阅读说明：本技术 一种气浮式微重力模拟器及模拟方法 (Air-floatation type microgravity simulator and simulation method ) 是由 姚蔚然 宋海旭 张欧阳 刘健行 卢彦岐 吴立刚 孙光辉 高亚斌 于 2021-08-12 设计创作，主要内容包括：一种气浮式微重力模拟器及模拟方法,解决了现有气浮式微重力模拟器采用高压气瓶给气浮轴承供气存在危险及无法长时间工作的问题,属于微重力模拟技术领域。本发明包括：气泵泵出的空气经主供气管之后一部分气体通过供气盖支供气管流入供气盖内部,从供气盖下表面垂直向受气座的上表面喷出,供气盖和受气座之间形成隙；另一部分气体通过受气座锥气通孔直接流入受气座锥气通孔,流入受气座锥气通孔的气体会经过模拟器主供气管流入和模拟器支供气管给气浮轴承供气。气浮轴承通入空气后,垂直向大理石平台的上表面将气体喷出,在大理石平台的上表面和气浮轴承的下表面之间形成一层气隙,从而模拟器漂浮在空气中,达到了微重力模拟的目的。(An air-floatation type microgravity simulator and a simulation method solve the problems that an existing air-floatation type microgravity simulator is dangerous and incapable of working for a long time due to the fact that a high-pressure gas cylinder supplies gas to an air-floatation bearing, and belong to the technical field of microgravity simulation. The invention comprises the following steps: after air pumped by the air pump passes through the main air supply pipe, a part of air flows into the air supply cover through the branch air supply pipe of the air supply cover and is vertically sprayed to the upper surface of the air receiving seat from the lower surface of the air supply cover, and a gap is formed between the air supply cover and the air receiving seat; the other part of the gas directly flows into the air receiving seat cone gas through hole through the air receiving seat cone gas through hole, and the gas flowing into the air receiving seat cone gas through hole flows into the air bearing through the simulator main gas supply pipe and supplies gas to the air bearing through the simulator branch gas supply pipe. After the air bearing lets in the air, the vertical upper surface to the marble platform spouts gas, forms the one deck air gap between the upper surface of marble platform and the lower surface of air bearing to the simulator floats in the air, has reached the purpose of microgravity simulation.)

1. The air-floatation type microgravity simulator is characterized by comprising an air pump, a main air supply pipe (6), an air supply cover main air supply pipe (19), an air supply cover branch air supply pipe (21), an air supply cover (16), an air receiving seat (20), a simulator upper plate (15), a simulator bottom plate (8), a simulator main air supply pipe (14), a simulator branch air supply pipe (9) and an air-floatation bearing (7);

the air receiving seat (20) is fixed on the simulator upper plate (15), the air supply cover (16) is arranged on the air receiving seat (20), the simulator bottom plate (8) is arranged below the simulator upper plate (15), and the air bearing (7) is arranged at the bottom of the simulator bottom plate (8); the simulator main air supply pipe (14) and the simulator branch air supply pipe (9) are positioned below the simulator upper plate (15);

the interior of the air supply cover (16) is of a porous structure, the air outlets of the holes vertically face the upper surface of the air receiving seat (20), the middle part of the air supply cover (16) is provided with an air supply cover straight air through hole (23), and the middle part of the air receiving seat (20) is provided with an air receiving seat conical air through hole (26); the aperture of the straight air through hole (23) of the air supply cover is smaller than the diameter of the bottom surface of the conical air through hole (26) of the air receiving seat;

the air outlet of the air pump is communicated with the air inlet of the main air supply pipe (6), the air outlet of the main air supply pipe (6) is communicated with the air inlet of the main air supply pipe (19) of the air supply cover, the main air supply pipe (19) of the air supply cover is provided with two air outlets, one air outlet is communicated with the air inlet of the straight air through hole (23) of the air supply cover, the other air outlet is communicated with the air inlet of the branch air supply pipe (21) of the air supply cover, and the air outlet of the branch air supply pipe (21) of the air supply cover is communicated with multiple holes in the air supply cover (16);

