CN103274057A - Space unfolding structure synchronous unfolding control method based on moment control method - Google Patents
Space unfolding structure synchronous unfolding control method based on moment control method Download PDFInfo
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Abstract
The invention discloses a space unfolding structure synchronous unfolding control method based on a moment control method. A traditional mechanical synchronous device is removed, the unfolding of multi-connecting-rod and multi-plate type unfolding structure is controlled synchronously by adopting the method that the driving moment of all unfolded axes are precisely controlled, and the defects that the traditional mechanical synchronous device is large in number of parts and complex in installation and assembling and debugging are difficult are effectively overcome. The synchronous unfolding control method can synchronously control the unfolding of the multi-connecting-rod and multi-plate type unfolding structure. The synchronous unfolding control method has the advantages of being simple in structure and high in reliability and universality.
Description
Technical field
The present invention relates to a kind of space development structure motion control method, specifically be a kind of space development structure synchronous expansion control method based on the Torque Control method, can realize the expansion synchro control of many link-types, multi-plate deployed configuration by the mode that accurate control respectively launches the axis drive torque.
Background technology
Along with the progress of space technology, the spacecraft large scale requires with the contradiction of means of delivery payload module capacity limitation sharp-pointed all the more.For solving above-mentioned contradiction, a large amount of spacecrafts have been installed deployed configuration, as solar array, antenna and other detecting devicess etc., draw in this type of deployed configuration emission process in the delivery fairing, and the satellite and the rocket of waiting to enter the orbit launch and enter mode of operation after separating.Many connecting rods/multi-plate deployed configuration need launch motion control by machinery or rope synchronous device as a kind of typical space development structure.
Find through the literature search to prior art, present many connecting rods/multi-plate deployed configuration adopts mechanical synchronizer that it is launched synchronism more and controls, the limitation of this type of mechanical synchronizer is embodied in following two aspects: the one, and component part is many, and complexity is installed, and increases the assembling and setting difficulty; The 2nd, friction drag in the increase system causes drive torque big, and dump energy is too much, and locking is impacted and become big.
For this reason, how to provide the synchronous expansion control method of a kind of simplicity of design, fiduciary level height, highly versatile, become problem demanding prompt solution in the industry.
Be necessary to carry out the research based on the space development structure synchronous expansion control method of Torque Control method, fully introduce the sophisticated design theory, obtain the better novel synchronous of engineering effect and launch control method.
Summary of the invention
At the demand, the purpose of this invention is to provide a kind of space development structure synchronous expansion control method based on the Torque Control method, the present invention has characteristics such as simplicity of design, fiduciary level height, highly versatile, forms installation complexity, the not good technical matters of performance to solve the existing machinery synchronous device.
The present invention is achieved through the following technical solutions, space development structure synchronous expansion control method based on the Torque Control method of the present invention, realize motion control to deployed configuration by the Torque Control method, guarantee that the motion process of each unfolded part is controlled and course of action is synchronous.
According to an aspect of the present invention, a kind of space development structure synchronous expansion control method based on the Torque Control method is provided, by the motion control of Torque Control method realization to deployed configuration, the motion process of each unfolded part of assurance deployed configuration is controlled and course of action is synchronous, wherein, described Torque Control method is for respectively launching the method that drive torque on the axis is realized each unfolded part expansion process basic synchronization by adjusting deployed configuration.
Preferably, the drive torque that respectively launches axis in the described Torque Control method is constant moment, and propulsion source is provided by the constant torque spring actuating device.
Preferably, the drive torque in the described Torque Control method obtains by the optimal design algorithm, and wherein, described optimization algorithm adopts method of analysis of variance comparative analysis result and determines final argument.
Preferably, described deployed configuration respectively launch no machinery or rope synchronous device between axis, deployed configuration is link-type or linking-board type space development structure.
Preferably, each unfolded part of described link-type or linking-board type space development structure adopts articulated form to connect, and propulsion source is that passive spring drives.
Owing to adopted above control method, make the present invention than prior art, have following advantage and good effect:
At first, space development structure synchronous expansion control method based on the Torque Control method provided by the present invention, in design process, take into full account the user demand of spacecraft expansion equation structure, make this control method have the advantage of simplicity of design, fiduciary level height, highly versatile.
Secondly, space development structure synchronous expansion control method based on the Torque Control method provided by the present invention takes into full account the functional requirement that adapts to multiple many link-types, multi-plate deployed configuration in design process, as long as each drive torque that launches axis is carried out adaptive optimal design, just can satisfy the operating needs of different spacecrafts, simultaneously can not cause performance decrease, have high generality, have a extensive future.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is the scheme drawing according to the space development structure synchronous expansion control method based on the Torque Control method provided by the invention.
