CN103482089B - Unrestricted suspension type initiative gravity compensation system - Google Patents
Unrestricted suspension type initiative gravity compensation system Download PDFInfo
- Publication number
- CN103482089B CN103482089B CN201310466806.5A CN201310466806A CN103482089B CN 103482089 B CN103482089 B CN 103482089B CN 201310466806 A CN201310466806 A CN 201310466806A CN 103482089 B CN103482089 B CN 103482089B
- Authority
- CN
- China
- Prior art keywords
- spacecraft
- suspension
- module
- force
- motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
Provided is 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
Art
The present invention relates to verification technique field, spacecraft Navigation, Guidance and Control system ground, be specifically related to a kind of for spacecraft motion reappearance without constraint suspension formula initiatively gravity compensation design method.
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 high-tech commanding elevation, farthest utilize space resources.Certainly, actively develop space technology research in China extremely urgent, but space environment is extremely severe, in order to complete space mission smoothly, must test fully on ground, therefore domestic and international each space flight mechanism all pays much attention to the experimental verification of spacecraft on ground.
A most important feature of space environment is microgravity, but, ground experiment room is for there being gravity environment, in order to reproduce the real motion situation in spacecraft space microgravity environment on ground, improve the confidence level of ground validation Navigation, Guidance and Control system experimentation, need to be that spacecraft six-freedom motion is set up a nothing close with space real conditions and retrained microgravity environment on ground.Realize this target, just need to carry out gravity compensation to spacecraft, gravity compensation refers to that applying external force to object makes it and gravitational equilibrium suffered by object, or under making object be in free falling body state, object is all eliminate gravity to the impact of object of which movement process medium power characteristic.
In the research of current gravitational compensation method, conventional method 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 that is short, that take is large, the limited space that can provide and cost is 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.Space shared by suspension method is little, not by spatio-temporal constraint, be the method that gravity compensation is conventional, suspension method generally can be divided into initiatively gravity compensation and passive gravity compensation, is used for the research of space manipulator microgravity test.The compensation precision of passive gravity compensation is lower, has considerable influence to test effect, initiatively gravity compensation can improve compensation precision, but initiatively gravitational compensation method generally provides three-degree-of-freedom motion space or multi-point suspended to provide six-freedom motion space by single-point suspension at present, for realizing this target of spacecraft motion reappearance, three-degree-of-freedom motion space is obviously inadequate, the Six-freedom-degree space that multi-point suspended provides can due to complex structure, the control of system difficulty causes test effect not good, therefore need to find a kind of structure simple, stable, the gravity compensation system thoroughly of compensating provides an approximate microgravity environment without constraint six-freedom motion for spacecraft, and then reproduce its real motion under space microgravity environment, guarantee ground validation navigates, the validity of guidance and control system.
Summary of the invention
The object of the invention is invention a kind of have structure simple, stable, compensate thoroughly gravity compensation system to compensate the gravity of spacecraft in ground experiment environment, there is provided spacecraft one the approximate microgravity environment without constraint six-freedom motion, and then reproduce its real motion under space microgravity environment, ensure the validity of ground validation Navigation, Guidance and Control system.
The present invention is based on and hang pulling force and space craft gravity balance, suspension initiatively gravity compensation system that the action effect gravity of principle to spacecraft of cancelling out each other of power compensates, integrate without constraint suspension module, the servo-actuated module of level, vertically identical tension suspension module and corresponding control module, this intended target can be realized well.
Technical scheme of the present invention:
One comprises without constraint link block, the servo-actuated module of level, vertically identical tension suspension module and control module without constraint suspension formula active gravity compensation system.
Describedly comprise adapter sleeve without constraint link block, frame up outward, force-applying piece and low friction bearing, frame up outward and to be connected with suspension hang spring by adapter sleeve and low Friction thrust ball-bearing casing, frame up outward by force-applying piece and low friction deep groove ball bearing with compensated spacecraft and be connected, make spacecraft frame up outside in do approximate rolling without constraint and the Attitude control of pitching around barycenter, spacecraft does approximate nothing around spacecraft centroid outward and retrains the Attitude control of going off course together with framing up.
