CN103601072B - Absolute position control method based on the horizontal adjusting sling for spacecraft that suspension centre regulates - Google Patents

Abstract

The invention discloses a method for quickly adjusting the absolute position of a universal horizontal adjustment sling for a spacecraft based on the adjustment of the lifting point. Calculate the adjustment coefficient by parameter, and quickly calculate the displacement of the XY table in the X and Y directions through the input value and coefficient, and input it to the hand-held controller of the spreader to drive the XY table to the specified position. After repeated iterations, until The measured value of the sensor meets the hoisting requirements of levelness. Compared with the prior art, the adjustment method of the present invention overcomes the problem of fast manual adjustment of the absolute position setting when the spreader cannot be used or is not suitable for automatic adjustment. The method is advanced, the calculation is simple, and the hoisting efficiency is improved. , which reduces the labor intensity of the operator, and the levelness can reach the range of 5mm/m, which has remarkable application value.

Description

Absolute Position Adjustment Method of Spacecraft Horizontal Adjustment Spreader Based on Lifting Point Adjustment

technical field

The invention belongs to the technical field of hoisting of spacecraft, and in particular relates to a method for quickly adjusting the absolute position of a hoisting point of a hoisting point adjustment based on a hoisting point adjustment of a spacecraft level adjustment suspender.

Background technique

Spacecraft docking In the process of spacecraft assembly, the precise docking and disassembly assembly of the spacecraft are completed by hoisting, and the docking surface needs to be kept level during the docking and disassembly process.

Because there is a certain difference between the actual center of mass position of the spacecraft and the theoretical center of mass position, the hoisting is tilted, causing point contact on the docking surface of the spacecraft, damaging the docking surface, and damaging the positioning pin (or guide pin); at the same time, due to the difference between the actual center of mass position and the theoretical The deviation of the center of mass position will cause rotation and swing during the hoisting process, which will easily cause collisions and damage the spacecraft or operators.

At present, the hoisting and docking process of the spacecraft are mainly manual operations. The method is to connect the turnbuckles in series on the four suspenders of the sling, carry out trial lifting of the spacecraft, and repeatedly adjust the length of each turnbuckle according to the experience of the operators to achieve the purpose of adjusting the levelness of the spacecraft. Due to the use of visual command and multiple manual adjustments, too much reliance on the individual skill level and experience of the operator, it is basically a mode of commanding the crane for manual docking or disassembly on the fly, which is inefficient and difficult to guarantee the docking accuracy. Therefore, in view of the above-mentioned deficiencies in the existing hoisting methods, there is an urgent need for new and efficient slings.

At present, a spreader with a two-dimensional horizontal adjustment function based on lifting point adjustment has appeared in my country's aerospace field (see Chinese patent 201110428722.3 titled "A Spacecraft Horizontal Adjustment Spreader"). The spreader is provided with an XY workbench at the upper end of the suspension beam, and the lifting ring is located at the center of the upper end of the XY workbench. The two-dimensional inclination sensor on the spreader and the tension sensor on the lower end of the hanging beam are used as input, and the position of the lifting point connected to the crane by adjusting the spreader through the XY workbench is used as output to realize two-dimensional level adjustment. The sling has a supporting hoisting process (refer to Chinese patent 201110428713.4 titled "A method for adjusting the horizontal adjustment sling of a spacecraft"). This method judges the degree of eccentricity of the spacecraft by jogging the crane and the measurement value of the two-dimensional inclination sensor on the suspension beam, then drops the spacecraft back to the supporting tool, adjusts the position of the lifting point of the spreader, and jogs the sky again. Lift the vehicle and repeat the above process repeatedly until the spacecraft meets the levelness requirements. The spreader has a matching automatic adjustment method (refer to Chinese patent 201210495163.2 titled "A Method for Automatic Adjustment of Suspension Points of a Horizontal Adjustment Spreader for Spacecraft"). The method uses a computer on the spreader to automatically judge the adjustment of the inclination, and automatically calculates the adjustment amount of the position of the lifting point, which is used for high-precision automatic execution. However, although the spreader has a manual adjustment input window for manually setting the absolute position, it does not disclose a method for manually adjusting the absolute position input of the lifting point of the spreader. In some cases, if the automatic adjustment function cannot be used or is not suitable for use when the software error is wrong, or the calculation module fails, or the measurement module cannot read the measurement value, or the communication module cannot send and receive the measurement value, etc., then It must be manually intervened. At this time, it needs to be manually adjusted through the input window of the absolute position.

