CN103662110B - A kind of Spatial Cooperation target travel reproduce across yardstick Control release platform - Google Patents
A kind of Spatial Cooperation target travel reproduce across yardstick Control release platform Download PDFInfo
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- CN103662110B CN103662110B CN201310600086.7A CN201310600086A CN103662110B CN 103662110 B CN103662110 B CN 103662110B CN 201310600086 A CN201310600086 A CN 201310600086A CN 103662110 B CN103662110 B CN 103662110B
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Abstract
The invention discloses a kind of Spatial Cooperation target travel reproduce across yardstick Control release platform.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.Lower end two-freedom motion platform comprise 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.Structure of the present invention is simple, cost is low, technical scheme is feasible, is the gedanken experiment platform of the point stabilization of clarifying space cooperative target, tracing control, cooperation control.
Description
Technical field
The invention belongs to scientific instrument industry, be specifically related to a class electromechanical control equipment, especially a kind of Spatial Cooperation target travel reproduce across yardstick Control release platform.It can the motion reappearance problem of implementation space cooperative target, and can be used as the verification platform across yardstick control method.
Background technology
The mankind are since nineteen fifty-seven transmits 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 performing the task of determining, the cosmic space outside earth atmosphere, substantially press the general name of the culture of celestial mechanics rule operation, at present mainly Space-Work station, satellite, spacecraft, manned capsule body etc.They only affect by microgravity in flight course, are in suspended state, and constantly adjust track, attitude, flying speed etc. to execute the task.But to perform complex task or the test of carrying out some certain sense often needs them mutually to cooperate.Wherein, comparatively difficulty be how it reasonably controlled and then make 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 on space orbit and is structurally linked to be an overall technology, be realize the Space configuration of spaceport, space shuttle, space platform and space transportation system, recovery, supply, maintenance, astronaut exchange and rescue etc. is served in orbit condition precedent.Spacecrafts rendezvous 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 got 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 the important symbol that SPACE RENDEZVOUS AND DOCKING TECHNIQUE is the national space technology development level of evaluation one, it relates to various countries in military affairs, national defence, communication, the reach of science level and international status.China have successfully completed the Technique in Rendezvous and Docking of divine boat's No. eight airships and No. one, Heavenly Palace in November, 2011, represents China and starts to have grasped SPACE RENDEZVOUS AND DOCKING TECHNIQUE; Afterwards, the Technique in Rendezvous and Docking of divine boat's No. nine airships and No. one, Heavenly Palace is completed in June, 2012.At present, China is after Russia and the U.S., grasp the country of Technique in Rendezvous and Docking completely for 3rd in the world, tentatively establish long-term nobody in orbit, the short-term man space test platform that has people to take care of, space application, space science experiment and engineering test can be carried out.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 and verifies theoretical method.But the microgravity platform of research Spacecraft control is not suitable as the research platform of the control problem of Spatial Cooperation target.Such as, the tower that falls experiment causes the time of free-falling body too short by tower height restriction; Zero gravity airplane experiment only ensure 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 ball-type metal.Therefore, these platforms all can not the cooperative process of 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 rail control problem of the control problem of space vehicle mainly under microgravity environment.So the control problem of research Spatial Cooperation target can not stimulated microgravity, thus simplify experimental bench structure, reduce costs, improve environment can be handling.
Cooperation control field of research for Spatial Cooperation target still lacks suitably experiment porch, here announce a kind of Spatial Cooperation target travel reproduce across yardstick Control release platform, cooperative target self also possesses transfer orbital control, appearance rail synchro control, and cooperative target simulates truth to a certain extent; And the controllable time of docking operation is long, simulate the motion reappearance of docking operation on experimental bench of Spatial Cooperation target.
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, announce a kind of Spatial Cooperation target travel reproduce across yardstick Control release platform.This platform is a class electromechanical control equipment, can the docking operation of reproduction space cooperative target, and then provides 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.
