CN103662110A - Cross-scale control experiment table capable of achieving motion representation of space cooperative targets - Google Patents
Cross-scale control experiment table capable of achieving motion representation of space cooperative targets Download PDFInfo
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Abstract
The invention discloses a cross-scale control experiment table capable of achieving motion representation of space cooperative targets. The cross-scale control experiment table comprises four degrees of freedom, and is provided with an upper end two-degree-of-freedom motion platform and a lower end two-degree-of-freedom motion platform. The upper end two-degree-of-freedom motion platform comprises a first limiting mechanism, a first worm, a first encoder, a first servo motor, a first worm gear, a second limiting mechanism, a second servo motor, a third limiting mechanism, a second worm gear, a second encoder, a second worm, a fourth limiting mechanism, a CCD camera, a concave cooperative target and a fifth limiting mechanism. The lower end two-degree-of-freedom motion platform comprises a third servo motor, a third encoder, a driving pulley, a transmission belt, a base, a sliding channel, a trolley, a fourth encoder, an inverted pendulum, a convex cooperative target, a sixth limiting mechanism and a driven pulley. The cross-scale control experiment table capable of achieving motion representation of the space cooperative targets is simple in structure, low in manufacturing cost and feasible in technical scheme, and is the ideal experiment table for verifying stabilization control, following control and coordination control of the space cooperative targets.
Description
Technical field
The invention belongs to scientific instrument industry, be specifically related to a class electromechanical control equipment, what especially a kind of Spatial Cooperation target travel was reproduced controls experimental bench across yardstick.It can implementation space cooperative target motion reappearance problem, and can be used as the verification platform across yardstick control method.
Background technology
The mankind are since nineteen fifty-seven has been launched its first man made earth satellite, and many countries utilize space vehicle, comprise artificial earth satellite, the moon and planetary probe, skylab, space laboratory, space shuttle etc., are engaged in space science research.Space vehicle refers to as carrying out definite task, the cosmic space outside earth atmosphere, and the general name of substantially pressing the culture of celestial mechanics rule operation, is mainly Space-Work station, satellite, spacecraft, manned capsule body etc. at present.They are affected by microgravity only in flight course, in suspended state, and constantly adjust track, attitude, flying speed etc. to execute the task.If but the test that will carry out complex task or carry out some certain sense often needs them mutually to cooperate.Wherein, comparatively difficult is how it is reasonably controlled and then makes it carry out Technique in Rendezvous and Docking to complete series of complex task and experiment etc.
Technique in Rendezvous and Docking refers to that two space vehicles can merge and structurally be linked to be a whole technology on space orbit, is the condition precedent of service in orbit such as Space configuration, recovery, supply, maintenance, astronaut's exchange and rescue of realizing spaceport, space shuttle, space platform and space transportation system.Intersection docking is a complicated process, is divided into four-stage: remote guiding section, short range lead segment, final approaching phase, to direct-stop section; Meanwhile, the degree getting involved according to astronaut and Based Intelligent Control level can be divided into again remote control, manually, braking, autonomous four kinds of operation modes.
Can grasp SPACE RENDEZVOUS AND DOCKING TECHNIQUE be the important symbol of evaluating a national space technology development level, and it relates to various countries in military affairs, national defence, communication, the reach of science level and international status.China has successfully completed the Technique in Rendezvous and Docking of No., No. eight airships of divine boat and Heavenly Palace in November, 2011, representing that China starts to have grasped SPACE RENDEZVOUS AND DOCKING TECHNIQUE; Afterwards, in June, 2012, completed the Technique in Rendezvous and Docking of No., No. nine airships of divine boat and Heavenly Palace.At present, China is after Russia and the U.S., the 3rd country that grasps Technique in Rendezvous and Docking completely in the world, tentatively set up long-term nobody in orbit, the short-term man space test platform that has people to take care of, can carry out space application, space science experiment and engineering test.Because space articulation technology has extremely important meaning, so China scientist is just in the control problem of in-depth study Spatial Cooperation target.But, because the control problem of Spatial Cooperation target is challenging, therefore research is still in the starting stage.