In addition, since the eccentricity of each spacecraft is different, the efficiency and adjustment accuracy of manual adjustment will inevitably be affected. Its inclined state seriously interferes with human judgment. Therefore, there is an urgent need for a fast manual adjustment method that has a certain adaptability to different spacecraft and can eliminate the interference of the support vehicle to meet the needs of spacecraft level adjustment.

Contents of the invention

The object of the present invention is to provide a method for quickly adjusting the absolute position of the lifting point of the horizontal adjustment spreader for spacecraft based on the lifting point adjustment. value, quickly calculate the absolute position adjustment of the lifting point of the spreader, realize the rapid automatic two-dimensional level adjustment of the spacecraft, and use quantitative adjustment methods to replace the existing manual adjustments that rely on experience and repeated trial adjustments. The hoisting efficiency is low and the docking quality is difficult Insufficient guarantee and other issues, while solving the problem of measuring and adapting the spreader to different quality characteristics of different spacecraft, and solving the problem of limiting interference with the support of the support vehicle to the spacecraft when the spacecraft is not fully lifted.

In order to achieve the above object, the present invention adopts following technical scheme:

The invention is a method for adjusting the absolute position of a lifting point of a horizontally adjusting sling for a spacecraft, comprising the following steps:

1. Obtain the inherent parameters of the mechanical structure of the spreader, which are obtained from the structural design of the spreader or the test of product quality characteristics, among which:

M _d - the total mass of the spreader itself (unit: kg); H _d - the height from the lifting point of the spreader to the bottom lifting point (unit: mm);

Obtain the inherent parameters of the spacecraft mechanical structure, which are obtained from the design of the spacecraft structure, or the test of product quality characteristics, or the sum of the measured values of the four tension sensors when hoisting through the spreader, where:

M—the total mass of the spacecraft itself (unit: kg); H—the height from the hanging point of the spacecraft to the bottom surface (unit: mm);

2. According to the above inherent parameters, the adjustment coefficient k is obtained from formula 1, and formula 1 is as follows:

$k=\frac{m_d{h}_d+(h_d+h)m}{m_d+m}\&Center\; Dot;\frac{\mathrm{\π}}{180}$ (unit: mm/°)

3. Measure the inclination angle of the spreader when the spreader is stable after the crane is jogged each time by the sensor, and respectively measure whether the bottom surface of the spacecraft is completely detached from the supporting tooling in the X and Y directions;

θ _x (k)—the rotation angle of the spreader around the x direction measured by the inclination sensor during the k-th measurement (unit: °) θ _y (k)—the rotation angle of the spreader around the x direction measured by the inclination sensor during the k-th measurement The angle of rotation in the y direction (unit: °); where: k represents the number of measurements (unit: times), k=0, 1, 2, 3... where k=0 represents the initial state, at this time, the XY table is located on the crane With a center, R _x (0) = 0, R _y (0) = 0;

4. Judging whether the inclination angles θ _x (k) and θ _y (k) meet the horizontal requirements. If both θ _x (k) and θ _y (k) meet the horizontal requirements, the adjustment of the lifting point is completed and the spacecraft is in a horizontal state. Lifting with the spreader; if one of θ _x (k) and θ _y (k) does not meet the level requirement, go to step 5;

5. According to whether the two directions of X and Y are completely suspended, and the measured values of the inclination angle θ _x (k) and θ _y (k), use one of the following formulas to find the absolute position of the XY table in the two directions of the corresponding situation. R _x (k), R _y (k):