the air outlet of the straight air through hole (23) of the air supply cover is communicated with the air inlet of the conical air through hole (26) of the air receiving seat, and the air inlet of the main air supply pipe (14) of the simulator penetrates through the upper plate (15) of the simulator to be communicated with the air outlet of the conical air through hole (26) of the air receiving seat;

an air outlet of the simulator main air supply pipe (14) is communicated with an air inlet of the simulator branch air supply pipe (9), the air outlet of the simulator branch air supply pipe (9) passes through a simulator bottom plate (8) to be communicated with an air inlet of the air bearing (7), and the air outlet of the air bearing is vertically downward;

after the air pump pumps out compressed air, an air gap is formed between the air supply cover (16) and the air receiving seat (20), and an air gap is formed between the lower surface of the floating bearing (7) and a platform on which the floating bearing is arranged.

2. The air-floating microgravity simulator according to claim 1, further comprising an air supply cover weight (18) disposed on the air supply cover (16), wherein the thickness of the air gap formed is adjusted by controlling the weight of the air supply cover weight (18).

3. The air-floating microgravity simulator of claim 1, further comprising a marble platform (1), a bracket (2), 4 ropes and 4 rope winding devices (4);

4 rope tying points are arranged on the air supply cover (16), the rope winding device (4) is arranged on the bracket (2), the floating bearing (7) is arranged on the marble platform (1), and a layer of air gap is formed between the lower surface of the floating bearing (7) and the marble platform (1);

the 4 ropes are respectively led out from the rope outlet points of the 4 rope winding devices (4), and the other ends of the ropes are respectively connected with 4 rope outlet points of the air supply cover (16).

4. The air-floating microgravity simulator of claim 1, further comprising a simulator middle plate (12), a bottom middle plate connection column (10) and an upper middle plate connection column (13);

the simulator middle plate (12) is arranged between the simulator upper plate (15) and the simulator bottom plate (8),

the middle plate connecting column (13) is used for supporting between the middle plate (12) of the simulator and the upper plate (15) of the simulator, and the middle plate connecting column (10) is used for supporting between the middle plate (12) of the simulator and the bottom plate (8) of the simulator.

5. The air-floating microgravity simulator of claim 1, wherein the air supply cover (16) is made of porous carbon material inside, and the rest surfaces except the bottom surface of the air supply cover (16) are covered with a metal shell.

6. The air-floating microgravity simulator as claimed in claim 1, wherein the number of the air-floating bearings is 4, the number of the simulator sub air supply pipes (9) is 4, the air outlet of the simulator main air supply pipe (14) is divided into 4 air outlets through 1 five-way air pipe, the 4 air outlets are respectively communicated with the air inlets of 1 simulator sub air supply pipe (9), and the 4 simulator sub air supply pipes (9) are respectively communicated with the air inlets of one air-floating bearing after passing through the simulator bottom plate (8).

7. The simulation method of the air-floating microgravity simulator of claim 1, comprising:

s1, measuring the current position of the air-floating type microgravity simulator in the ith control period;

s2, determining a desired position of the air supply cover (16) according to the current position of the air-floating type microgravity simulator, wherein the desired position enables the center of the air supply cover (16) to be aligned with the center of the air receiving seat (20), and the height of the air supply cover (16) is kept unchanged;

s3, determining the position coordinates of the 4 tether points according to the expected position of the air supply cover (16);

s4, calculating the expected value of the length of the 4 ropes according to the position coordinates of the rope outlet point and the rope tying point;

and S5, controlling the lengths of the 4 ropes in the rope winding device (4) according to the expected values of the lengths of the 4 ropes, wherein i is i +1, and the initial value of i is 1.

8. The simulation method of claim 7, wherein in S4, the expected values of the lengths of the 4 ropes are respectively:

the coordinates of the tether points of the 4 ropes on the air supply cover (16) under the coordinate system of the air supply cover are respectively And

the positions of the rope outlet points of 4 ropes on the air supply cover (16) under the world coordinate system are respectively And

translation transformation matrixRepresenting the origin P of the coordinate system of the gas supply cover₂Position under world coordinate system, origin P of air supply cover coordinate system₂Is the center of the air supply cover.

9. The simulation method of claim 8, wherein the expected values of the lengths of the 4 ropes in S5 are respectively:

10. simulation method according to claim 9, characterized in that the control period T is 0.01 s.