The control problem of research Spatial Cooperation target not only needs the control theory research in forward position, also needs to develop some experiment porchs theoretical method is verified.Yet the microgravity platform of research Spacecraft control is not suitable as the research platform of the control problem of Spatial Cooperation target.For example, fall tower experiment is subject to tower height restriction to cause the time of free-falling body too short; Weightless aircraft experiment only guarantee about 30 seconds zero-g time, cost is high, dangerous property; The platform by volume of neutral buoyancy tank is large, and cost is high, and resistance is large; Magnetic suspension experiment platform is too high to metal ball density requirements, and research object must be spherical metal.Therefore the cooperative process that, these platforms all can not virtual space analog platform.In fact, the subject matter of the control of Spatial Cooperation target is the Harmonic Control of two cooperation bodies; And the control problem of space vehicle is mainly the rail control problem processed under microgravity environment.So the control problem of research Spatial Cooperation target is stimulated microgravity not, thus simplify experimental bench structure, reduce costs, improve environment can be handling.
For the coordination of Spatial Cooperation target, control field of research and still lack suitably experiment porch, that announces a kind of Spatial Cooperation target travel reproduction here controls experimental bench across yardstick, cooperative target self also possesses transfer orbital control, appearance rail synchro control, and cooperative target has been simulated truth to a certain extent; And the controlled time of docking operation is long, the motion reappearance of the docking operation of having simulated Spatial Cooperation target on experimental bench.
Summary of the invention
The control theory method that the present invention is directed to Spatial Cooperation target lacks the present situation of a class actv. experimental verification platform, and that announces a kind of Spatial Cooperation target travel reproduction controls experimental bench across yardstick.This platform is a class electromechanical control equipment, docking operation that can reproduction space cooperative target, and then provide on a class experimental bench for the research of advanced control theory method.
The present invention includes four degree of freedom, upper end two-freedom motion platform and lower end two-freedom motion platform.
Upper end two-freedom motion platform comprises the first stop gear, the first worm screw, the first coder, the first servomotor, the first worm gear, the second stop gear, the second servomotor, the 3rd stop gear, the second worm gear, the second coder, the second worm screw, the 4th stop gear, CCD camera, spill cooperative target, the 5th stop gear.
The first stop gear is fixed on first worm screw one end, and the first worm screw and the first worm gear form a set of worm-and-wheel gear; The two ends up and down of the first worm gear coaxially connect with the first servomotor and the first coder respectively.The second stop gear is fixed on the first worm screw other end, that is: the first stop gear and the second stop gear are arranged in the both sides of the first worm gear.The second servomotor and the first worm screw form pair of bearings axle sleeve mechanism; Wherein, the first worm screw is smooth bearing in bearing fit section, and the connecting section of the second servomotor is an axle sleeve.The first stop gear and the second servomotor are respectively in the both sides of the second stop gear.The two ends, left and right of the second worm gear coaxially connect with the second servomotor and the second coder respectively.The 3rd stop gear is fixed on second worm screw one end.The second worm screw and the second worm gear form a set of worm-and-wheel gear.The 3rd stop gear is fixed on the second worm screw other end, that is: the 3rd stop gear and the 4th stop gear are arranged in the both sides of the second worm gear.Spill cooperative target connects with the bottom of the 4th stop gear.The embedded CCD camera of spill cooperative target groove.On two side flanges of groove, be embedded with the 5th stop gear and the 6th stop gear.One end of support coaxially connects with the first coder, and the support other end is vertically fixed on base.
Lower end two-freedom motion platform comprises the 3rd servomotor, the 3rd coder, driving pulley, drive belt, base, slideway, dolly, the 4th coder, inverted pendulum, convex cooperative target, the 6th stop gear, by movable pulley.