1) When the X direction is completely separated from the supporting tooling and suspended in the air, then:

R _x (k+1)＝R _x (k)+kθ _y (k+1)

2) If the X direction is not separated from the supporting tooling and suspended in the air, then:

R _x (k+1)＝R _x (k)+2kθ _y (k+1)

3) If the Y direction is completely separated from the supporting tooling and suspended in the air, then:

R _y (k+1)＝R _y (k)-kθ _x (k+1)

4) If the Y direction is not detached from the supporting tooling and suspended in the air, then:

R _y (k+1)＝R _y (k)-2kθ _x (k+1)

Among them: R _x (k)—when the spreader is measured for the kth time, the absolute position of the lifting point adjusted along the x-axis;

R _y (k)—when the spreader is measured for the kth time, the absolute position of the lifting point adjusted along the y-axis;

6. Input R _x (k) and R _y (k) to the absolute position of the XY table on the hand-held controller of the spreader, press the execution key, and drive the XY table to move to the specified position;

7. Repeat steps 3-5 to make repeated measurements and adjustment judgments until the adjustment meets the hoisting level requirements of the spacecraft.

Wherein, the fixed parts on the sling include a hanging beam, a casing and an electric control box.

Among them, judging whether the inclination angles θ _x (k) and θ _y (k) meet the horizontal requirement is to judge whether the inclination angles θ _x (k) and θ _y (k) are both less than 0.28°.

Wherein, when the spreader is stable, the inclination angle of the spreader is read from the display screen of the hand-held controller or read from the display screen on the spreader.

Compared with the prior art, the adjustment method of the present invention overcomes the problem of fast manual adjustment of the absolute position setting when the spreader cannot be used or is not suitable for automatic adjustment. The method is advanced, the calculation is simple, and the hoisting efficiency is improved. , which reduces the labor intensity of the operator, and the levelness can reach the range of 5mm/m, which has remarkable application value.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of a spacecraft horizontal spreader in the prior art (refer to the Chinese patent "A Spacecraft Horizontal Adjustment Spreader", acceptance number: 201110428722.3)

Fig. 2 is a schematic structural diagram of an XY workbench in the prior art (refer to the Chinese patent "A Spacecraft Horizontal Adjustment Hanger", acceptance number: 201110428722.3)

Fig. 3 is the working flow chart of the spacecraft horizontal spreader in the prior art (refer to the Chinese patent "A Method for Adjusting the Spacecraft Horizontal Adjustment Spreader", Acceptance No. 201110428713.4)

Fig. 4 is a block flow diagram of the absolute position adjustment method of the horizontal adjustment hanger for spacecraft according to the present invention.

In Figure 1-2, 1. Lifting ring assembly; 2. XY workbench; 3. Hanging beam; 4. Sling; 5. LED display; 6. Electric control box; 7. Two-dimensional inclination sensor a; 8. Tension sensor; 9. Lifting ring; 10. Intermediate bearing structure; 11. Two-dimensional inclination sensor b; 12. Universal joint; 13. X workbench; 14. Y workbench; 15. Slide rail; 16. Motor; 17. Lead screw .

detailed description

The following is a specific implementation manner of the content of the present invention, and the content of the present invention will be further clarified through the specific implementation mode below. Of course, the following specific embodiments are described only to illustrate different aspects of the present invention, and should not be construed as limiting the scope of the present invention.