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.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.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.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.3rd stop gear is fixed on second worm screw one end.Second worm screw and the second worm gear form a set of worm-and-wheel gear.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.Two side flanges of groove are 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 comprise 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 secure respectively by movable pulley and driving pulley.Drive belt is attached on the pulley by 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 with drive belt and interfere.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, and the first worm gear produces rotary motion, and drives the first worm screw to produce horizontal rectilinear motion by worm-and-wheel gear.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 anglec of rotation of the first coder record first worm gear, thus 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 rotary motion, and drives the second worm screw to produce vertical linear motion by worm-and-wheel gear.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 anglec of rotation of the second coder record second worm gear, thus 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, and driving pulley produces rotary motion, through belt pulley mechanism, drives drive belt to produce horizontal rectilinear motion.The anglec of rotation of the 3rd coder record driving pulley, thus the movement travel of drive belt is measured in real time.Under the driving of the second servomotor, the second worm gear produces rotary motion, and drives the second worm screw to produce vertical linear motion by worm-and-wheel gear.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 anglec of rotation of the second coder record second worm gear, thus the movement travel of the second snail is measured in real time.Inverted pendulum freely can rotate around the rotating shaft of dolly end face, the anglec of rotation of the 4th coder record inverted pendulum.Because convex cooperative target is fixed on inverted pendulum upper end, rotate with inverted pendulum simultaneously.
The radical function of upper end two-freedom motion platform drives the free translation in spill cooperative target generation vertical plane surface.In the plane of upper end two-freedom motion platform, the control of free translation, is defined as transfer orbital control.Such as: the transfer orbital control that it reflects space vehicle, thus the translation control problem being spill cooperative target by the change rail motion reappearance of space vehicle.
The radical function of lower end two-freedom motion platform is the translation and the interior rotation around hinge-point of plane that drive convex cooperative target to produce the horizontal direction in vertical plane surface.Convex cooperative target corner planar (attitude) control and translation (track) control are the appearance rail synchro control of this objective body.Such as: the appearance rail synchro control problem that it reflects space vehicle, thus by the appearance rail motion reappearance of space vehicle be 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) controls; The second, the attitude (corner) of lower end two-freedom motion platform and the appearance rail synchro control of track (translation); 3rd, for the cooperation control of spill cooperative target and convex cooperative target, such as: the docking operation of spill and convex two cooperative targets.
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.
Across the proposition of yardstick control problem.Docking operation exists across yardstick control problem, adopts the dynamic characteristics of the straight-line motion of dolly to regulate the Angle ambiguity target of inverted pendulum to be typical in yardstick control problem.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 embody rule problem of Spatial Cooperation target, this platform can describe one qualitatively and do the docking operation becoming the cooperative target of rail motion and the cooperative target of an appearance rail synchro control.Before docking, spill cooperative target is run in a track, and after docking, spill cooperative target is run in another track, forms transfer orbital control.The front convex cooperative target of docking runs in a track and attitude is not right, and after docking, convex cooperative target and spill cooperative target are run in same track, and adjust attitude, form transfer orbital control.
useful explanation of the present invention:
The docking operation of spill cooperative target and convex cooperative target can reflect several rate-determining steps of Spatial Cooperation target, as: transfer orbital control, appearance rail synchro control, cooperation control with two cooperative targets.
Convex cooperative target is the system of drive lacking, instability, nonlinear system, and control difficulty large, the performance such as control accuracy, robustness, tracking accuracy of cooperation control to convex cooperative target of two cooperative targets has very high requirement.
Spill cooperative target employing camera carries out the local positioning to convex cooperative target, meets the actual conditions of Spatial Cooperation target.
This experimental bench structure is simple, cost is low, technical scheme is feasible, is the gedanken experiment platform of the point stabilization of clarifying space cooperative target, tracing control, cooperation control.
Accompanying drawing explanation
Fig. 1 structural representation of the present invention.
Fig. 2 motion reappearance process schematic of the present invention.