The servo-actuated module of described level comprises servomotor, line slideway, Timing Belt, two-dimension tilt angle sensor, mobile overhead crane, support frame and inverted L shape support frame, wherein, ground is fixed on by permanent seat bottom inverted L shape support frame, the connecting panel of two adjustable level attitudes is installed at inverted L shape support frame top, two line slideways of X-direction are arranged on connecting panel, two line slideways of Y-direction are arranged on X-direction straight-line guide rail slide block on the surface, mobile overhead crane is arranged on Y-direction straight-line guide rail slide block on the surface, mobile overhead crane surface is made to be in horizontality by adjustment connecting panel, mobile overhead crane is connected mutually with vertical identical tension suspension module, two servomotors can drive mobile overhead crane and vertical identical tension suspension module along X by Timing Belt connection respectively, Y-direction moves reciprocatingly, two symmetrical two-dimension tilt angle sensor of installing measure in spacecraft motion process two angles hanging hang spring and depart from vertical direction simultaneously, take off data is merged and flows to control module, make in spacecraft motion process, to hang hang spring by control servomotor operation acceleration/accel and be in vertical state, ensure that hanging hang spring does not produce horizontal direction exciting force to spacecraft.
Described vertical identical tension suspension module comprises torque motor, rack-and-gear, hang hang spring and S type tension pick-up, wherein, suspension hang spring one end and tooth bar are connected, the other end is connected with without the adapter sleeve retrained in link block, torque motor is connected can be driven tooth bar by gear, hang hang spring and move reciprocatingly without constraint link block in the vertical direction, the tension force hanging hang spring in spacecraft motion process measured by S type tension pick-up, take off data is flowed to control module, by control torque motor run acceleration/accel make the tension force hanging hang spring in spacecraft motion process equal spacecraft and without constraint link block suffered by gravity sum, ensure that the tension force hanging hang spring in 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 take off data as motion controller of S type tension pick-up and two-dimension tilt angle sensor, capture card collection spacecraft own state of kinematic motion data (being provided by the in-built sensor of spacecraft) inputs as the feedforward of motion controller simultaneously, resolving through motion control card makes torque motor and servomotor reach expectation operating speed and acceleration/accel with driver current output, realize the suspension hang spring constant tension in spacecraft motion process, drift angle is the control objectives of zero.
According to above-mentioned mechanical construction and control system, when carrying out spacecraft Navigation, Guidance and Control system verification on ground, spacecraft, according to mission requirements, has needed the orbit maneuver of pose adjustment around barycenter and barycenter under own control systems effect.
When needs carry out pose adjustment, spacecraft self attitude-adjusting system is done in order to pose adjustment moment spacecraft, because spacecraft is fixed on without in constraint link block by low friction bearing, therefore can think that link block is approximately zero to the resistance torque in spacecraft attitude adjustment motion process, simultaneously because force-applying piece application force passes through spacecraft centroid, namely spacecraft is made to be in neutral equilibrium state, Action of Gravity Field moment is zero, thus ensures that spacecraft ground Attitude control is similar to identical with the real motion situation in space environment.
When needs carry out orbit maneuver, the motor-driven actr of spacecraft own orbit is applied through the application force of barycenter to spacecraft body: when directed force F vertically time, the suspension hang spring tension force T that now S type tension pick-up is measured be not equal to setting by compensation spacecraft and without constraint suspension module gravity sum G, control module collection also calculates the difference of tension force T and gravity G, exports controlling quantity and makes torque motor drive tooth bar, hangs hang spring and make acceleration movement without constraint link block at vertical direction and ensure thus to hang hang spring constant tension to eliminate this deviate; When directed force F is along horizontal X direction, now two-dimension tilt angle sensor measurement obtain spacecraft with drive without constraint suspension module hang that hang spring produces in X-direction depart from vertical direction angle, control module collects this angle numerical value, exporting controlling quantity makes the servomotor of X-direction drive mobile overhead crane and vertical identical tension suspension module to make accelerated movement in X-direction, ensures that hanging hang spring is in vertical state thus; When directed force F is along horizontal Y-direction, scheme is with consistent in X direction; When application force is along space any direction, the servomotor of the three-dimensional data array control torque motor that control module provides according to S type tension pick-up and two-dimension tilt angle sensor simultaneously and both direction runs simultaneously, finally reaches to hang hang spring and be in vertical direction and be the control objectives of identical tension.