Technical Field

The invention relates to an air-floating type microgravity simulator and a simulation method, and belongs to the technical field of microgravity simulation.

Background

Under the background of vigorously developing the space technology, the ground microgravity simulation platform plays a vital role in the technology research and development process. The ground microgravity simulation platform has the main function of providing a microgravity environment on the ground so as to simulate the situation of the experimental device in space. In the ground microgravity simulation platform, an air-floating type plane three-degree-of-freedom simulator is the most common. The bottom surface of the air-floating microgravity simulator is usually provided with a plurality of air-floating bearings which are placed on a marble platform. When the simulator works, air needs to be supplied to the air bearing, the bottom surface of the air bearing sprays air to the surface of the marble platform, a thin air film is formed between the lower surface of the air bearing and the surface of the marble platform, and therefore the simulator is suspended in the air. The simulator can move horizontally on a plane without friction and also can rotate around a rotating shaft vertical to the marble plane, and the simulator simulates the motion of three degrees of freedom of the plane in a microgravity environment.

In order to supply air to the air bearing, a high-pressure air bottle is installed on a traditional simulator, and the high-pressure air bottle is filled with high-pressure air. When the air pressure simulator is used, high-pressure air firstly undergoes primary pressure reduction through a high-pressure reducing valve arranged on the simulator, then undergoes secondary pressure reduction through a low-pressure reducing valve, and then is input to the air bearing. The problems with this conventional air supply are: on one hand, a high-pressure gas cylinder and a high-pressure reducing valve need to be installed on the simulator, the high-pressure gas cylinder and the high-pressure reducing valve occupy the space of the simulator, and certain danger can be caused by the use of high-pressure gas; on the other hand, due to the volume and pressure of the gas cylinder, the high-pressure gas filled in the cylinder is limited, and the simulator cannot support long-time work. Either the option of replacing a large volume gas cylinder or increasing the pressure of the gas in the cylinder, in order to extend the operating time of the simulator, is associated with additional cost and increased risk.

Disclosure of Invention

The invention provides an air-floating type microgravity simulator with a parallel rope-pulling type air supply device and a simulation method, aiming at the problems that the existing air-floating type microgravity simulator adopts a high-pressure air cylinder to supply air to an air-floating bearing, so that the danger exists and the long-time work cannot be realized.

The invention relates to an air-floatation type microgravity simulator, which comprises an air pump, a main air supply pipe 6, an air supply cover main air supply pipe 19, an air supply cover branch air supply pipe 21, an air supply cover 16, an air receiving seat 20, a simulator upper plate 15, a simulator bottom plate 8, a simulator main air supply pipe 14, a simulator branch air supply pipe 9 and an air-floatation bearing 7, wherein the air pump is connected with the main air supply pipe 6;

the air receiving seat 20 is fixed on the simulator upper plate 15, the air supply cover 16 is arranged on the air receiving seat 20, the simulator bottom plate 8 is arranged below the simulator upper plate 15, and the air bearing 7 is arranged at the bottom of the simulator bottom plate 8; the simulator main air supply pipe 14 and the simulator branch air supply pipe 9 are positioned below the simulator upper plate 15;

the interior of the air supply cover 16 is of a porous structure, the air outlets of the holes vertically face the upper surface of the air receiving seat 20, the middle part of the air supply cover 16 is provided with an air supply cover straight air through hole 23, and the middle part of the air receiving seat 20 is provided with an air receiving seat conical air through hole 26; the aperture of the straight air through hole 23 of the air supply cover is smaller than the diameter of the bottom surface of the conical air through hole 26 of the air receiving seat;

the air outlet of the air pump is communicated with the air inlet of the main air supply pipe 6, the air outlet of the main air supply pipe 6 is communicated with the air inlet of the main air supply pipe 19 of the air supply cover, the main air supply pipe 19 of the air supply cover is provided with two air outlets, one air outlet is communicated with the air inlet of the straight air through hole 23 of the air supply cover, the other air outlet is communicated with the air inlet of the branch air supply pipe 21 of the air supply cover, and the air outlet of the branch air supply pipe 21 of the air supply cover is communicated with a plurality of holes in the air supply cover 16;

