CN103482089A - Design method of unrestricted suspension type initiative gravity compensation system - Google Patents
Design method of unrestricted suspension type initiative gravity compensation system Download PDFInfo
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- CN103482089A CN103482089A CN201310466806.5A CN201310466806A CN103482089A CN 103482089 A CN103482089 A CN 103482089A CN 201310466806 A CN201310466806 A CN 201310466806A CN 103482089 A CN103482089 A CN 103482089A
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Abstract
Provided is a design method of an unrestricted suspension type initiative gravity compensation system. The system is composed of an unrestricted connecting module, a vertical constant tension suspension module, a horizontal follow-up module and a control module. The unrestricted connecting module comprises a connecting sleeve, an outer mounting frame, a force applying piece and a low friction bearing, and enables a spacecraft to carry out approximate unrestricted rotation round a center of mass. The vertical constant tension suspension module comprises a torque motor, a pinion and rack, a suspension hanging spring and a tension sensor, and enable the tensile force borne by the spacecraft in movement is equal to gravity. The horizontal follow-up module comprises a servo motor, a guide rail, a synchronous belt and a tilt angle sensor, and the suspension module is made to carry out horizontal movement along with the spacecraft to guarantee that the hanging spring is in a vertical state. The control module comprises an acquisition card, a driver and a motion control card. The design method of the unrestricted suspension type initiative gravity compensation system can compensate the gravity of the spacecraft in a ground test environment, further is used for reproducing the real movement of the spacecraft in the interspace microgravity environment, has the advantages of being stable in running, through in compensation and the like, and can provide the approximate unrestricted microgravity environment for movements with six degrees of freedom.
Description
Affiliated technical field
The present invention relates to verification technique field, spacecraft Navigation, Guidance and Control system ground, be specifically related to a kind of for the spacecraft motion reappearance without constraint suspension formula gravity compensation design method initiatively.
Background technology
Space engineering is an excessive risk, high investment, high repayment, high complexity and high-precision system engineering, and can its development degree determine seize the high-tech commanding elevation, farthest utilize space resources.Certainly, actively develop space technology research in China extremely urgent, yet space environment is extremely severe, in order to complete smoothly space mission, must test fully on ground, therefore each space flight mechanism all pays much attention to the experimental verification of spacecraft on ground both at home and abroad.
A most important feature of space environment is microgravity, yet, the ground experiment chamber is for there being gravity environment, in order to reproduce the real motion situation in spacecraft space microgravity environment on ground, improving the confidence level of ground validation Navigation, Guidance and Control system experimentation, need to be that the spacecraft six-freedom motion is set up a nothing constraint microgravity environment close with the space real conditions on ground.Realize this target, just need to carry out gravity compensation to spacecraft, gravity compensation refers to that object is applied to external force makes it the gravitational equilibrium suffered with object, or makes object under free falling body state, and purpose is all to eliminate gravity object of which movement process medium power to be learned to the impact of characteristic.
In the research of current gravitational compensation method, method commonly used has weight-loss method, liquid float glass process, By Bubble-floating Method and suspension method.What weight-loss method was common is parabolic flight and free-falling body, and the shortcoming of the method is that time space short, that take limited space and cost large, that can provide are high; The damping of liquid float glass process is large, maintenance cost is high and be only suitable for the situation of low-speed motion; By Bubble-floating Method generally can only provide the motion of five degree of freedom, at the limitation of movement of vertical direction.The shared space of suspension method is little, be not subject to spatio-temporal constraint, is the method that gravity compensation is commonly used, and suspension method generally can be divided into initiatively gravity compensation and passive gravity compensation, multiplexly in the space manipulator microgravity test, studies.The compensation precision of passive gravity compensation is lower, and test effect is had to considerable influence, initiatively gravity compensation can improve compensation precision, but initiatively gravitational compensation method generally hangs and provides three-degree-of-freedom motion space or multi-point suspended that the six-freedom motion space is provided by single-point at present, for realizing this target of spacecraft motion reappearance, the three-degree-of-freedom motion space is obviously inadequate, the Six-freedom-degree space that multi-point suspended provides can be due to complex structure, the difficult control of system causes test effect not good, therefore need to find a kind of simple in structure, stable, the gravity compensation system thoroughly that compensates provides an approximate microgravity environment without the constraint six-freedom motion for spacecraft, and then reproduce its real motion under the space microgravity environment, the navigation of assurance ground validation, the validity of guidance and control system.
