraft is provided with three-axle table, and three-axle table has to encircle in drive motor, the turntable in ring, fixed mount, interior axis drive motor, the turntable in axle, the turntable in ring drive motor, the turntable in the turntable and encircles.
6, a kind of ground simulation test device for space vehicle according to claim 4, it is characterized in that: upper trolley axle drive shaft one end and upper trolley are fixing to be connected, the other end is captiveed joint with the upper trolley actuator, upper trolley track 7 is consistent with the OX direction of rectangular coordinate system O-XYZ, the upper trolley track is located on lower floor's dolly, lower floor's dolly is connected with lower floor dolly actuator through lower floor's dolly axle drive shaft, lower floor's trolley track is consistent with the OY direction of rectangular coordinate system O-XYZ, lower floor's trolley track is laid on the brace table, the upper trolley wheel is connected with upper trolley through axle, the upper trolley wheel is located on the upper trolley track, dynamically connects; Lower floor's dolly wheel is connected with horizontal lower floor's cart stationary through axle, and lower floor's dolly wheel vertically is located on lower floor's trolley track, dynamically connects.
7, a kind of ground simulation test device for space vehicle according to claim 4, it is characterized in that: the stator of ring drive motor is vertically captiveed joint with the virtual space aircraft through fixed mount in the turntable that encircles in the turntable, encircle in rotor and the turntable of ring drive motor in the turntable and be connected, the ring drive motor drives to encircle in the turntable and rotates along the OY direction of principal axis in the turntable, on the stator that encircles drive motor in the turntable in the turntable of ring is fixed on and encircles in the turntable, the rotor of ring drive motor is connected with the interior ring of turntable in the turntable, and the interior ring of turntable drive motor drives the interior ring of turntable and rotates along the OX direction of principal axis; The stator of the interior axis drive motor of axle is fixed on the interior ring of turntable in the turntable, and the rotor of interior axis drive motor is connected with axle in the turntable, and interior axis drive motor drives the interior axle of turntable and rotates along the OZ direction of principal axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100724924A CN101596940A (en) | 2009-07-13 | 2009-07-13 | Ground simulation test device for space vehicle |
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| CNA2009100724924A CN101596940A (en) | 2009-07-13 | 2009-07-13 | Ground simulation test device for space vehicle |
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| CNA2009100724924A Pending CN101596940A (en) | 2009-07-13 | 2009-07-13 | Ground simulation test device for space vehicle |
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Cited By (14)
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| CN101950157A (en) * | 2010-07-30 | 2011-01-19 | 北京航空航天大学 | Flight simulation system with high instantaneity |
| CN101995878A (en) * | 2010-09-29 | 2011-03-30 | 北京航天自动控制研究所 | Centroid suspension simulation test platform with three degree of freedom |
| CN102009750A (en) * | 2010-12-02 | 2011-04-13 | 哈尔滨工业大学 | Carriage hanging and correction mechanism and method for low-gravity experimental system of planetary exploration vehicle |
| CN102009749A (en) * | 2010-08-02 | 2011-04-13 | 清华大学 | Simulation system for low-gravity ramble |
| CN103359300A (en) * | 2013-08-06 | 2013-10-23 | 北京卫星环境工程研究所 | Satellite in-orbit free boundary condition simulation device |
| CN103879568A (en) * | 2012-12-20 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Weightless motion state simulation device |
| CN104118580A (en) * | 2014-07-14 | 2014-10-29 | 上海宇航系统工程研究所 | Device and method for simulating low gravity |
| CN105093961A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Agricultural aircraft simulation device with rotary type objective table |
| CN105093960A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Device for simulating aircraft to collect crop information |