the air outlet of the air supply cover straight air through hole 23 is communicated with the air inlet of the air receiving seat conical air through hole 26, and the air inlet of the simulator main air supply pipe 14 passes through the simulator upper plate 15 to be communicated with the air outlet of the air receiving seat conical air through hole 26;

an air outlet of the simulator main air supply pipe 14 is communicated with an air inlet of the simulator branch air supply pipe 9, the air outlet of the simulator branch air supply pipe 9 passes through the simulator bottom plate 8 to be communicated with an air inlet of the air bearing 7, and the air outlet of the air bearing is vertically downward;

after the air pump pumps out the compressed air, an air gap is formed between the air supply cover 16 and the air receiving seat 20, and an air gap is formed between the lower surface of the floating bearing 7 and the platform on which the floating bearing is arranged.

Preferably, the air-float type microgravity simulator further comprises an air supply cover counterweight 18, which is arranged on the air supply cover 16, and the thickness of the air gap formed is adjusted by controlling the weight of the air supply cover counterweight 18.

Preferably, the simulator further comprises a marble platform 1, a bracket 2, 4 ropes and 4 rope winding devices 4;

4 rope tying points are arranged on the air supply cover 16, the rope winding device 4 is arranged on the bracket 2, the floating bearing 7 is arranged on the marble platform 1, and an air gap is formed between the lower surface of the floating bearing 7 and the marble platform 1;

the 4 ropes are respectively led out from the rope outlet points of the 4 rope winding devices 4, and the other ends of the ropes are respectively connected with 4 rope outlet points of the air supply cover 16.

Preferably, the simulator further comprises a simulator middle plate 12, a bottom middle plate connecting column 10 and an upper middle plate connecting column 13;

the simulator middle plate 12 is disposed between the simulator upper plate 15 and the simulator base plate 8,

the simulator middle plate 12 and the simulator upper plate 15 are supported by a middle upper plate connecting column 13, and the simulator middle plate 12 and the simulator bottom plate 8 are supported by a bottom middle plate connecting column 10.

Preferably, the inside of the air supply cover 16 is made of a porous carbon material, and the remaining surface except the bottom surface of the air supply cover 16 is covered with a metal shell.

Preferably, the number of the air bearings is 4, the number of the simulator branch air supply pipes 9 is 4, 4 air outlets are respectively separated from an air outlet of the simulator main air supply pipe 14 through 1 air pipe five-way, the air outlets are respectively communicated with air inlets of the simulator branch air supply pipes 9, and the 4 simulator branch air supply pipes 9 are respectively communicated with the air inlets of one air bearing after penetrating through the simulator bottom plate 8.

Preferably, the method comprises:

s1, measuring the current position of the air-floating type microgravity simulator in the ith control period;

s2, determining a desired position of the air supply cover 16 according to the current position of the air-floating type microgravity simulator, wherein the desired position enables the center of the air supply cover 16 to be aligned with the center of the air-receiving seat 20, and the height of the air supply cover 16 is kept unchanged;

s3, determining the position coordinates of the 4 tether points according to the expected position of the air supply cover 16;

s4, calculating the expected value of the length of the 4 ropes according to the position coordinates of the rope outlet point and the rope tying point;

s5, the lengths of the 4 ropes in the rope winder 4 are controlled according to the desired lengths of the 4 ropes, i is i +1, and the initial value of i is 1.

Preferably, in S4, the expected values of the lengths of the 4 ropes are respectively:

the coordinates of the tether points of the 4 ropes on the air supply cover 16 in the air supply cover coordinate system are respectively And

the positions of the rope outlet points of the 4 ropes on the air supply cover 16 under the world coordinate system are respectively And

translation transformation matrixRepresenting the origin P of the coordinate system of the gas supply cover₂Position under world coordinate system, origin P of air supply cover coordinate system₂Is the center of the air supply cover.

Preferably, in S5, the expected values of the lengths of the 4 ropes are:

preferably, the control period T is 0.01 s.