The specific embodiment
The present invention is described in detail below in conjunction with specific embodiment.Following examples will help those skilled in the art further to understand the present invention, but not limit the present invention in any form.Should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As Fig. 1, in the present embodiment, the space development structure comprises: connecting rod L
1, connecting rod L
2, connecting rod L
3, 3 drive torques that launch on axis A, B, the C are respectively moment T
1, T
2, T
3And rotational angle φ
1, φ
2, φ
3Connecting rod L
1Left end with the basis be installed be connected connecting rod L
1Right-hand member and connecting rod L
2Left end link to each other connecting rod L
2Right-hand member and connecting rod L
3Left end connect.3 expansion axis A, B, C have the one dimension rotating function.Moment T
1, moment T
2, moment T
3Be respectively the drive torque of 3 constant force square actuating devices, its function is to continue to export constant moment.
Function is set up: be analytical parameters with time t, and drive torque T
iBut be design variable, can get system motion characteristic expression formula φ
i=Function (T
1, T
2, T
3, t).
Design objective: guarantee 3 rotational angle basically identicals on time history that launch axis, duration of run satisfies between the given area.
Multi-parameters optimization: with the expression formula substitution kinematical equation of drive torque, realize final design target by adjusting each parameter.
Solution procedure: obtain different axis drive torques influence degree to final expansion synchronism under different external environment conditions by method of analysis of variance, and then determine that each development mechanism launches the span of spring drive torque.
Net result: analyze the asynchronous angle of expansion process between 3 connecting rods of interpretation and the caging time that puts in place asynchronous amount, determine to launch synchronous requirement and can satisfy mission requirements.
The present invention adopts Torque Control method theory to design, and can realize the expansion synchro control of many connecting rods, many plate developments structure.This control method can have characteristics such as simplicity of design, fiduciary level height, highly versatile for being applied in the multiple space development structure.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned specific implementations, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not influence flesh and blood of the present invention.
Claims (5)
1. space development structure synchronous expansion control method based on the Torque Control method, it is characterized in that, by the motion control of Torque Control method realization to deployed configuration, the motion process of each unfolded part of assurance deployed configuration is controlled and course of action is synchronous, wherein, described Torque Control method is for respectively launching the method that drive torque on the axis is realized each unfolded part expansion process basic synchronization by adjusting deployed configuration.
2. the space development structure synchronous expansion control method based on the Torque Control method according to claim 1 is characterized in that the drive torque that respectively launches axis in the described Torque Control method is constant moment, and propulsion source is provided by the constant torque spring actuating device.
3. the space development structure synchronous expansion control method based on the Torque Control method according to claim 1, it is characterized in that, drive torque in the described Torque Control method obtains by the optimal design algorithm, wherein, described optimization algorithm adopts method of analysis of variance comparative analysis result and determines final argument.
4. the space development structure synchronous expansion control method based on the Torque Control method according to claim 1, it is characterized in that, described deployed configuration respectively launch no machinery or rope synchronous device between axis, deployed configuration is link-type or linking-board type space development structure.
5. the space development structure synchronous expansion control method based on the Torque Control method according to claim 4, it is characterized in that, each unfolded part of described link-type or linking-board type space development structure adopts articulated form to connect, and propulsion source is that passive spring drives.
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Cited By (6)
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| CN103994847A (en) * | 2014-05-12 | 2014-08-20 | 上海宇航系统工程研究所 | Testing system for space unfolding mechanism locking impact force |
| CN106094891A (en) * | 2016-06-14 | 2016-11-09 | 中国科学院合肥物质科学研究院 | Mechanism controls device and control method thereof are received in a kind of exhibition based on feedback compensation |
| CN106347712A (en) * | 2016-11-09 | 2017-01-25 | 上海卫星工程研究所 | Tether active deployment locking device |
| CN108016634A (en) * | 2017-10-27 | 2018-05-11 | 上海卫星工程研究所 | A modular and compact passive deployment locking device |
| CN108045598A (en) * | 2017-10-27 | 2018-05-18 | 上海卫星工程研究所 | A Modular Lightweight High Rigidity Passive Deployment Locking Device |
| CN113296538A (en) * | 2019-02-21 | 2021-08-24 | 重庆好德译信息技术有限公司 | Control system of high-altitude folding and unfolding mechanism |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103994847A (en) * | 2014-05-12 | 2014-08-20 | 上海宇航系统工程研究所 | Testing system for space unfolding mechanism locking impact force |
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| CN106347712A (en) * | 2016-11-09 | 2017-01-25 | 上海卫星工程研究所 | Tether active deployment locking device |
| CN108016634A (en) * | 2017-10-27 | 2018-05-11 | 上海卫星工程研究所 | A modular and compact passive deployment locking device |
| CN108045598A (en) * | 2017-10-27 | 2018-05-18 | 上海卫星工程研究所 | A Modular Lightweight High Rigidity Passive Deployment Locking Device |
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| CN108016634B (en) * | 2017-10-27 | 2021-06-29 | 上海卫星工程研究所 | A modular and compact passive deployment locking device |
| CN113296538A (en) * | 2019-02-21 | 2021-08-24 | 重庆好德译信息技术有限公司 | Control system of high-altitude folding and unfolding mechanism |
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Application publication date: 20130904 |