Summary of the invention
The objective of the invention is to invent a kind of gravity simple in structure, stable, that the gravity compensation system thoroughly of compensating compensates spacecraft in the ground experiment environment that has, provide spacecraft the approximate microgravity environment without the constraint six-freedom motion, and then reproduce its real motion under the space microgravity environment, guarantee the validity of ground validation Navigation, Guidance and Control system.
The present invention is based on initiatively gravity compensation system of suspension that principle that the action effect that hangs pulling force and space craft gravity balance, power cancels out each other compensates the gravity of spacecraft, integrate without constraint suspension module, the servo-actuated module of level, vertical permanent tension force suspension module and corresponding control module, can realize well this intended target.
Technical scheme of the present invention:
A kind of without the constraint suspension formula initiatively the gravity compensation system comprise without constraint link block, the servo-actuated module of level, vertical permanent tension force suspension module and control module.
Described without the constraint link block comprise adapter sleeve, frame up outward, force-applying piece and low friction bearing, frame up outward and be connected with the suspension hang spring with low Friction thrust ball-bearing casing by adapter sleeve, frame up outward and be connected with quilt compensation spacecraft with low friction deep groove ball bearing by force-applying piece, make spacecraft do and approximate roll and the Attitude control of pitching without constraint around barycenter in framing up outside, spacecraft with outside do approximate Attitude control of going off course without constraint around the spacecraft barycenter together with framing up.
The servo-actuated module of described level comprises servomotor, guide rail, Timing Belt, the two dimension obliquity sensor, mobile overhead crane and support frame, wherein, inverted L shape support frame bottom is fixed on ground by permanent seat, the connecting panel of two capable of regulating level attitudes is installed at inverted L shape support frame top, two line slideways of directions X are arranged on connecting panel, two line slideways of Y-direction are arranged on directions X straight-line guide rail slide block surface, mobile overhead crane is arranged on Y-direction straight-line guide rail slide block surface, by adjusting connecting panel, make the mobile overhead crane surface in horizontality, mobile overhead crane is connected mutually with vertical permanent tension force suspension module, two servomotors connect and can drive respectively mobile overhead crane and vertical permanent tension force suspension module along X by Timing Belt, Y-direction moves reciprocatingly, two symmetrical two-dimentional obliquity sensors of installing are measured in the spacecraft motion process simultaneously and are hung two angles that hang spring departs from vertical direction, take off data is merged and flows to control module, by controlling servomotor operation acceleration/accel, make in the spacecraft motion process to hang hang spring in vertical state, guarantee to hang hang spring spacecraft is not produced to the horizontal direction exciting force.
Described vertical permanent tension force suspension module comprises torque motor, rack-and-gear, hang hang spring and S type tension pick-up, wherein, hanging hang spring one end and tooth bar is connected, the other end is connected with the adapter sleeve without in the constraint link block, torque motor connects and can drive tooth bar by gear, hang hang spring and move reciprocatingly without constraint link block in the vertical direction, S type tension pick-up is measured the tension force that hangs hang spring in the spacecraft motion process, take off data is flowed to control module, the tension force that makes to hang in the spacecraft motion process hang spring by control torque motor operation acceleration/accel equals spacecraft and without the suffered gravity sum of constraint link block, the tension force that guarantees suspension hang spring in the spacecraft motion process is constant all the time.