The two ends of the platform surface of base have been fixed respectively by movable pulley and driving pulley.Drive belt is attached to by the pulley of movable pulley and driving pulley, forms belt pulley mechanism (rolling friction pair).The two ends of drive belt are separately fixed at the two ends of dolly.Driving pulley coaxially connects with the 3rd coder and the 3rd servomotor.Slideway one end is fixed on support, and slideway is parallel to base, and does not produce and interfere with drive belt.The 4th coder is fixed on dolly end face, and inverted pendulum one end connects with the rotating shaft free to rotate of dolly end face, and coaxially connects with the 4th coder.The inverted pendulum other end connects with convex cooperative target.
The free motion function of upper end two-freedom motion platform is as follows: under the driving of the first servomotor, the first worm gear produces and rotatablely moves, and drives the first worm screw to produce horizontal rectilinear motion by worm-and-wheel gear.The first stop gear and the second stop gear carry out spacing to the movement travel of the first worm screw, prevent from coming off.The first coder records the anglec of rotation of the first worm gear, thereby the movement travel of the first worm screw is measured in real time.Under the driving of the second servomotor, the second worm gear produces and rotatablely moves, and drives the second worm screw generation vertical line to move by worm-and-wheel gear.The 3rd stop gear and the 4th stop gear carry out spacing to the movement travel of the second worm screw, prevent from coming off.The second coder records the anglec of rotation of the second worm gear, thereby the movement travel of the second snail is measured in real time.
The free motion function of lower end two-freedom motion platform is as follows: under the driving of the 3rd servomotor, driving pulley produces and rotatablely moves, and through belt pulley mechanism, drives drive belt to produce horizontal rectilinear motion.The 3rd coder records the anglec of rotation of driving pulley, thereby the movement travel of drive belt is measured in real time.Under the driving of the second servomotor, the second worm gear produces and rotatablely moves, and drives the second worm screw generation vertical line to move by worm-and-wheel gear.The 3rd stop gear and the 4th stop gear carry out spacing to the movement travel of the second worm screw, prevent from coming off.The second coder records the anglec of rotation of the second worm gear, thereby the movement travel of the second snail is measured in real time.Inverted pendulum can freely rotate around the rotating shaft of dolly end face, and the 4th coder records the anglec of rotation of inverted pendulum.Because convex cooperative target is fixed on inverted pendulum upper end, with inverted pendulum, rotate simultaneously.
The radical function of upper end two-freedom motion platform is to drive spill cooperative target to produce the free translation in vertical plane surface.In the plane of upper end two-freedom motion platform, the control of free translation, is defined as transfer orbital control.For example: it has reflected the transfer orbital control of space vehicle, thus the translation control problem that is spill cooperative target by the change rail motion reappearance of space vehicle.
The radical function of lower end two-freedom motion platform is to drive convex cooperative target to produce translation and the interior rotation around hinge-point of plane of the horizontal direction in vertical plane surface.Convex cooperative target corner (attitude) is planar controlled and translation (track) control is the appearance rail synchro control of this objective body.For example: it has reflected the appearance rail synchro control problem of space vehicle, thus the appearance rail motion reappearance of space vehicle is the appearance rail synchro control problem of spill cooperative target.
This platform main application: the first, in the plane of upper end two-freedom motion platform, free translation (transfer orbital control) is controlled; The second, the attitude (corner) of lower end two-freedom motion platform and the appearance rail synchro control of track (translation); The 3rd, for the coordination of spill cooperative target and convex cooperative target, control, for example: the docking operation of spill and two cooperative targets of convex.
Here, the Harmonic Control of spill cooperative target and convex cooperative target is described further.Convex cooperative target, under certain appearance rail synchro control effect, makes boss upward, and rests on certain level attitude.Spill cooperative target forms opposite planar motion, and falls above convex cooperative target, docks with spill cooperative target.Finally, under the effect of the 5th stop gear and the 6th stop gear, stop moving downward, complete the docking mission of spill cooperative target and convex cooperative target.
Proposition across yardstick control problem.Docking operation exists across yardstick control problem, and it is typically across yardstick control problem that the straight-line dynamic characteristics of employing dolly regulates the angle of inverted pendulum to control target.There is speed difference in spill cooperative target and convex cooperative target, is also across yardstick control problem.In addition, platform self is a Mechatronic Systems, and the electromagnetic conversion process of the first servomotor, the second servomotor, the 3rd servomotor is also across yardstick control problem.