Thus, the suspension active gravity compensation system for 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) regulated the levelness of mobile overhead crane by horizontal adjustment connecting panel, make mobile overhead crane be in horizontality;
(B) spacecraft is connected with framing up outward by force-applying piece, adjustment force-applying piece and spacecraft connection location make force-applying piece to the application force of spacecraft by spacecraft centroid to reach the neutral equilibrium state of spacecraft rotation around center of mass;
(C) open capture card and probe power, during record spacecraft rest, the measurement of S type tension pick-up and two-dimension tilt angle sensor exports, using the expectation value that observed reading is run as control module;
(D) all power supplys are opened, start up system, spacecraft is finished the work the pose adjustment of demand and orbit maneuver under own control systems effect in ground experiment room environmental, suspension initiatively gravity compensation system compensates the gravity suffered by spacecraft by suspension hang spring in spacecraft motion process, realizes the motion under ground reproduction spacecraft space microgravity environment.
The present invention contrasts prior art and has following features:
1, hung by single-point and namely provide unconfined six-freedom motion space;
2, the impact on Level of Microgravity direction of static friction, dynamic friction and added force of inertia is effectively overcome by feedforward and feed back input;
3, compensate thoroughly space craft gravity, compensation precision is high;
4, experimental period is grown and can be repeated experiment;
5, structure of uniting is simple, invest little and reliability is high, and required maintenance cost is little, the later stage drops into little.
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: carriage permanent seat; 2: force-applying piece; 3: inverted L shape support frame; 4: hang hang spring; 4: two-dimension tilt angle sensor (1); 6: 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-dimension tilt angle sensor (2); 17: adapter sleeve; 18: frame up outward; 19: low friction bearing (1); 20: force bolt; 21: low friction bearing (2); 22: 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: 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.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
Composition graphs 1, Fig. 2, Fig. 3, basic ideas of the present invention are by making whole gravity compensation system not affect the three degree of freedom Attitude control of spacecraft itself without constraint link block, ensure that hanging hang spring in spacecraft motion process is in vertical state thus does not produce horizontal direction exciting force to spacecraft by the servo-actuated module of level and corresponding control module, ensure that the tension force hanging hang spring in spacecraft motion process is constant all the time by vertical identical tension suspension module and corresponding control module, comparatively thoroughly compensate the gravity of spacecraft suffered by ground, be embodied as spacecraft in conjunction with above-mentioned three parts thus and an approximate target without constraint six-freedom motion microgravity environment is provided.
Specifically, as shown in Figure 1, described nothing constraint link block makes force-applying piece 2 and low friction bearing 19 be squeezed on spacecraft body 22 by force bolt 20, and make force direction by spacecraft body barycenter by Installation and Debugging, now spacecraft can do the roll attitude adjustment of low friction proximate freedom in force-applying piece framework; Force bolt 20 18 to be connected with framing up outward by low friction bearing 21, and now spacecraft body 22, force-applying piece 2, force bolt 20 three form an entirety and can frame up outside and do the pitch attitude adjustment of low friction proximate freedom in frame; Frame up outward 18 by adapter sleeve 17 (in-built low Friction thrust ball-bearing casing) with suspension hang spring 4 be connected, now spacecraft body 22, force-applying piece 2, force bolt 20, outward frame up 18 4 form an entirety can do in whole gravity compensation system framework low friction proximate freedom yaw attitude adjust; Realize the three degree of freedom Attitude control that gravity compensation system does not affect spacecraft itself thus.
As shown in Figure 2, the servo-actuated module of described level makes servomotor 8 that Y-direction mechanism can be driven to move on line slideway 9,18 by Timing Belt 6,17 and optical axis 4,14, make servomotor 10 that mobile overhead crane can be driven to move at line slideway 2,15 by Timing Belt 13, realize mobile overhead crane thus and move in X, Y-direction; Simultaneously for ensureing that the motion of mobile overhead crane is in the plane of a level, and consider the Mismachining tolerance of system holding frame 16 and the unfairness on ground, need before system experimentation, complete leveling work, the level attitude of two connecting panels 11,20 is now regulated by leveling bolt 1,7,12,19, the line slideway 9,18 be seated on connecting panel is in a horizontal plane, and then realizes mobile overhead crane motion in a horizontal plane; The service condition of the servo-actuated module of consideration level under control module effect, as shown in Fig. 3 and Fig. 1, the horizontal motion of spacecraft can drive suspension hang spring 4 to depart from vertical direction, make two two-dimension tilt angle sensor 4,16 be in a non-standard state simultaneously, now two-dimension tilt angle sensor and exportable suspension hang spring and vertical direction angle are at two components of XZ, YZ plane, then control servomotor running by the control flow chart in Fig. 3 and realize hanging hang spring in spacecraft motion process and be in vertical state thus do not produce horizontal direction exciting force to spacecraft.