The automatic horizontal adjustment sling for spacecraft that the method of the present invention is based on is a mechanical body, as shown in Figure 1 (referring to the Chinese patent "A Spacecraft Horizontal Adjustment Sling", acceptance number: 201110428722.3), including a suspension ring assembly 1, an XY workbench 2, Hanging beam 3 and suspension belt 4, preferably four suspension belts 4; Wherein, the upper part of suspension beam 3 is provided with XY workbench 2, and the top center of XY workbench 2 is hinged with suspension ring assembly through universal joint 12, and suspension beam 3 top is provided with The two-dimensional inclination sensor a7 is used to measure the inclination of the hanging beam. A tension sensor 8 is connected in series on the upper part of each sling 4. The XY workbench 2 includes an X workbench 13 and a Y workbench 14. The Y workbench 14 passes through the slide rail 15 can be vertically slidably arranged on the hanging beam 3, and a driving motor 16 and a lead screw 17 are also arranged in the Y workbench 14, and the motor 16 drives the lead screw 17, thereby pushing the Y workbench 14 to slide along the Y direction on the hanger beam, similarly The X workbench 13 also slides along the X direction on the Y workbench 14 through slide rails, motors and lead screws, so that the lifting point on the workbench can slide freely at any position in the XY plane; The connected suspension ring 9, the intermediate load-bearing structure 10, the two-dimensional inclination sensor b11, and the universal joint 12 are shown in Fig. The inclination angle of the crane and the hook, and the inclination angle between the suspension beam and the spacecraft during the hoisting process of the spacecraft are measured by the two-dimensional inclination sensor a7 installed on the upper part of the suspension beam 3 and adjusted horizontally through the relative sliding of the XY table 2. The suspension ring assembly The two-dimensional inclination sensor b11 on 1 measures the inclination angle of the crane hook relative to the crane. By adjusting the position of the crane so that the crane and the hook are on the same vertical line, the two-dimensional levelness adjustment in the hoisting process is realized. The lower end of the suspension beam is provided with four suspenders, and a tension sensor 8 is connected in series on the four suspenders respectively. It is used to measure the tension of each sling 4 and the weight of the suspended spacecraft. Its working principle is: when the spacecraft is lifted, the eccentricity of the spacecraft makes the spreader and the spacecraft tilt, and the inclination angle of the suspension beam is measured by the two-dimensional inclination sensor a on the suspension beam, and the target of the XY table is calculated according to the measured inclination angle position, drive the motor in the XY table, and adjust the XY table to move the hook of the crane to the center of mass of the suspended spacecraft (including the spreader). Then, use the two-dimensional inclination sensor b on the ring assembly to measure the inclination angle of the hook relative to the crown block, and adjust the position of the crown block so that the crown block and the hook (or ring) are on the same vertical line. The spacecraft can realize the horizontal lifting of the suspended spacecraft. The supporting hoisting process, as shown in Figure 3 (referring to the Chinese patent "A method for adjusting the horizontal adjustment sling of a spacecraft", acceptance number 201110428713.4), mainly includes the following steps:

1) Lift the spreader, and use the XY workbench to lower the spreader in the no-load state;

2) Connect the leveled sling to the spacecraft through the sling and pre-tighten it;

3) According to the measurement value of the inclination sensor set on the ring assembly, judge the offset of the crown block relative to the hook, align the crown block and the hook according to the offset, and reset the inclination sensor to zero after alignment;

4) Raise the crown crane to an appropriate height, and the spacecraft is partially tilted, and judge the levelness of the spacecraft through the measurement value of the two-dimensional inclination sensor installed on the suspension beam. If the levelness is less than 5mm/m, lift the spacecraft directly , if the hoisting requirements of the horizontality are not met, the following procedures shall be executed in sequence;

5) Put the spacecraft back on the support tooling, the spreader calculates the eccentricity and direction of the spacecraft by itself, and controls the XY workbench to move the ring assembly to the corresponding position;

6) Repeat step 3), pre-tighten the sling, re-measure the angle between the crane and the hook through the inclination sensor set on the ring assembly, so that the crane can re-center the hook;

7) Repeat step 4), the crown crane jogs up to an appropriate height, and the spacecraft is partially tilted. The levelness of the spacecraft is judged by the measured value of the two-dimensional inclination sensor installed on the suspension beam. If the levelness meets the hoisting requirements, directly Lift the spacecraft, if the hoisting requirements are not met, then perform steps 5) and 6) until the above level hoisting requirements are met.