The invention has the beneficial effects that a set of simulator is provided based on the structure of the air supply cover and the air receiving seat which are dragged by the parallel rope dragging system. The invention abandons the gas cylinder, so as to effectively solve the problems that the space of the simulator is occupied due to the use of the gas cylinder in the traditional gas supply scheme and the safety risk possibly exists due to the use of high-pressure gas. In addition, the application of the invention breaks the time limit of the traditional gas cylinder gas supply scheme, and greatly increases the continuous working time of the simulator.

Drawings

Fig. 1 is a schematic structural view of an air-floating microgravity simulator according to the present embodiment;

FIG. 2 shows a cross-sectional view of the air supply cover and the air receiver in FIG. 2;

FIG. 3 is a top view of the air supply cover and air receiver of FIG. 2;

fig. 4 is a schematic diagram illustrating the principle of simulation by the air-floating microgravity simulator according to the present embodiment;

fig. 5 is a schematic diagram of a coordinate system in the air-floating microgravity simulator according to the embodiment.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

As shown in fig. 1 to 3, an air-floating microgravity simulator according to the present embodiment includes an air pump, a main air supply pipe 6, an air supply cover main air supply pipe 19, an air supply cover sub air supply pipe 21, an air supply cover 16, an air receiving seat 20, a simulator upper plate 15, a simulator bottom plate 8, a simulator main air supply pipe 14, a simulator sub air supply pipe 9, and an air-floating bearing 7;

the air receiving seat 20 is fixed on the simulator upper plate 15, the air supply cover 16 is arranged on the air receiving seat 20, the simulator bottom plate 8 is arranged below the simulator upper plate 15, and the air bearing 7 is arranged at the bottom of the simulator bottom plate 8; the simulator main air supply pipe 14 and the simulator branch air supply pipe 9 are positioned below the simulator upper plate 15;

the interior of the air supply cover 16 is of a porous structure, the air outlets of the holes vertically face the upper surface of the air receiving seat 20, the middle part of the air supply cover 16 is provided with an air supply cover straight air through hole 23, and the middle part of the air receiving seat 20 is provided with an air receiving seat conical air through hole 26; the aperture of the straight air through hole 23 of the air supply cover is smaller than the diameter of the bottom surface of the conical air through hole 26 of the air receiving seat;

the air outlet of the air pump is communicated with the air inlet of the main air supply pipe 6, the air outlet of the main air supply pipe 6 is communicated with the air inlet of the main air supply pipe 19 of the air supply cover, the main air supply pipe 19 of the air supply cover is provided with two air outlets, one air outlet is communicated with the air inlet of the straight air through hole 23 of the air supply cover, the other air outlet is communicated with the air inlet of the branch air supply pipe 21 of the air supply cover, and the air outlet of the branch air supply pipe 21 of the air supply cover is communicated with a plurality of holes in the air supply cover 16; in the present embodiment, the air supply cover 16 is connected to two air pipes, one is the main air supply pipe 19 of the air supply cover, and the other is the branch air supply pipe 21 of the air supply cover. The main air supply pipe 19 and the branch air supply pipe 21 of the air supply cover are respectively connected with two air outlet ends of an air path tee 22, and the air inlet end of the air path tee 22 is connected with the main air supply hose 6.

The air outlet of the air supply cover straight air through hole 23 is communicated with the air inlet of the air receiving seat conical air through hole 26, and the air inlet of the simulator main air supply pipe 14 passes through the simulator upper plate 15 to be communicated with the air outlet of the air receiving seat conical air through hole 26;

an air outlet of the simulator main air supply pipe 14 is communicated with an air inlet of the simulator branch air supply pipe 9, the air outlet of the simulator branch air supply pipe 9 passes through the simulator bottom plate 8 to be communicated with an air inlet of the air bearing 7, and the air outlet of the air bearing is vertically downward;

after the air pump pumps out the compressed air, an air gap is formed between the air supply cover 16 and the air receiving seat 20, and an air gap is formed between the lower surface of the floating bearing 7 and the platform on which the floating bearing is arranged.