The explanation of motion reappearance.For the concrete application problem of Spatial Cooperation target, this platform can be described qualitatively one and do the docking operation that becomes the cooperative target of rail motion and the cooperative target of an appearance rail synchro control.Before docking, spill cooperative target is moved in a track, and after docking, spill cooperative target is moved in another track, forms transfer orbital control.Before docking convex cooperative target in a track, move and attitude not right, after docking, convex cooperative target and spill cooperative target are moved in same track, and attitude is adjusted, formation transfer orbital control.
useful explanation of the present invention:
The docking operation of spill cooperative target and convex cooperative target can reflect several control steps of Spatial Cooperation target, as: transfer orbital control, appearance rail synchro control, control with the coordination of two cooperative targets.
Convex cooperative target be owe to drive, the system of unstable, nonlinear system, control difficulty large, the coordination of two cooperative targets is controlled has very high requirement to performances such as the control accuracy of convex cooperative target, robustness, tracking accuracies.
Spill cooperative target adopts camera to carry out the local positioning to convex cooperative target, meets the actual conditions of Spatial Cooperation target.
This experimental bench is simple in structure, cost is low, technical scheme is feasible, is the calm control of clarifying space cooperative target, the gedanken experiment platform that tracking is controlled, coordination is controlled.
Accompanying drawing explanation
Fig. 1 structural representation of the present invention.
Fig. 2 motion reappearance process of the present invention schematic diagram.
In figure, the first stop gear 1, the first worm screw 2, the first coder 3, the first servomotor 4, the first worm gear 5, the second stop gear 6, the second servomotor 7, the 3rd stop gear 8, the second worm gear 9, the second coder 10, the second worm screw 11, the 4th stop gear 12, CCD camera 13, spill cooperative target 14, the 5th stop gear 15, the 3rd servomotor 16, the 3rd coder 17, driving pulley 18, drive belt 19, base 20, slideway 21, dolly 22, the 4th coder 23, inverted pendulum 24, convex cooperative target 25, the 6th stop gear 26, by movable pulley 27, support 28.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As described in Figure 1, what a kind of Spatial Cooperation target travel was reproduced controls experimental bench across yardstick, comprises four degree of freedom, upper end two-freedom motion platform and lower end two-freedom motion platform.
Upper end two-freedom motion platform comprises the first stop gear 1, the first worm screw 2, the first coder 3, the first servomotor 4, the first worm gear 5, the second stop gear 6, the second servomotor 7, the 3rd stop gear 8, the second worm gear 9, the second coder 10, the second worm screw 11, the 4th stop gear 12, CCD camera 13, spill cooperative target 14, the 5th stop gear 15.
The first stop gear 1 is fixed on first worm screw 2 one end, and the first worm screw 2 and the first worm gear 5 form a set of worm-and-wheel gear; The two ends up and down of the first worm gear 5 coaxially connect with the first servomotor 4 and the first coder 3 respectively.The second stop gear 6 is fixed on first worm screw 2 other ends, that is: the first stop gear 1 and the second stop gear 6 are arranged in the both sides of the first worm gear 5.The second servomotor 7 and the first worm screw 2 form pair of bearings axle sleeve mechanism; Wherein, the first worm screw 2 is smooth bearing in bearing fit section, and the connecting section of the second servomotor 7 is axle sleeves.The first stop gear 1 and the second servomotor 7 are respectively in the both sides of the second stop gear 6.The two ends, left and right of the second worm gear 9 coaxially connect with the second servomotor 7 and the second coder 10 respectively.The 3rd stop gear 8 is fixed on second worm screw 11 one end.The second worm screw 11 and the second worm gear 9 form a set of worm-and-wheel gear.The 3rd stop gear 12 is fixed on second worm screw 11 other ends, that is: the 3rd stop gear 8 and the 4th stop gear 12 are arranged in the both sides of the second worm gear 9.Spill cooperative target 14 connects with the bottom of the 4th stop gear 12.The embedded CCD camera 13 of spill cooperative target 14 groove.On two side flanges of groove, be embedded with the 5th stop gear 15 and the 6th stop gear 26.One end of support 28 coaxially connects with the first coder 3, and support 28 other ends are vertically fixed on base 20.