Described control module comprises capture card, actuator and motion control card, wherein, capture card gathers the feed back input of the take off data of S type tension pick-up and two-dimentional obliquity sensor as motion controller, the feedforward input of the state of kinematic motion data of spacecraft (being provided by the in-built sensor of spacecraft) as motion controller own is provided capture card simultaneously, resolving the output with driver current through motion control card makes torque motor and servomotor reach expectation operating speed and acceleration/accel, realize the suspension hang spring constant tension in the spacecraft motion process, the control target that drift angle is zero.
According to above-mentioned mechanical construction and control system, while carrying out spacecraft Navigation, Guidance and Control system verification on ground, spacecraft is according to mission requirements, under self control system effect, needed around the attitude adjustment of barycenter and the orbit maneuver of barycenter.
When needs carry out the attitude adjustment, spacecraft self attitude-adjusting system is done to adjust moment in order to attitude to spacecraft, because spacecraft is to be fixed on without on the constraint link block by low friction bearing, therefore can think that the resistance torque that link block is adjusted in motion process spacecraft attitude is approximately zero, simultaneously because the force-applying piece application force passes through the spacecraft barycenter, make spacecraft in the neutral equilibrium state, Action of Gravity Field moment is zero, thereby guarantees that the spacecraft ground Attitude control is approximate identical with the real motion situation in space environment.
When needs carry out orbit maneuver, spacecraft self orbit maneuver actr applies the application force by barycenter to the spacecraft body: as application force F vertically the time, the suspension hang spring tension force T that now S type tension pick-up is measured be not equal to setting by the compensation spacecraft with without constraint suspension module gravity sum G, control module gathers and calculates the poor of tension force T and gravity G, and the output controlling quantity makes torque motor drive tooth bar, suspension hang spring and make acceleration movement without the constraint link block at vertical direction and guarantees thus to hang the hang spring constant tension to eliminate this deviate; As application force F during along the horizontal X direction, now two-dimentional obliquity sensor measure spacecraft with drive to hang without the constraint suspension module that hang spring produces at directions X depart from the vertical direction angle, control module collects this angle numerical value, the output controlling quantity makes the servomotor of directions X drive mobile overhead crane and vertical permanent tension force suspension module is made accelerated movement at directions X, guarantees thus to hang hang spring in vertical state; As application force F, during along horizontal Y-direction, scheme is with consistent along directions X; When application force during along the space any direction, the three-dimensional data array control torque motor that control module provides according to S type tension pick-up and two-dimentional obliquity sensor simultaneously and the servomotor of both direction move simultaneously, finally reach to hang hang spring in vertical direction and be the control target of permanent tension force.
Thus, the suspension active gravity compensation system for the spacecraft motion reappearance can be the microgravity environment that spacecraft provides an approximate nothing constraint six-freedom motion.
Specific works step without constraint suspension formula active gravity compensation system is:
(A) regulate the levelness of mobile overhead crane by the horizontal adjustment connecting panel, make mobile overhead crane in horizontality;
(B) by spacecraft by force-applying piece with frame up and be connected outward, adjust force-applying piece and spacecraft connection location make force-applying piece to the application force of spacecraft by the spacecraft barycenter to reach the neutral equilibrium state of spacecraft rotation around center of mass;
(C) open capture card and probe power, record the initial measurement output of S type tension pick-up and two-dimentional obliquity sensor when static of spacecraft, the expectation value of operation using observed reading as control module;
(D) open all power supplys, the startup system, spacecraft under self control system effect, in the ground experiment room environmental, finish the work attitude adjustment and the orbit maneuver of demand, suspension initiatively gravity compensation system compensates the suffered gravity of spacecraft by hanging hang spring in the spacecraft motion process, realizes the motion under ground reproduction spacecraft space microgravity environment.