The center of the air supply cover 16 of the present embodiment is provided with an opening, namely an air receiving seat cone air through hole 23. The air receiving seat cone air through hole 23 is connected with an air supply cover main air supply pipe, and an air supply cover branch air supply pipe is connected with an air supply cover branch air supply pipe connecting hole. The center of the air receiving seat is provided with a taper hole, namely an air receiving seat taper air through hole 26, and the lower end of the air receiving seat taper air through hole 26 is connected with a simulator main air supply pipe. When the simulator starts to work, the gas circulation path of the whole set of system is as follows:

first, the air pump connected to the main air-supply pipe 6 is started to start pumping out the compressed air. The compressed air flows into the three-way pipe through the main air supply pipe 6, and then a part of the air flows into the inside of the air supply cover 16 through the air supply cover branch air supply pipe 21. Since the inside of the gas supply cover 16 is made of porous carbon and only the bottom surface of the gas supply cover is not covered by the metal shell, the gas is finally jetted out from the bottom surface of the gas supply cover 16 to the top surface of the gas receiver 20. The gas has a certain pressure and lifts the gas supply cover 16 upward, and an air gap is formed between the gas supply cover 16 and the gas receiving base 20. The solid arrows at the air gap in fig. 2 indicate the direction of the gas ejected from the lower surface of the gas supply cap. Another portion of the gas flows directly into the gas-receiver cone gas through hole 26 through the gas-receiver cone gas through hole 23, and the hollow arrows in fig. 2 indicate the flow path of this portion of the gas. The gas flowing into the air receiving seat cone air through hole 26 flows into the five-way air pipe through the simulator main air supply pipe 14, then flows out of the five-way air pipe, and supplies air to the air bearing 7 through the simulator branch air supply pipe 9. After the air bearing 7 is aerated, air is vertically sprayed to the upper surface of the marble platform, and a layer of air gap is formed between the upper surface of the marble platform and the lower surface of the air bearing 7, so that the simulator floats in the air and achieves the purpose of microgravity simulation. In the embodiment, because a layer of air gap 25 is formed between the air supply cover 16 and the air receiving seat 20, no actual contact occurs between the air supply cover 16 and the air receiving seat 20, that is, the air supply cover 16 does not apply friction force and friction torque to the air receiving seat 20 and the parts below the air receiving seat in the horizontal direction, and the air supply cover 16 does not influence the microgravity simulation effect of the simulator; a part of the air introduced into the air supply cover straight air through hole 23 overflows from an air gap 25 between the air supply cover 16 and the air receiving seat 20, however, because the air gap 25 is very thin, the overflowed air is very little, and most of the air flowing through the air supply cover straight air through hole 23 flows into the air receiving cover conical air hole 26; compressed air is finally input into the air bearing 7, and the air bearing 7 can normally work only by low-pressure compressed air which is not more than 5 atmospheric pressures under the common condition, so that the air pump only needs to pump low-pressure compressed air, and the whole system does not need a high-pressure air pump or a high-pressure reducing valve.

The presence of the air gap between the air supply cover 16 and the air receiving seat 20 in this embodiment allows the device to supply air to the simulator without causing the simulator to experience excessive disturbance forces and moments. The air gap between the air supply cover 16 and the air receiving seat 20 is such that the air supply cover 16 does not actually contact the air receiving seat 20, and the air supply cover 16 is air-floated, so that the air supply cover 16 does not bring disturbing force and disturbing moment to the simulator. The aperture of the straight air through hole of the air supply cover is smaller than the diameter of the bottom surface of the conical air through hole of the air receiving seat, so that even if slight desynchrony exists between the movement of the air supply cover and the movement of the simulator (namely, the air receiving seat), the air supply range of the straight air through hole of the air supply cover is still in the range of the conical air through hole of the air receiving seat, and air can still be conveyed to the air foot of the simulator through the air supply cover and the air receiving seat.

In the embodiment, as long as the compressor continuously supplies air to the simulator through the main air supply hose, the simulator can continuously work; after the gas cylinder is removed, the internal space of the microgravity simulator is enlarged, and more effective loads can be installed in the saved space; meanwhile, after a high-pressure gas cylinder is omitted, the problem that high-pressure gas exists and dangerousness is increased during working is solved.