As shown in Figure 1, described vertical identical tension suspension module makes torque motor 10 drive by tooth bar 9 and hangs hang spring 4, moves without constraint link block, spacecraft 22 in the vertical direction; Consider vertical identical tension be suspended on control module effect under service condition, the vertical direction sport of spacecraft makes the tension force of suspension hang spring 4 change, according to the control flow chart control torque motor rotation in Fig. 3, the tension values that now S type tension pick-up exportable suspension hang spring is current, then ensures that the tension force hanging hang spring in spacecraft motion process is constant all the time.
According to above-mentioned control policy, we notice and only use the feedback information of two-dimension tilt angle sensor and S type tension pick-up that system fading margin can be caused to have hysteresis quality, 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) while collection feedback information, charging system response time lag, realizes the high-accuracy stable Compensation Objectives of system.
Find application thus and carry out the specific works step of spacecraft motion reappearance experiment without constraint suspension formula active gravity compensation system:
(1) whole system being fixed on ground by permanent seat, making whole system in experiment operational process without rocking;
(2) motion of mobile overhead crane is made to be in (available obliquity sensor is as measuring tool) in a horizontal surface by leveling bolt;
(3) be arranged on by spacecraft without in constraint link block, adjustment and installation position, ensure that the force-applying piece pressure that spacecraft is subject to is realized with kinetic balance by barycenter, three attitude motions freely simultaneously;
(4) turn on sensor power supply, record spacecraft quiescence sensor measurement exports, as the system desired output of subsequent experimental;
(5) after guaranteeing that above step completes smoothly, open system is tested, spacecraft is finished the work the pose adjustment of demand and orbit maneuver under own control systems effect in ground experiment room environmental, suspension initiatively gravity compensation system compensates the gravity suffered by spacecraft by suspension hang spring in spacecraft motion process, realizes the motion under ground reproduction spacecraft space microgravity environment.
Claims (2)
1. one kind without constraint suspension formula initiatively gravity compensation system, it is characterized in that: system forms by without constraint link block, the servo-actuated module of level, vertically identical tension suspension module and control module, in order to the microgravity environment providing ground experiment spacecraft to be similar to nothing constraint six-freedom motion;
Describedly comprise adapter sleeve without constraint link block, frame up outward, force-applying piece and low friction bearing, frame up outward and to be connected with suspension hang spring by adapter sleeve and low Friction thrust ball-bearing casing, frame up outward by force-applying piece and low friction deep groove ball bearing with compensated spacecraft and be connected, make spacecraft frame up outside in do approximate rolling without constraint and the Attitude control of pitching around barycenter, spacecraft does approximate nothing around spacecraft centroid outward and retrains the Attitude control of going off course together with framing up;
The servo-actuated module of described level comprises servomotor, line slideway, Timing Belt, two-dimension tilt angle sensor, mobile overhead crane, support frame and inverted L shape support frame, wherein, ground is fixed on by permanent seat bottom inverted L shape support frame, the connecting panel of two adjustable level attitudes is installed at inverted L shape support frame top, two line slideways of X-direction are arranged on connecting panel, two line slideways of Y-direction are arranged on X-direction straight-line guide rail slide block on the surface, mobile overhead crane is arranged in the shoe surface on Y-direction line slideway, mobile overhead crane surface is made to be in horizontality by adjustment connecting panel, mobile overhead crane is connected mutually with vertical identical tension suspension module, two servomotors can drive mobile overhead crane and vertical identical tension suspension module along X by Timing Belt connection respectively, Y-direction moves reciprocatingly, two symmetrical two-dimension tilt angle sensor of installing measure in spacecraft motion process two angles hanging hang spring and depart from vertical direction simultaneously, take off data is merged and flows to control module, make in spacecraft motion process, to hang hang spring by control servomotor operation acceleration/accel and be in vertical state, ensure that hanging hang spring does not produce horizontal direction exciting force to spacecraft,
Described vertical identical tension suspension module comprises torque motor, rack-and-gear, hang hang spring and S type tension pick-up, wherein, suspension hang spring one end and tooth bar are connected, the other end is connected with without the adapter sleeve retrained in link block, torque motor is connected can be driven tooth bar by gear, hang hang spring and move reciprocatingly without constraint link block in the vertical direction, the tension force hanging hang spring in spacecraft motion process measured by S type tension pick-up, take off data is flowed to control module, by control torque motor run acceleration/accel make the tension force hanging hang spring in spacecraft motion process equal spacecraft and without constraint link block suffered by gravity sum, ensure that the tension force hanging hang spring in 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 take off data as motion controller of S type tension pick-up and two-dimension tilt angle sensor, the state of kinematic motion data of capture card collection spacecraft own input as the feedforward of motion controller simultaneously, resolving through motion control card makes torque motor and servomotor reach expectation operating speed and acceleration/accel with driver current output, realize the suspension hang spring constant tension in spacecraft motion process, drift angle is the control objectives of zero.