The present invention contrasts prior art and has following features:
1, hang unconfined six-freedom motion space is provided by single-point;
2, effectively overcome the impact on the Level of Microgravity direction of static friction, dynamic friction and added force of inertia by feedforward and feed back input;
3, to the space craft gravity compensation thoroughly, compensation precision is high;
4, experimental period is grown and can be repeated experiment;
5, unite simple in structure, invest little and reliability is high, required maintenance cost is little, the later stage drops into little.
The accompanying drawing explanation
Fig. 1 is a kind of structure front elevation without constraint suspension formula active gravity compensation system of the present invention;
Number in the figure:
1: the carriage permanent seat; 2: force-applying piece; 3: the inverted L shape carriage; 4: hang hang spring; 4: two-dimentional obliquity sensor (1); 6: the leveling bolt; 7: servomotor (1); 8: servomotor (2); 9: tooth bar; 10: torque motor; 11: mobile overhead crane; 12: Timing Belt; 13: line slideway; 14: connecting panel; 15:S type tension pick-up; 16: two-dimentional obliquity sensor (2); 17: adapter sleeve; 18: frame up outward; 19: low friction bearing (1); 20: application of force bolt; 21: low friction bearing (2); 22: the spacecraft body.
Fig. 2 is a kind of servo-actuated module birds-eye view without constraint suspension formula active gravity compensation system of the present invention;
Number in the figure:
1,7,12,19: the leveling bolt; 2,9,15,18: line slideway; 3: mobile overhead crane; 4,14: optical axis; 5,16: support frame; 6,13,17: Timing Belt; 8,10: servomotor; 11,20: connecting panel
Fig. 3 is a kind of control module diagram of circuit without constraint suspension formula active gravity compensation system of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
In conjunction with Fig. 1, Fig. 2, Fig. 3, basic ideas of the present invention are to retrain link block by nothing to make whole gravity compensation system not affect the three degree of freedom Attitude control of spacecraft itself, guarantee in the spacecraft motion process that by the servo-actuated module of level and corresponding control module thereby hanging hang spring does not produce the horizontal direction exciting force in vertical state to spacecraft, the tension force that guarantees suspension hang spring in the spacecraft motion process by vertical permanent tension force suspension module and corresponding control module is constant all the time, comparatively thoroughly compensate the spacecraft gravity suffered on ground, be embodied as spacecraft in conjunction with above-mentioned three parts thus an approximate target without constraint six-freedom motion microgravity environment is provided.
Specifically, as shown in Figure 1, described nothing constraint link block is squeezed on spacecraft body 22 force-applying piece 2 and low friction bearing 19 by application of force bolt 20, and by Installation and Debugging, make application of force direction by spacecraft body barycenter, now spacecraft can be done the roll attitude adjustment of low friction proximate freedom in the force-applying piece framework; Application of force bolt 20 18 is connected with framing up outward by low friction bearing 21, and now spacecraft body 22, force-applying piece 2, application of force bolt 20 threes form an integral body and can frame up outside in frame and do the pitch attitude adjustment of low friction proximate freedom; Frame up 18 outward by the in-built low Friction thrust ball-bearing casing of adapter sleeve 17() with hang hang spring 4 and be connected, now spacecraft body 22, force-applying piece 2, application of force bolt 20, frame up and 18 4 form the yaw attitude adjustment that an integral body can be done the low proximate freedom that rubs in whole gravity compensation system framework outward; Realize that thus the gravity compensation system does not affect the three degree of freedom Attitude control of spacecraft itself.