| CN105905320A (en) * | 2016-06-13 | 2016-08-31 | 北京航空航天大学 | Active gravity compensation system with yaw follow-up function |
| CN107628282A (en) * | 2017-11-07 | 2018-01-26 | 内蒙古工业大学 | A kind of large scale synthetic attitude simulator stand |
| CN111554169A (en) * | 2020-06-01 | 2020-08-18 | 北京航宇振控科技有限责任公司 | Spacecraft space rendezvous ground control experiment system |
| CN114148554A (en) * | 2022-02-10 | 2022-03-08 | 伸瑞科技（北京）有限公司 | Combined three-dimensional microgravity simulation system suitable for satellite ground simulation |
| CN114771886A (en) * | 2022-02-24 | 2022-07-22 | 哈尔滨工业大学 | Space rotating mechanism gravity unloading device and method based on Kalman filtering |
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2009
- 2009-07-13 CN CNA2009100724924A patent/CN101596940A/en active Pending
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101950157A (en) * | 2010-07-30 | 2011-01-19 | 北京航空航天大学 | Flight simulation system with high instantaneity |
| CN102009749A (en) * | 2010-08-02 | 2011-04-13 | 清华大学 | Simulation system for low-gravity ramble |
| CN102009749B (en) * | 2010-08-02 | 2013-03-27 | 清华大学 | Simulation system for low-gravity ramble |
| CN101995878A (en) * | 2010-09-29 | 2011-03-30 | 北京航天自动控制研究所 | Centroid suspension simulation test platform with three degree of freedom |
| CN101995878B (en) * | 2010-09-29 | 2012-06-13 | 北京航天自动控制研究所 | Centroid suspension simulation test platform with three degree of freedom |
| CN102009750A (en) * | 2010-12-02 | 2011-04-13 | 哈尔滨工业大学 | Carriage hanging and correction mechanism and method for low-gravity experimental system of planetary exploration vehicle |
| CN102009750B (en) * | 2010-12-02 | 2014-09-03 | 哈尔滨工业大学 | Carriage hanging and correction mechanism and method for low-gravity experimental system of planetary exploration vehicle |
| CN103879568B (en) * | 2012-12-20 | 2015-08-19 | 中国科学院沈阳自动化研究所 | A kind of weightless motion status simulation device |
| CN103879568A (en) * | 2012-12-20 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Weightless motion state simulation device |
| CN103359300A (en) * | 2013-08-06 | 2013-10-23 | 北京卫星环境工程研究所 | Satellite in-orbit free boundary condition simulation device |
| CN103359300B (en) * | 2013-08-06 | 2015-08-26 | 北京卫星环境工程研究所 | Satellite is free boundary condition analog machine in-orbit |
| CN104118580A (en) * | 2014-07-14 | 2014-10-29 | 上海宇航系统工程研究所 | Device and method for simulating low gravity |
| CN104118580B (en) * | 2014-07-14 | 2016-10-19 | 上海宇航系统工程研究所 | A kind of low-gravity simulation device and method |
| CN105093961A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Agricultural aircraft simulation device with rotary type objective table |
| CN105093960A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Device for simulating aircraft to collect crop information |
| CN105093961B (en) * | 2015-06-18 | 2017-08-15 | 浙江大学 | A kind of agricultural aircraft simulation device with rotary objective table |
| CN105093960B (en) * | 2015-06-18 | 2017-08-15 | 浙江大学 | A kind of simulated flight device gathers the device of Crop Information |
| CN105905320A (en) * | 2016-06-13 | 2016-08-31 | 北京航空航天大学 | Active gravity compensation system with yaw follow-up function |
| CN105905320B (en) * | 2016-06-13 | 2017-11-10 | 北京航空航天大学 | A kind of active gravity compensation system for having driftage servo-actuated |
| CN107628282A (en) * | 2017-11-07 | 2018-01-26 | 内蒙古工业大学 | A kind of large scale synthetic attitude simulator stand |
| CN107628282B (en) * | 2017-11-07 | 2020-03-13 | 内蒙古工业大学 | Large-scale comprehensive attitude simulation test bed |
| CN111554169A (en) * | 2020-06-01 | 2020-08-18 | 北京航宇振控科技有限责任公司 | Spacecraft space rendezvous ground control experiment system |
| CN111554169B (en) * | 2020-06-01 | 2022-02-25 | 北京航宇振控科技有限责任公司 | Spacecraft space rendezvous ground control experiment system |
| CN114148554A (en) * | 2022-02-10 | 2022-03-08 | 伸瑞科技（北京）有限公司 | Combined three-dimensional microgravity simulation system suitable for satellite ground simulation |
| CN114771886A (en) * | 2022-02-24 | 2022-07-22 | 哈尔滨工业大学 | Space rotating mechanism gravity unloading device and method based on Kalman filtering |
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Application publication date: 20091209 |