Lower end two-freedom motion platform comprises the 3rd servomotor 16, the 3rd coder 17, driving pulley 18, drive belt 19, base 20, slideway 21, dolly 22, the 4th coder 23, inverted pendulum 24, convex cooperative target 25, the 6th stop gear 26, by movable pulley 27.
The two ends of the platform surface of base 20 have been fixed respectively by movable pulley 27 and driving pulley 18.Drive belt 19 is attached to by the pulley of movable pulley 27 and driving pulley 18, forms belt pulley mechanism (rolling friction pair).The two ends of drive belt 19 are separately fixed at the two ends of dolly 22.Driving pulley 18 coaxially connects with the 3rd coder 17 and the 3rd servomotor 16.Slideway 21 one end are fixed on support 28, and slideway 21 is parallel to base 20, and do not produce and interfere with drive belt 19.The 4th coder 23 is fixed on dolly 22 end faces, and inverted pendulum 24 one end connect with the rotating shaft free to rotate of dolly 22 end faces, and coaxially connects with the 4th coder 23.Inverted pendulum 24 other ends connect with convex cooperative target 25.
The free motion function of upper end two-freedom motion platform is as follows: under the driving of the first servomotor 4, the first worm gear 5 produces and rotatablely moves, and drives the first worm screw 2 to produce horizontal rectilinear motion by worm-and-wheel gear.The movement travel of the first stop gear 1 and 6 pairs of the first worm screws 2 of the second stop gear is carried out spacing, prevents from coming off.The anglec of rotation of first coder 3 record the first worm gears 5, thus the movement travel of the first worm screw 2 is measured in real time.Under the driving of the second servomotor 7, the second worm gear 9 produces and rotatablely moves, and drives the second worm screw 11 generation vertical line to move by worm-and-wheel gear.The movement travel of the 3rd stop gear 8 and 12 pairs of the second worm screws 11 of the 4th stop gear is carried out spacing, prevents from coming off.The anglec of rotation of second coder 10 record the second worm gears 9, thus the movement travel of the second snail 11 is measured in real time.
The free motion function of lower end two-freedom motion platform is as follows: under the driving of the 3rd servomotor 16, driving pulley 18 produces and rotatablely moves, and through belt pulley mechanism, drives drive belt 19 to produce horizontal rectilinear motion.The 3rd coder 17 records the anglec of rotation of driving pulley 18, thereby the movement travel of drive belt 19 is measured in real time.Under the driving of the second servomotor 7, the second worm gear 9 produces and rotatablely moves, and drives the second worm screw 11 generation vertical line to move by worm-and-wheel gear.The movement travel of the 3rd stop gear 8 and 12 pairs of the second worm screws 11 of the 4th stop gear is carried out spacing, prevents from coming off.The anglec of rotation of second coder 10 record the second worm gears 9, thus the movement travel of the second snail 11 is measured in real time.Inverted pendulum 24 can freely rotate around the rotating shaft of dolly 22 end faces, and the 4th coder 23 records the anglec of rotation of inverted pendulum 24.Because convex cooperative target 25 is fixed on inverted pendulum 24 upper ends, with inverted pendulum 24, rotate simultaneously.
The radical function of upper end two-freedom motion platform is the free translation that drives spill cooperative target 14 to produce in vertical plane surface.In the plane of upper end two-freedom motion platform, the control of free translation, is defined as transfer orbital control.For example: it has reflected the transfer orbital control of space vehicle, thus the translation control problem that is spill cooperative target 14 by the change rail motion reappearance of space vehicle.