This patent focuses on solving the problem that the eccentric direction of the spacecraft and the adjustment amount of the XY worktable cannot be quantitatively calculated and adjusted in the hoisting process shown in Figure 3 .

The method for automatically adjusting the lifting point of the horizontally adjusting sling for a spacecraft of the present invention is as shown in Figure 4, and the specific adjustment process is as follows:

1. Obtain the inherent parameters of the mechanical structure of the spreader, which can be obtained from the structural design of the spreader or the test of product quality characteristics, among which:

M _d - the total mass of the spreader itself (unit: kg); H _d - the height from the lifting point of the spreader to the bottom lifting point (unit: mm);

In the same way, the inherent parameters of the spacecraft mechanical structure can be obtained, which can be obtained from the design of the spacecraft structure, or the test of product quality characteristics, or the sum of the measured values of the four tension sensors when hoisting by this spreader, where:

M—the total mass of the spacecraft itself (unit: kg); H—the height from the hanging point of the spacecraft to the bottom surface (unit: mm);

2. According to the above inherent parameters, the adjustment coefficient is obtained by formula 1, and formula 1 is as follows:

$k=\frac{m_d{h}_d+(h_d+h)m}{m_d+m}\&Center\; Dot;\frac{\mathrm{\π}}{180}$ (unit: mm/°)

3. Measure the inclination angle of the spreader when the spreader is stable (it can be read by the display screen of the hand-held controller or the display screen on the spreader) after each crane jog is measured by the sensor, and observe the positions of the bottom surface of the spacecraft at X, Whether the two directions of Y are completely separated from the supporting tooling and suspended in the air.

θ _x (k)—the rotation angle of the spreader around the x direction measured by the inclination sensor during the k-th measurement (unit: °) θ _y (k)—the rotation angle of the spreader around the x direction measured by the inclination sensor during the k-th measurement The angle of rotation in the y direction (unit: °); where: k represents the number of measurements (unit: times), k=0, 1, 2, 3... where k=0 represents the initial state, at this time, the XY table is located on the crane With a center, R _x (0) = 0, R _y (0) = 0;

4. Determine whether the inclination angles θ _x (k) and θ _y (k) meet the horizontal requirements. If both θ _x (k) and θ _y (k) meet the horizontal requirements, the adjustment of the lifting point is completed and the spacecraft is in a horizontal state , lifting with the spreader; if one of the angles θ _x (k) and θ _y (k) does not meet the level requirement, go to step 5;

5. According to whether the two directions of X and Y are completely suspended, and the measured values of inclination angle θ _x (k) and θ _y (k), use formula 2 to find the absolute position R _x ( k), R _y (k), formula 2 is as follows:

1) When the X direction is completely separated from the supporting tooling and suspended in the air, then:

R _x (k+1)＝R _x (k)+kθ _y (k+1)

2) If the X direction is not separated from the supporting tooling and suspended in the air, then:

R _x (k+1)＝R _x (k)+2kθ _y (k+1)

3) If the Y direction is completely separated from the supporting tooling and suspended in the air, then:

R _y (k+1)＝R _y (k)-kθ _x (k+1)

4) If the Y direction is not detached from the supporting tooling and suspended in the air, then:

R _y (k+1)＝R _y (k)-2kθ _x (k+1)

Among them: R _x (k)—when the spreader is measured for the kth time, the absolute position of the lifting point adjusted along the x-axis;

R _y (k)—when the spreader is measured for the kth time, the absolute position of the lifting point adjusted along the y-axis;

6. Input R _x (k) and R _y (k) to the absolute position of the XY table on the hand-held controller of the spreader, press the execution key, and the mechanism will drive the XY table to move to the specified position.

7. Repeat steps 3-5 to make repeated measurements and adjustment judgments until the adjustment meets the hoisting level requirements of the spacecraft.

