EtherCAT在编队卫星动力学仿真测试中的应用研究
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摘要
针对编队卫星在轨的精确队形控制需求,以及卫星研制中地面动力学仿真测试需结合编队飞行的特点,提出一种基于EtherCAT总线的编队卫星动力学分布式仿真测试系统。该仿真系统在传统单星动力学仿真计算的基础上,通过EtherCAT网络实现了分布式仿真系统构建,充分利用EtherCAT网络实时性高、拓扑结构灵活、可扩展的特点,实现编队卫星在轨星间数据、队形拓扑、动力学特性实时仿真,并具备综合调度和数据管理功能。通过构建EtherCAT分布式仿真测试系统,设计综合调度软件,对分布式仿真测试系统的实时性进行了验证。经验证分布式仿真系统能够实现优于1 ms的系统实时性,可以满足编队卫星动力学仿真测试的要求。
Generally, formation flying should be taken into consideration during satellite development. Aiming at the demand of precise formation control, a distributed dynamics simulation and test system for formation flying satellites based on EtherCAT is proposed in this article, compared with traditional single satellite dynamics simulation systems. Taking the advantages of EtherCAT's real-time character, flexible topology and extensibility, the system is capable of integrated dispatching and data management, including the real-time simulation function of satellite data, formation topology and dynamic characteristics. In this paper, the validity has been demonstrated by constructing the EtherCAT based distributed system and designing the integrated dispatching software. Finally, the real-time performance of the proposed system has been tested and verified better than 1 ms, which meets the requirement of satellite formation dynamics simulation and test.
Generally, formation flying should be taken into consideration during satellite development. Aiming at the demand of precise formation control, a distributed dynamics simulation and test system for formation flying satellites based on EtherCAT is proposed in this article, compared with traditional single satellite dynamics simulation systems. Taking the advantages of EtherCAT's real-time character, flexible topology and extensibility, the system is capable of integrated dispatching and data management, including the real-time simulation function of satellite data, formation topology and dynamic characteristics. In this paper, the validity has been demonstrated by constructing the EtherCAT based distributed system and designing the integrated dispatching software. Finally, the real-time performance of the proposed system has been tested and verified better than 1 ms, which meets the requirement of satellite formation dynamics simulation and test.
引文
[1] 林来兴,张小琳.纳型卫星编队飞行技术现状及发展趋势[J].航天器工程,2017,26(5):65-73.
[2] 尤政,李滨,张晓敏,等.微小卫星编队飞行仿真平台设计[J].清华大学学报(自然科学版),2006(2):199-202.
[3] 林来兴,张小琳.星群、星座与编队飞行的概念辨析[J].航天器工程,2012,21(5):97-102.
[4] SABOL C, BURNS R, MCLAUGHLIN C A. Satellite formation flying design and evolution[J]. Journal of Spacecraft & Rockets, 2012, 38 (2): 270-278.
[5] 王玉梅,赵宏卫,陈家林.基于EtherCAT的井下电网防越级跳闸方案研究[J].电子测量技术,2016,39(11):164-167.
[6] 周德新,蒋红菊.EtherCAT技术在机载测试系统通信中的应用[J].测控技术,2014,33(10):89-92.
[7] BRIDGES C P, SAUTER L, PALMER P. Formation deployment & separation simulation of multi-satellite scenarios using satlauncher[C]. IEEE Aerospace Conference. IEEE Computer Society, 2011:1-9.
[8] 赵君,刘卫国,彭喆.基于EtherCAT总线的分布式测控系统设计[J].计算机测量与控制,2012,20(1):11-14.
[9] 党选举,刘亚平,姜辉,等.EtherCAT从站设计及精确时钟同步技术研究[J].测控技术,2017,36(2):99-103.
[10] ROSTAN M, STUBBS J E, DZILNO D. EtherCAT enabled advanced control architecture[C]. Advanced Semiconductor Manufacturing Conference, IEEE, 2010: 39-44.
[11] JANSEN D, BUTTNER H. Real-time ethernet: The EtherCAT solution[J]. Computing & Control Engineering, 2004, 15 (1): 16-21.
[12] ZHANG C, WANG Y, ZHAO Y. Agent-based distributed simulation technology of satellite formation flying[C]. Software Engineering, IEEE, 2014:13-16.
[13] 林来兴.卫星编队飞行动力学仿真及其应用[J].中国空间科学技术,2005,4(2):26-33.
[14] 苏振华,齐晶,张少坡.一种便携式微纳卫星姿控测试系统[J].国外电子测量技术,2017,36(10):73-76.
[15] 冯向军,廖瑛,杨雪榕,等.卫星控制仿真数据库管理系统软件的自动化测试[J].航天控制,2006(2):38-42.
[16] JIA H, YAO P F, LI B Z. Four axes wear-resistant coating testing system based on EtherCAT[C]. Chinese Automation Congress(CAC), 2017:2842-2846.
[2] 尤政,李滨,张晓敏,等.微小卫星编队飞行仿真平台设计[J].清华大学学报(自然科学版),2006(2):199-202.
[3] 林来兴,张小琳.星群、星座与编队飞行的概念辨析[J].航天器工程,2012,21(5):97-102.
[4] SABOL C, BURNS R, MCLAUGHLIN C A. Satellite formation flying design and evolution[J]. Journal of Spacecraft & Rockets, 2012, 38 (2): 270-278.
[5] 王玉梅,赵宏卫,陈家林.基于EtherCAT的井下电网防越级跳闸方案研究[J].电子测量技术,2016,39(11):164-167.
[6] 周德新,蒋红菊.EtherCAT技术在机载测试系统通信中的应用[J].测控技术,2014,33(10):89-92.
[7] BRIDGES C P, SAUTER L, PALMER P. Formation deployment & separation simulation of multi-satellite scenarios using satlauncher[C]. IEEE Aerospace Conference. IEEE Computer Society, 2011:1-9.
[8] 赵君,刘卫国,彭喆.基于EtherCAT总线的分布式测控系统设计[J].计算机测量与控制,2012,20(1):11-14.
[9] 党选举,刘亚平,姜辉,等.EtherCAT从站设计及精确时钟同步技术研究[J].测控技术,2017,36(2):99-103.
[10] ROSTAN M, STUBBS J E, DZILNO D. EtherCAT enabled advanced control architecture[C]. Advanced Semiconductor Manufacturing Conference, IEEE, 2010: 39-44.
[11] JANSEN D, BUTTNER H. Real-time ethernet: The EtherCAT solution[J]. Computing & Control Engineering, 2004, 15 (1): 16-21.
[12] ZHANG C, WANG Y, ZHAO Y. Agent-based distributed simulation technology of satellite formation flying[C]. Software Engineering, IEEE, 2014:13-16.
[13] 林来兴.卫星编队飞行动力学仿真及其应用[J].中国空间科学技术,2005,4(2):26-33.
[14] 苏振华,齐晶,张少坡.一种便携式微纳卫星姿控测试系统[J].国外电子测量技术,2017,36(10):73-76.
[15] 冯向军,廖瑛,杨雪榕,等.卫星控制仿真数据库管理系统软件的自动化测试[J].航天控制,2006(2):38-42.
[16] JIA H, YAO P F, LI B Z. Four axes wear-resistant coating testing system based on EtherCAT[C]. Chinese Automation Congress(CAC), 2017:2842-2846.