In figure, first stop gear 1, first worm screw 2, first coder 3, first servomotor 4, first worm gear 5, second stop gear 6, second servomotor 7, 3rd stop gear 8, second worm gear 9, second coder 10, second worm screw 11, 4th stop gear 12, CCD camera 13, spill cooperative target 14, 5th stop gear 15, 3rd servomotor 16, 3rd coder 17, driving pulley 18, drive belt 19, base 20, slideway 21, dolly 22, 4th coder 23, inverted pendulum 24, convex cooperative target 25, 6th stop gear 26, by movable pulley 27, support 28.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As described in Figure 1, a kind of Spatial Cooperation target travel reproduce across yardstick Control release platform, comprise 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, first worm screw 2, first coder 3, first servomotor 4, first worm gear 5, second stop gear 6, second servomotor 7, the 3rd stop gear 8, second worm gear 9, second coder 10, second worm screw 11, the 4th stop gear 12, CCD camera 13, spill cooperative target 14, the 5th stop gear 15.
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.Second stop gear 6 is fixed on first worm screw 2 other end, 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.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.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.3rd stop gear 8 is fixed on second worm screw 11 one end.Second worm screw 11 and the second worm gear 9 form a set of worm-and-wheel gear.3rd stop gear 12 is fixed on second worm screw 11 other end, 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.Two side flanges of groove are 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 end is vertically fixed on base 20.
Lower end two-freedom motion platform comprise 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 secure respectively by movable pulley 27 and driving pulley 18.Drive belt 19 is attached on the pulley by 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 is fixed on support 28, and slideway 21 is parallel to base 20, and does not produce with drive belt 19 and interfere.4th coder 23 is fixed on dolly 22 end face, and inverted pendulum 24 one end connects with the rotating shaft free to rotate of dolly 22 end face, and coaxially connects with the 4th coder 23.Inverted pendulum 24 other end connects 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, and the first worm gear 5 produces rotary motion, and drives the first worm screw 2 to produce horizontal rectilinear motion by worm-and-wheel gear.First stop gear 1 and the movement travel of the second stop gear 6 to the first worm screw 2 are carried out spacing, prevent from coming off.First coder 3 records the anglec of rotation of the first worm gear 5, thus measures in real time the movement travel of the first worm screw 2.Under the driving of the second servomotor 7, the second worm gear 9 produces rotary motion, and drives the second worm screw 11 to produce vertical linear motion by worm-and-wheel gear.3rd stop gear 8 and the movement travel of the 4th stop gear 12 to the second worm screw 11 are carried out spacing, prevent from coming off.Second coder 10 records the anglec of rotation of the second worm gear 9, thus measures in real time the movement travel of the second snail 11.
The free motion function of lower end two-freedom motion platform is as follows: under the driving of the 3rd servomotor 16, and driving pulley 18 produces rotary motion, through belt pulley mechanism, drives drive belt 19 to produce horizontal rectilinear motion.3rd coder 17 records the anglec of rotation of driving pulley 18, thus measures in real time the movement travel of drive belt 19.Under the driving of the second servomotor 7, the second worm gear 9 produces rotary motion, and drives the second worm screw 11 to produce vertical linear motion by worm-and-wheel gear.3rd stop gear 8 and the movement travel of the 4th stop gear 12 to the second worm screw 11 are carried out spacing, prevent from coming off.Second coder 10 records the anglec of rotation of the second worm gear 9, thus measures in real time the movement travel of the second snail 11.Inverted pendulum 24 freely can rotate around the rotating shaft of dolly 22 end face, 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 end, rotate with inverted pendulum 24 simultaneously.
The radical function of upper end two-freedom motion platform is the free translation that drive spill cooperative target 14 produces 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.Such as: the transfer orbital control that it reflects space vehicle, thus the translation control problem being spill cooperative target 14 by the change rail motion reappearance of space vehicle.
The radical function of lower end two-freedom motion platform is the translation and the interior rotation around hinge-point of plane that drive convex cooperative target 25 to produce the horizontal direction in vertical plane surface.Convex cooperative target 25 corner planar (attitude) control and translation (track) control are the appearance rail synchro control of this objective body.Such as: the appearance rail synchro control problem that it reflects space vehicle, thus by the appearance rail motion reappearance of space vehicle be 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) controls; The second, the attitude (corner) of lower end two-freedom motion platform and the appearance rail synchro control of track (translation); 3rd, for the cooperation control of spill cooperative target 14 and convex cooperative target 25, such as: the docking operation of spill and convex two cooperative targets.