The air-float microgravity simulator of the embodiment further comprises an air supply cover counterweight 18 which is arranged on the air supply cover 16, the thickness of an air gap formed by controlling the weight of the air supply cover counterweight 18 is adjusted, after a proper counterweight is installed on the air supply cover, the thickness of the air gap can be adjusted, and the thickness of the air gap is generally adjusted to be dozens of micrometers.

As shown in fig. 4, the simulator of the present embodiment further includes a marble platform 1, a stand 2, 4 ropes, and 4 rope winding devices 4;

4 rope tying points are arranged on the air supply cover 16, the rope winding device 4 is arranged on the bracket 2, the floating bearing 7 is arranged on the marble platform 1, and an air gap is formed between the lower surface of the floating bearing 7 and the marble platform 1;

the 4 ropes are respectively led out from the rope outlet points of the 4 rope winding devices 4, and the other ends of the ropes are respectively connected with 4 rope outlet points of the air supply cover 16.

4 ropes 3-1, 3-2, 3-3 and 3-4 are respectively led out from rope outlet points 5-1, 5-2, 5-3 and 5-4 of 4 rope winding devices 4, and the other ends of the ropes are respectively connected with 4 rope tying points 17-1, 17-2, 17-3 and 17-4 of an air supply cover 16 on the simulator. The main air supply pipe 6 can be bent, one end of the main air supply pipe is connected with the air pipe tee 11, the other end of the main air supply pipe is connected with the air pump (the air pump is placed near the marble platform, and the air pump is not drawn in figure 4), and after the air pump compresses the air, the air is supplied to the simulator through the main air supply pipe 6.

The embodiment adopts the parallel rope pulling mechanism to provide a large working space for the air supply cover. The air supply cover is drawn by the parallel rope drawing device and can move in a quite large range, and the working space of the simulator is greatly expanded. And under the large-space operation environment, compared with the structure of a portal frame, the parallel rope traction device solves the problem that the portal frame structure needs to be strengthened in rigidity so as to keep the portal frame not deformed.

The simulator is usually moved on the marble platform 1 during operation, which requires the air supply cover 16 to track the simulator in time to continuously supply compressed air to the simulator. Ideally, the air supply cover 16 is pulled by 4 ropes 3-1, 3-2, 3-3 and 3-4, and the center of the air supply cover 16 is always aligned with the center of the air receiving seat 20. However, in practice, the centers of the air supply cover 16 and the air receiver 20 cannot be precisely aligned due to errors in measuring the position of the simulator or in controlling the rope length. According to fig. 3, the diameter of the top circle of the air-receiving seat cone air through hole 26 is larger than the diameter of the air-supply cover straight air through hole 23, so that as long as the position of the air-supply cover straight air through hole 23 is kept within the range of the top circle of the air-receiving seat cone air through hole 26, air can be smoothly delivered to the air-receiving seat cone air through hole 26 through the air-supply cover straight air through hole 23.

The air-floating microgravity simulator of the embodiment further comprises a simulator middle plate 12, a bottom middle plate connecting column 10 and an upper middle plate connecting column 13;

the simulator middle plate 12 is arranged between the simulator upper plate 15 and the simulator bottom plate 8, the simulator middle plate 12 and the simulator upper plate 15 are supported by a middle upper plate connecting column 13, and the simulator middle plate 12 and the simulator bottom plate 8 are supported by a bottom middle plate connecting column 10.

As shown in fig. 1, the simulator base plate 8 and the simulator middle plate 12 are connected by 4 base middle plate connection posts 10, and the simulator middle plate 12 and the simulator upper plate 15 are connected by 4 middle plate connection posts 13. The lower surface of the simulator bottom plate 8 is fixedly connected with 4 air bearings 7. The lower end of the simulator main air supply pipe 14 is connected with the air pipe five-way 11. The five-way trachea 11 is provided with 4 air outlets which are respectively connected with 4 simulator branch air supply pipes 9. The 4 simulator branch air supply pipes 9 are respectively connected with 4 air bearings 7.

The inside of the air supply cover 16 of the present embodiment is made of a porous carbon material, and the remaining surfaces are covered with a metal shell except for the bottom surface of the air supply cover 16.