As shown in Figure 2, the servo-actuated module of described level makes servomotor 8 can drive Y-direction mechanism by Timing Belt 6,17 and optical axis 4,14 to move on line slideway 9,18, by Timing Belt 13, making servomotor 10 can drive mobile overhead crane moves at line slideway 2,15, realizes that thus mobile overhead crane moves in X, Y-direction; Be to guarantee that the motion of mobile overhead crane is in the plane of a level simultaneously, and consider the Mismachining tolerance of system support framework 16 and the unfairness on ground, need to before system experimentation, complete leveling work, now can regulate by leveling bolt 1,7,12,19 level attitude of two connecting panels 11,20, make to be seated in line slideway 9,18 on connecting panel in a horizontal plane, and then realize that the mobile overhead crane motion is in a horizontal plane; The service condition of the servo-actuated module of consideration level under the control module effect, as shown in Fig. 3 and Fig. 1, the horizontal motion of spacecraft can drive suspension hang spring 4 and depart from vertical direction, make two two- dimentional obliquity sensors 4,16 in a non-standard state simultaneously, now two-dimentional obliquity sensor is exportable suspension hang spring and vertical direction angle two components on XZ, YZ plane, thereby then by the control flow chart in Fig. 3, control the servomotor running, realizes in the spacecraft motion process that hanging hang spring does not produce the horizontal direction exciting force in vertical state to spacecraft.
As shown in Figure 1, described vertical permanent tension force suspension module can drive torque motor 10 by tooth bar 9 and hangs hang spring 4, moves without constraint link block, spacecraft 22 in the vertical directions; Consider that vertical permanent tension force is suspended on the service condition under the control module effect, the vertical direction sport of spacecraft changes the tension force that hangs hang spring 4, now the current tension force numerical value of the exportable suspension hang spring of S type tension pick-up, then guarantee that according to the control flow chart control torque motor rotation in Fig. 3 the tension force of suspension hang spring in the spacecraft motion process is constant all the time.
According to above-mentioned control policy, we notice that the feedback information that only uses two-dimentional obliquity sensor and S type tension pick-up can cause system to be regulated hysteresis quality is arranged, and then have influence on the gravity compensation precision of system, therefore as shown in Figure 3, control module also gathers spacecraft displacement status information (being measured by the state sensor of spacecraft own) when gathering feedback information, charging system responds time lag, realizes the high-accuracy stable Compensation Objectives of system.
Find application thus without the constraint suspension formula specific works step that initiatively the gravity compensation system is carried out the experiment of spacecraft motion reappearance:
(1) whole system is fixed on to ground by permanent seat, whole system nothing in the experiment operational process is rocked;
(2) make the motion (available obliquity sensor is as measuring tool) in a horizontal surface of mobile overhead crane by the leveling bolt;
(3) spacecraft is arranged on without on the constraint link block, the adjustment and installation position, guarantee that the force-applying piece pressure that spacecraft is subject to realizes with kinetic balance by barycenter, and while three attitude motions freely;
(4) turn on sensor power supply, record the output of spacecraft quiescence sensor measurement, as the system desired output of subsequent experimental;
(5) after guaranteeing that above step completes smoothly, the open system experiment, spacecraft under self control system effect, in the ground experiment room environmental, finish the work attitude adjustment and the orbit maneuver of demand, suspension initiatively gravity compensation system compensates the suffered gravity of spacecraft by hanging hang spring in the spacecraft motion process, realizes the motion under ground reproduction spacecraft space microgravity environment.
Claims (6)
1. one kind without constraint suspension formula gravity compensation design method initiatively, it is characterized in that: system is by forming without constraint link block, the servo-actuated module of level, vertical permanent tension force suspension module and control module, in order to provide the ground experiment spacecraft the approximate microgravity environment without the constraint six-freedom motion.
2. according to right 1, require described a kind of without constraint suspension formula active gravity compensation design method, it is characterized in that: described nothing constraint link block comprises adapter sleeve, frame up outward, force-applying piece and low friction bearing, frame up outward and be connected with the suspension hang spring with low Friction thrust ball-bearing casing by adapter sleeve, frame up outward and be connected with quilt compensation spacecraft with low friction deep groove ball bearing by force-applying piece, make spacecraft do and approximate roll and the Attitude control of pitching without constraint around barycenter in framing up outside, spacecraft with outside do the approximate Attitude control without the constraint driftage around the spacecraft barycenter together with framing up.