2. according to claim 1 a kind of without constraint suspension formula initiatively gravity compensation system, it is characterized in that: the algorithm of this system is as follows:
(A) regulated the levelness of mobile overhead crane by horizontal adjustment connecting panel, make mobile overhead crane be in horizontality;
(B) spacecraft is connected with framing up outward by force-applying piece, adjustment force-applying piece and spacecraft connection location make force-applying piece to the application force of spacecraft by spacecraft centroid to reach the neutral equilibrium state of spacecraft rotation around center of mass;
(C) open capture card and probe power, during record spacecraft rest, the measurement of S type tension pick-up and two-dimension tilt angle sensor exports, using the expectation value that observed reading is run as control module;
(D) all power supplys are opened, start up system, spacecraft is finished the work the pose adjustment of demand and orbit maneuver under own control systems effect in ground experiment room environmental, suspension initiatively gravity compensation system compensates the gravity suffered by spacecraft by suspension hang spring in spacecraft motion process, realizes the motion under ground reproduction spacecraft space microgravity environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310466806.5A CN103482089B (en) | 2013-10-09 | 2013-10-09 | Unrestricted suspension type initiative gravity compensation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310466806.5A CN103482089B (en) | 2013-10-09 | 2013-10-09 | Unrestricted suspension type initiative gravity compensation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103482089A CN103482089A (en) | 2014-01-01 |
| CN103482089B true CN103482089B (en) | 2015-04-08 |
Family
ID=49822781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310466806.5A Active CN103482089B (en) | 2013-10-09 | 2013-10-09 | Unrestricted suspension type initiative gravity compensation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103482089B (en) |
Families Citing this family (41)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103847984B (en) * | 2014-02-14 | 2016-02-10 | 上海宇航系统工程研究所 | A kind of experimental set-up repeating Simulated Weightlessness |
| CN103818567B (en) * | 2014-03-24 | 2015-04-08 | 北京航空航天大学 | Design method of unconstrained suspension system with center of mass automatic alignment function |
| CN104044155B (en) * | 2014-06-18 | 2017-01-11 | 哈尔滨工业大学 | Gravity offset device |
| 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 |
| CN105109713B (en) * | 2015-08-26 | 2017-07-07 | 北京航空航天大学 | The vertical subsystem control method of gravity compensation based on sliding-mode surface |
| CN106005495B (en) * | 2016-06-12 | 2018-01-02 | 北京航空航天大学 | It is a kind of to maintain system without constraint suspension posture |
| CN106005496B (en) * | 2016-06-12 | 2018-01-05 | 北京航空航天大学 | A kind of multi-point suspended formula active gravity compensation system |
| CN106081172B (en) * | 2016-06-13 | 2018-02-06 | 北京航空航天大学 | A kind of irregular spacecraft attitude servomechanism with inertia compensation |
| 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 |
| CN105947237B (en) * | 2016-06-13 | 2017-11-10 | 北京航空航天大学 | A kind of spacecraft attitude servomechanism suitable for barycenter dynamic change |
| CN106005497B (en) * | 2016-06-13 | 2018-01-02 | 北京航空航天大学 | A kind of suspension type six degree of freedom microgravity environment simulation system |
| CN105931522B (en) * | 2016-06-29 | 2018-07-31 | 中国科学院沈阳自动化研究所 | A kind of microgravity two-freedom is servo-actuated to balance hanging, transfer device |
| CN106365044A (en) * | 2016-10-21 | 2017-02-01 | 南京邮电大学 | Gravity balance suspension following device and system and work method of system |
| CN107284700B (en) * | 2017-05-05 | 2020-07-17 | 上海航天设备制造总厂 | Ground gravity compensation method for space mechanism |
| CN106980265B (en) * | 2017-06-06 | 2020-06-30 | 北京航空航天大学 | Output feedback robust H-infinity control method of suspension type low-gravity environment simulation system |