The number of the air bearings of the embodiment is 4, the number of the simulator branch air supply pipes 9 is 4, 4 air outlets are separated from the air outlet of the simulator main air supply pipe 14 through 1 air pipe five-way, the air outlets are respectively communicated with the air inlets of the simulator branch air supply pipes 9, and the 4 simulator branch air supply pipes 9 are respectively communicated with the air inlets of the air bearings after passing through the simulator bottom plate 8.

Fig. 4 shows the overall structure of the system. Support 2 installs subaerial, and 4 rope winding devices 4 install on support 2, subaerial marble platform 1 of placing, and microgravity simulator places 1 on marble platform. Main air supply pipe 6 is the hose, can buckle, and trachea tee bend 11 is connected to one end, and one end connect the air pump place near marble platform can, do not draw on the picture, after the air pump with air compression, give the simulator air feed through main air supply pipe 6. When the simulator moves on the marble platform 1, the rope lengths of 4 ropes 3-1, 3-2, 3-3 and 3-4 connected with the air supply cover need to be controlled so as to control the air supply cover 16 to track the movement of the upper air receiving seat 20, and the simulation method of the air-floating type microgravity simulator comprises the following steps:

as shown in FIG. 5, the world coordinate system { P }₀X₀Y₀Z₀And (6) fixedly connected with the ground. Simulator coordinate system { P₁X₁Y₁Z₁Is fixedly connected with the simulator and has an origin P₁Fixed in the centre of the simulator, point P₁Vector for position in world coordinate systemAnd (4) showing. Coordinate system of air supply cover { P }₂X₂Y₂Z₂Fixedly connected with the air supply cover 16 and having an origin point P₂Fixed in the center of the air supply cover 16 at point P₂Vector for position in world coordinate systemThe posture of the coordinate system of the air supply cover is consistent with the world coordinate system in the initial condition, namely three axes of the two coordinate systems are correspondingly parallel. According to the size of the air supply cover 16, the coordinates of the tether points 17-1, 17-2, 17-3 and 17-4 of the tethers 1 to 4 on the air supply cover 16 in the air supply cover coordinate system are respectively set asAndlet the positions of the rope outlet points 5-1, 5-2, 5-3 and 5-4 of the ropes 1 to 4 under the world coordinate system be respectivelyAnd

when the simulator is moving on the marble platform, taking the control period TT as a rule 0.01s, the following steps are performed during the period T starting from 1 for i:

measuring the current position of an air-floating type microgravity simulator in an ith control period;

this step is to measure the current position of the simulator by a position sensor (e.g. a visual tracking device, not shown in fig. 5), that is, to obtain the origin P of the coordinate system of the simulator₁Position in world coordinate system

Determining an expected position of the air supply cover 16 according to the current position of the air-floating type microgravity simulator, wherein the expected position enables the center of the air supply cover 16 to be aligned with the center of the air receiving seat 20, and the height of the air supply cover 16 is kept unchanged;

the origin P of the coordinate system of the air supply cover₂Position coordinates in the world coordinate system are updated to

Thirdly, determining the position coordinates of the 4 tether points according to the expected position of the air supply cover 16;

translation transformation matrixComprises the following steps:

the position coordinates of the 4 tether points 17-1, 17-2, 17-3, 17-4 in the world coordinate system are updated as:

fourthly, calculating the expected value of the length of the 4 ropes according to the position coordinates of the rope outlet point and the rope tying point;

calculating the expected value of the length of 4 ropes according to the coordinate formula between the two points and the coordinates of the rope outlet points 5-1, 5-2, 5-3 and 5-4 and the rope tying points 17-1, 17-2, 17-3 and 17-4, and recording the expected value as the length of the 4 ropesAndthe method comprises the following steps:

and step five, controlling the lengths of the 4 ropes in the rope winding device 4 according to the expected values of the lengths of the 4 ropes, wherein i is i +1, and the initial value of i is 1.

After the steps one to five are completed, the position of the air supply cover 16 tracks the position of the air receiving seat 20 before the ith cycle is finished. Repeating the above five steps can ensure that the air supply cover 16 always follows the position of the air receiving seat 20 when the simulator moves, and the compressed air is continuously delivered to the simulator through the main air supply hose 6, the air supply cover 16 and the air receiving seat 20, so that the simulator can normally work for a long time.

Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.