3. according to right 1, require described a kind of without constraint suspension formula active gravity compensation design method, it is characterized in that: the servo-actuated module of described level comprises servomotor, guide rail, Timing Belt, the two dimension obliquity sensor, mobile overhead crane and support frame, wherein, inverted L shape support frame bottom is fixed on ground by permanent seat, the connecting panel of two capable of regulating level attitudes is installed at inverted L shape support frame top, two line slideways of directions X are arranged on connecting panel, two line slideways of Y-direction are arranged on directions X straight-line guide rail slide block surface, mobile overhead crane is arranged on the shoe surface on the Y-direction line slideway, by adjusting connecting panel, make the mobile overhead crane surface in horizontality, mobile overhead crane is connected mutually with vertical permanent tension force suspension module, two servomotors connect and can drive respectively mobile overhead crane and vertical permanent tension force suspension module along X by Timing Belt, Y-direction moves reciprocatingly, two symmetrical two-dimentional obliquity sensors of installing are measured in the spacecraft motion process simultaneously and are hung two angles that hang spring departs from vertical direction, take off data is merged and flows to control module, by controlling servomotor operation acceleration/accel, make in the spacecraft motion process to hang hang spring in vertical state, guarantee to hang hang spring spacecraft is not produced to the horizontal direction exciting force.
4. according to right 1, require described a kind of without constraint suspension formula active gravity compensation design method, it is characterized in that: described vertical permanent tension force suspension module comprises torque motor, rack-and-gear, hang hang spring and S type tension pick-up, wherein, hanging hang spring one end and tooth bar is connected, the other end is connected with the adapter sleeve without in the constraint link block, torque motor connects and can drive tooth bar by gear, hang hang spring and move reciprocatingly without constraint link block in the vertical direction, S type tension pick-up is measured the tension force that hangs hang spring in the spacecraft motion process, take off data is flowed to control module, the tension force that makes to hang in the spacecraft motion process hang spring by control torque motor operation acceleration/accel equals spacecraft and without the suffered gravity sum of constraint link block, the tension force that guarantees suspension hang spring in the spacecraft motion process is constant all the time.
5. according to right 1, require described a kind of without constraint suspension formula active gravity compensation design method, it is characterized in that: described control module comprises capture card, actuator and motion control card, wherein, capture card gathers the feed back input of the take off data of S type tension pick-up and two-dimentional obliquity sensor as motion controller, the feedforward input of the state of kinematic motion data of spacecraft (being provided by the in-built sensor of spacecraft) as motion controller own is provided capture card simultaneously, resolving the output with driver current through motion control card makes torque motor and servomotor reach expectation operating speed and acceleration/accel, realize the suspension hang spring constant tension in the spacecraft motion process, the control target that drift angle is zero.
6. according to right 1, require described a kind ofly without constraint suspension formula gravity compensation design method initiatively, it is characterized in that: the algorithm of this system is as follows:
(A) regulate the levelness of mobile overhead crane by the horizontal adjustment connecting panel, make mobile overhead crane in horizontality;
(B) by spacecraft by force-applying piece with frame up and be connected outward, adjust force-applying piece and spacecraft connection location make force-applying piece to the application force of spacecraft by the spacecraft barycenter to reach the neutral equilibrium state of spacecraft rotation around center of mass;
(C) open capture card and probe power, record the initial measurement output of S type tension pick-up and two-dimentional obliquity sensor when static of spacecraft, the expectation value of operation using observed reading as control module;
(D) open all power supplys, the startup system, spacecraft under self control system effect, in the ground experiment room environmental, finish the work attitude adjustment and the orbit maneuver of demand, suspension initiatively gravity compensation system compensates the suffered gravity of spacecraft by hanging hang spring in the spacecraft motion process, realizes the motion under ground reproduction spacecraft space microgravity environment.
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