| CN107458630B (en) * | 2017-06-07 | 2020-06-30 | 北京航空航天大学 | Suspension point cross-scale tracking method for suspension type active gravity compensation system |
| CN107244431B (en) * | 2017-06-07 | 2019-04-30 | 北京航空航天大学 | Space tasks ground motion reproduces across scale verification platform |
| CN107244430B (en) * | 2017-06-07 | 2019-04-30 | 北京航空航天大学 | Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation |
| CN107121931B (en) * | 2017-06-07 | 2019-11-12 | 北京航空航天大学 | Suspension type six degree of freedom microgravity environment simulation system TSM control method |
| CN107161360B (en) * | 2017-06-07 | 2019-06-11 | 北京航空航天大学 | Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks |
| CN107356959B (en) * | 2017-06-27 | 2023-05-23 | 中国地震局工程力学研究所 | Integrated sensor level adjusting device |
| CN109421945B (en) * | 2017-08-31 | 2021-07-20 | 天津大学 | Accurate synchronous gravity compensation system of annular antenna capable of being expanded in space |
| CN107933980B (en) * | 2017-11-17 | 2021-07-06 | 哈尔滨工业大学 | Active and passive combined suspension zero-gravity simulation system and simulation method |
| CN108033039B (en) * | 2017-12-21 | 2020-10-16 | 清华大学 | Cable-driven space suspension assembly state simulation device with adjustable posture |
| CN108382616B (en) * | 2018-05-17 | 2023-07-04 | 燕山大学 | Suspension gravity compensation device based on magnetic suspension follow-up |
| CN108839825B (en) * | 2018-06-11 | 2020-08-28 | 西安交通大学 | Self-adaptive suspension gravity compensation mechanism and method |
| CN109879188A (en) * | 2019-04-02 | 2019-06-14 | 哈尔滨工业大学 | A kind of vertical direction high-precision quick response gravity-compensated device |
| CN110238848B (en) * | 2019-05-30 | 2022-07-05 | 埃夫特智能装备股份有限公司 | Method for calculating gravity vector under robot coordinate system |
| CN110329540A (en) * | 2019-07-11 | 2019-10-15 | 中国航发沈阳发动机研究所 | A kind of nacelle installing and dismounting vehicle having multiple degrees of freedom regulatory function |
| CN110937139B (en) * | 2019-12-31 | 2021-05-04 | 哈尔滨工业大学 | Air supporting two-dimensional passive translation gravity unloading device |
| CN111806734B (en) * | 2020-07-02 | 2022-06-07 | 中国人民解放军国防科技大学 | Gravity compensation system, spacecraft relative motion ground suspension experiment system and method |
| CN112115547B (en) * | 2020-09-09 | 2022-08-16 | 天津航天机电设备研究所 | Suspension type gravity compensation lifting point position determination method |
| CN113911407A (en) * | 2020-11-27 | 2022-01-11 | 北京空间机电研究所 | Force following extraterrestrial low-gravity environment simulation landing test system based on rope system |
| CN112577698B (en) * | 2020-12-30 | 2023-02-03 | 中国航天空气动力技术研究院 | Dynamic tracking and adjusting device and method for load balance force of wind tunnel attack angle mechanism |
| CN113371235B (en) * | 2021-05-31 | 2022-07-22 | 哈尔滨工业大学 | Active and passive combined suspension type double-layer motion platform and using method |
| CN113291496B (en) * | 2021-05-31 | 2022-05-03 | 哈尔滨工业大学 | Suspension type discrete motion system and use method |
| CN113602538B (en) * | 2021-08-12 | 2022-04-29 | 哈尔滨工业大学 | Air-floatation type microgravity simulator and simulation method |
| CN113479356B (en) * | 2021-08-16 | 2022-04-29 | 哈尔滨工业大学 | Dumbbell-shaped air floatation pulley longitudinal gravity compensation device |
| CN114148554B (en) * | 2022-02-10 | 2022-04-15 | 伸瑞科技（北京）有限公司 | Combined three-dimensional microgravity simulation system suitable for satellite ground simulation |
| CN114923074A (en) * | 2022-05-18 | 2022-08-19 | 吉林省农业机械研究院 | Horizontal vertical attitude keeping device capable of automatically compensating in unstable motion state |
| CN114988280B (en) * | 2022-06-02 | 2023-03-17 | 长光卫星技术股份有限公司 | Satellite ground test flexible support zero-stress suspension device and suspension method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5370349A (en) * | 1992-03-06 | 1994-12-06 | Aerospatiale Societe Nationale Industrielle | Structure for positioning and stabilizing an object at a given point within a three-dimensional coordinate system |