The radical function of lower end two-freedom motion platform is to drive convex cooperative target 25 to produce translation and the interior rotation around hinge-point of plane of the horizontal direction in vertical plane surface.Convex cooperative target 25 corner (attitude) is planar controlled and translation (track) control is the appearance rail synchro control of this objective body.For example: it has reflected the appearance rail synchro control problem of space vehicle, thus the appearance rail motion reappearance of space vehicle is the appearance rail synchro control problem of spill cooperative target 14.
This platform main application: the first, in the plane of upper end two-freedom motion platform, free translation (transfer orbital control) is controlled; The second, the attitude (corner) of lower end two-freedom motion platform and the appearance rail synchro control of track (translation); The 3rd, for the coordination of spill cooperative target 14 and convex cooperative target 25, control, for example: the docking operation of spill and two cooperative targets of convex.
Here, the Harmonic Control of spill cooperative target 14 and convex cooperative target 25 is described further.Convex cooperative target 25, under certain appearance rail synchro control effect, makes boss upward, and rests on certain level attitude.Spill cooperative target 14 forms opposite planar motion, and falls above convex cooperative target 25, docks with spill cooperative target 14.Finally, under the effect of the 5th stop gear 15 and the 6th stop gear 26, stop moving downward, complete the docking mission of spill cooperative target 14 and convex cooperative target 25.
Proposition across yardstick control problem.Docking operation exists across yardstick control problem, and it is typically across yardstick control problem that the straight-line dynamic characteristics of employing dolly 22 regulates the angle of inverted pendulum 24 to control target.There is speed difference in spill cooperative target 14 and convex cooperative target 25, is also across yardstick control problem.In addition, platform self is a Mechatronic Systems, and the electromagnetic conversion process of the first servomotor 4, the second servomotor 7, the 3rd servomotor 6 is also across yardstick control problem.
The explanation of motion reappearance.With reference to figure 2, for the concrete application problem of Spatial Cooperation target, this platform can be described qualitatively one and do the docking operation that becomes the cooperative target of rail motion and the cooperative target of an appearance rail synchro control.Before docking, spill cooperative target is moved in a track, and after docking, spill cooperative target is moved in another track, forms transfer orbital control.Before docking convex cooperative target in a track, move and attitude not right, after docking, convex cooperative target and spill cooperative target are moved in same track, and attitude is adjusted, formation transfer orbital control.
Control difficult point of the present invention: convex cooperative target 25 is to owe driving, unstable, nonlinear system, the very difficult assurance of performance calm and that tracking is controlled of self, and then cause the coordination control of spill cooperative target 14 and convex cooperative target 25 to be very difficult to solution.Therefore, this platform is the advanced Stabilization Control of check, advanced control theory and the advanced gedanken experiment platform of coordinating control theory followed the tracks of.
Claims (3)
1. what Spatial Cooperation target travel was reproduced controls an experimental bench across yardstick, it is characterized in that comprising four degree of freedom, and upper end two-freedom motion platform and lower end two-freedom motion platform are concrete:
Upper end two-freedom motion platform comprises the first stop gear, the first worm screw, the first coder, the first servomotor, the first worm gear, the second stop gear, the second servomotor, the 3rd stop gear, the second worm gear, the second coder, the second worm screw, the 4th stop gear, CCD camera, spill cooperative target, the 5th stop gear;