Although the specific embodiments of the present invention have been described and illustrated in detail above, it should be noted that those skilled in the art can make various equivalent changes and modifications to the above embodiments according to the spirit of the present invention, and the resulting When the functional effect does not exceed the spirit covered by the specification and drawings, it shall be within the protection scope of the present invention.

Claims (4)

1. the suspension centre absolute position control method of a spacecraft horizontal regulation sling, it is characterised in that following steps:

(1) obtaining the intrinsic parameter of suspender frame for movement, they are checked in by hanger structure design or product quality characteristics test gets, wherein:

M_dSuspender self gross mass (unit: kg); H_dOn suspender, suspension centre is to the height (unit: mm) of bottom surface suspension centre;

Obtaining the intrinsic parameter of spacecraft frame for movement, they are checked in by Design of spacecraft structure, or product quality characteristics test gets, or during by the lifting of this suspender, four pulling force sensor measured value sums get, wherein:

Self gross mass of M spacecraft (unit: kg); On H spacecraft, suspension centre is to the height (unit: mm) of bottom surface;

(2) according to above intrinsic parameter, formula 1 obtaining adjustment factor k, formula 1 is as follows:

(3), after being measured each overhead traveling crane crawl by sensor, measure suspender inclination angle when suspender is stablized, and it is unsettled to judge whether spacecraft bottom surface completely disengages from supporting tool in X, Y both direction respectively;

��_xWhen () kth time is measured k, angle that the suspender that obliquity sensor records rotates around x direction (unit: ��) ��_yWhen () kth time is measured k, angle that the suspender that obliquity sensor records rotates around y direction (unit: ��); Wherein: k represents pendulous frequency (unit: secondary), k=0,1,2,3...... wherein k=0 represent original state, now, XY worktable is positioned at suspender center, R_x(0)=0, R_y(0)=0;

(4) inclination angle theta is judged_x(k)����_yK whether () be all up to the standard requirement, if ��_x(k)����_yK () is all up to the standard requirement, turn suspension centre and regulate and terminate, and spacecraft is in level, and suspender lifts by crane; If ��_x(k)����_yK () wherein has one not up to level requirement, then forward step (5) to;

(5) according to whether completely unsettled in X, Y both direction, and inclination angle theta_x(k)����_yK () measured value, utilizes one of below equation to obtain the absolute position R that in corresponding situation, XY worktable both direction regulates_x(k), R_y(k):

1) when X-direction, to completely disengage from supporting tool unsettled, then:

R_x(k+1)=R_x(k)+k��_y(k+1)

2) if when X-direction is unsettled without departing from supporting tool, then:

R_x(k+1)=R_x(k)+2k��_y(k+1)

3) if to completely disengage from supporting tool unsettled for Y-direction, then:

R_y(k+1)=R_y(k)-k��_x(k+1)

4) if Y-direction is unsettled without departing from supporting tool, then:

R_y(k+1)=R_y(k)-2k��_x(k+1)

Wherein: R_xWhen () suspender kth time is measured k, the absolute position that suspension centre regulates along x-axis;

R_yWhen () suspender kth time is measured k, the absolute position that suspension centre regulates along y-axis;

(6) by R_x(k)��R_yK () inputs to suspender hand held controller XY worktable absolute position, press execution key, drives XY worktable to move to appointment position;

(7) repeating step (3)-(5), carry out being repeatedly measured and regulating judgement, meeting, until regulating, the level requirement that spacecraft can lift by crane.

2. the method for claim 1, it is characterised in that the fixing parts on described suspender include hanging beam, shell and electric cabinet.

3. the method for claim 1, it is characterised in that judge inclination angle theta_x(k)����_yK the () requirement that whether is all up to the standard is to judge inclination angle theta_x(k)����_yK whether () be respectively less than 0.28 ��.

4. the method as described in any one of claim 1-3, it is characterised in that when suspender is stablized, suspender inclination angle is read by hand held controller display screen or read by the display screen on suspender.