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.
Across the proposition of yardstick control problem.Docking operation exists across yardstick control problem, adopts the dynamic characteristics of the straight-line motion of dolly 22 to regulate the Angle ambiguity target of inverted pendulum 24 to be typical in yardstick control problem.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, 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 embody rule problem of Spatial Cooperation target, this platform can describe one qualitatively and do the docking operation becoming the cooperative target of rail motion and the cooperative target of an appearance rail synchro control.Before docking, spill cooperative target is run in a track, and after docking, spill cooperative target is run in another track, forms transfer orbital control.The front convex cooperative target of docking runs in a track and attitude is not right, and after docking, convex cooperative target and spill cooperative target are run in same track, and adjust attitude, form transfer orbital control.
Controlling difficulties of the present invention: convex cooperative target 25 is drive lacking, instability, nonlinear system, the performance of the calm and tracing control of self is difficult to ensure, and then causes the cooperation control of spill cooperative target 14 and convex cooperative target 25 to be very difficult to solve.Therefore, this platform is the gedanken experiment platform of the advanced Stabilization Control of inspection, advanced tracing control theory and advanced cooperation control theory.
Claims (3)
1. Spatial Cooperation target travel reproduce across a yardstick Control release platform, it is characterized in that comprising four degree of freedom, upper end two-freedom motion platform and lower end two-freedom motion platform, 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;
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; 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; 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; 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; 3rd stop gear is fixed on second worm screw one end; Second worm screw and the second worm gear form a set of worm-and-wheel gear; 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; Two side flanges of groove are 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 comprise 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 secure by movable pulley and driving pulley respectively; Drive belt is attached on the pulley by 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 with drive belt and interfere; 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. a kind of Spatial Cooperation target travel as claimed in claim 1 reproduce across yardstick Control release platform, it is characterized in that the free motion process of upper end two-freedom motion platform is as follows: under the driving of the first servomotor, first worm gear produces rotary motion, and drives the first worm screw to produce horizontal rectilinear motion by worm-and-wheel gear; 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 anglec of rotation of the first coder record first worm gear, thus 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 rotary motion, and drives the second worm screw to produce vertical linear motion by worm-and-wheel gear; 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 anglec of rotation of the second coder record second worm gear, thus the movement travel of the second worm gear is measured in real time.
3. a kind of Spatial Cooperation target travel as claimed in claim 1 reproduce across yardstick Control release platform, it is characterized in that the free motion process of lower end two-freedom motion platform is as follows: under the driving of the 3rd servomotor, driving pulley produces rotary motion, through belt pulley mechanism, drive belt is driven to produce horizontal rectilinear motion; The anglec of rotation of the 3rd coder record driving pulley, thus the movement travel of drive belt is measured in real time; Inverted pendulum freely can rotate around the rotating shaft of dolly end face, the anglec of rotation of the 4th coder record inverted pendulum; Because convex cooperative target is fixed on inverted pendulum upper end, rotate with inverted pendulum simultaneously.
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| CN106094565B (en) * | 2016-06-13 | 2019-01-04 | 北京航空航天大学 | A kind of autonomous rendezvous control system ground simulation test method of spacecraft |
| CN106441795B (en) * | 2016-08-30 | 2018-12-21 | 北京精密机电控制设备研究所 | A kind of Three Degree Of Freedom air bearing simulator end indicator device based on arc guide rail |
| CN109610675B (en) * | 2019-02-01 | 2023-11-24 | 青岛理工大学 | Horizontal rotation combined type building vibration control system |
| CN111554169B (en) * | 2020-06-01 | 2022-02-25 | 北京航宇振控科技有限责任公司 | Spacecraft space rendezvous ground control experiment system |
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