The first stop gear is fixed on first worm screw one end, and the first worm screw and the first worm gear form a set of worm-and-wheel gear; The two ends up and down of the first worm gear coaxially connect with the first servomotor and the first coder respectively; The second stop gear is fixed on the first worm screw other end, that is: the first stop gear and the second stop gear are arranged in the both sides of the first worm gear; The second servomotor and the first worm screw form pair of bearings axle sleeve mechanism; Wherein, the first worm screw is smooth bearing in bearing fit section, and the connecting section of the second servomotor is an axle sleeve; The first stop gear and the second servomotor are respectively in the both sides of the second stop gear; The two ends, left and right of the second worm gear coaxially connect with the second servomotor and the second coder respectively; The 3rd stop gear is fixed on second worm screw one end; The second worm screw and the second worm gear form a set of worm-and-wheel gear; The 3rd stop gear is fixed on the second worm screw other end, that is: the 3rd stop gear and the 4th stop gear are arranged in the both sides of the second worm gear; Spill cooperative target connects with the bottom of the 4th stop gear; The embedded CCD camera of spill cooperative target groove; On two side flanges of groove, be embedded with the 5th stop gear and the 6th stop gear; One end of support coaxially connects with the first coder, and the support other end is vertically fixed on base;
Lower end two-freedom motion platform comprises the 3rd servomotor, the 3rd coder, driving pulley, drive belt, base, slideway, dolly, the 4th coder, inverted pendulum, convex cooperative target, the 6th stop gear, by movable pulley;
The two ends of the platform surface of base have been fixed respectively by movable pulley and driving pulley; Drive belt is attached to by the pulley of movable pulley and driving pulley, forms belt pulley mechanism; ; The two ends of drive belt are separately fixed at the two ends of dolly; Driving pulley coaxially connects with the 3rd coder and the 3rd servomotor; Slideway one end is fixed on support, and slideway is parallel to base, and does not produce and interfere with drive belt; The 4th coder is fixed on dolly end face, and inverted pendulum one end connects with the rotating shaft free to rotate of dolly end face, and coaxially connects with the 4th coder; The inverted pendulum other end connects with convex cooperative target.
2. what a kind of Spatial Cooperation target travel as claimed in claim 1 was reproduced controls experimental bench across yardstick, the free motion process that it is characterized in that upper end two-freedom motion platform is as follows: under the driving of the first servomotor, the first worm gear produces and rotatablely moves, and drives the first worm screw to produce horizontal rectilinear motion by worm-and-wheel gear; The first stop gear and the second stop gear carry out spacing to the movement travel of the first worm screw, prevent from coming off; The first coder records the anglec of rotation of the first worm gear, thereby the movement travel of the first worm screw is measured in real time; Under the driving of the second servomotor, the second worm gear produces and rotatablely moves, and drives the second worm screw generation vertical line to move by worm-and-wheel gear; The 3rd stop gear and the 4th stop gear carry out spacing to the movement travel of the second worm screw, prevent from coming off; The second coder records the anglec of rotation of the second worm gear, thereby the movement travel of the second snail is measured in real time.
3. what a kind of Spatial Cooperation target travel as claimed in claim 1 was reproduced controls experimental bench across yardstick, the free motion process that it is characterized in that lower end two-freedom motion platform is as follows: under the driving of the 3rd servomotor, driving pulley produces and rotatablely moves, through belt pulley mechanism, drive drive belt to produce horizontal rectilinear motion; The 3rd coder records the anglec of rotation of driving pulley, thereby the movement travel of drive belt is measured in real time; Inverted pendulum can freely rotate around the rotating shaft of dolly end face, and the 4th coder records the anglec of rotation of inverted pendulum; Because convex cooperative target is fixed on inverted pendulum upper end, with inverted pendulum, rotate simultaneously.
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| CN105730719A (en) * | 2016-03-30 | 2016-07-06 | 哈尔滨理工大学 | Conversion mechanism for active platform of docking test table |
| CN106094565A (en) * | 2016-06-13 | 2016-11-09 | 北京航空航天大学 | A kind of spacecraft autonomous rendezvous control system ground simulation test method |
| CN106441795A (en) * | 2016-08-30 | 2017-02-22 | 北京精密机电控制设备研究所 | Three-degree-of-freedom air-floating simulator end pointing device based on arc guide rail |
| CN109610675A (en) * | 2019-02-01 | 2019-04-12 | 青岛理工大学 | Horizontal rotation combined type building vibration control system |
| CN111554169A (en) * | 2020-06-01 | 2020-08-18 | 北京航宇振控科技有限责任公司 | Spacecraft space rendezvous ground control experiment system |
| CN117208238A (en) * | 2023-09-12 | 2023-12-12 | 中山大学 | Ground simulation experiment system for assembly of three-legged space robot |
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