| CN102935901A (en) * | 2012-10-22 | 2013-02-20 | 浙江工业大学 | Two-dimensional active-following weight-reduction hanging device |
| CN202807110U (en) * | 2012-08-14 | 2013-03-20 | 淮安中科科创精密机械科技有限公司 | Gas floating six-degree-of-freedom simulation satellite device of semi-active type gravity compensation structure |
-
2013
- 2013-10-09 CN CN201310466806.5A patent/CN103482089B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5370349A (en) * | 1992-03-06 | 1994-12-06 | Aerospatiale Societe Nationale Industrielle | Structure for positioning and stabilizing an object at a given point within a three-dimensional coordinate system |
| CN202807110U (en) * | 2012-08-14 | 2013-03-20 | 淮安中科科创精密机械科技有限公司 | Gas floating six-degree-of-freedom simulation satellite device of semi-active type gravity compensation structure |
| CN102935901A (en) * | 2012-10-22 | 2013-02-20 | 浙江工业大学 | Two-dimensional active-following weight-reduction hanging device |
Non-Patent Citations (1)
| Title |
|---|
| 路波;陶国良;刘昊;钟伟.零重力模拟气动悬挂系统的建模及恒压控制.《浙江大学学报》.2010, * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103482089A (en) | 2014-01-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103482089B (en) | Unrestricted suspension type initiative gravity compensation system | |
| CN106005497B (en) | A kind of suspension type six degree of freedom microgravity environment simulation system | |
| CN107161360B (en) | Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks | |
| CN103818567B (en) | Design method of unconstrained suspension system with center of mass automatic alignment function | |
| CN106005496B (en) | A kind of multi-point suspended formula active gravity compensation system | |
| CN105905320B (en) | A kind of active gravity compensation system for having driftage servo-actuated | |
| CN107458630B (en) | Suspension point cross-scale tracking method for suspension type active gravity compensation system | |
| CN104950905B (en) | A kind of centroid adjustment mechanism and adjusting method based on Composite PID | |
| CN103085992A (en) | Spatial microgravity simulation experiment system | |
| CN105109713B (en) | The vertical subsystem control method of gravity compensation based on sliding-mode surface | |
| CN107367942B (en) | Small celestial body fixed point hovering constant thrust control method | |
| CN106980265B (en) | Output feedback robust H-infinity control method of suspension type low-gravity environment simulation system | |
| CN105259866A (en) | Mass center adjustment system of air-floating motion simulator | |
| CN104697805A (en) | Test system and method for gecko aerial statue adjusting and landing motions | |
| Jia et al. | Preliminary design and development of an active suspension gravity compensation system for ground verification | |
| JP2023107213A (en) | Experiment platform for magnetic levitation gravity compensation of planetary rover based on parallel connection type posture adjustment | |
| CN105700355A (en) | Impact-proof buffer release control method and experiment apparatus for space tether system combination body | |
| CN107244430B (en) | Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation | |
| CN208842647U (en) | A kind of two-dimension suspension formula zero-g simulator | |
| CN107121931B (en) | Suspension type six degree of freedom microgravity environment simulation system TSM control method | |
| CN114162359B (en) | Active compensation method for somatosensory micro-low gravity simulation device | |
| CN112985694A (en) | Method and system for balancing mass center of triaxial air bearing table | |
| CN106081172B (en) | A kind of irregular spacecraft attitude servomechanism with inertia compensation | |
| CN109263870A (en) | 6-dof motion platform and its control method based on the more rotor systems of vector | |
| CN104460722A (en) | Acceleration compensation control method of suspension floating object follow-up system and mode-selection-based control method of suspension floating object follow-up system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |