CN103818567A - Design method of unconstrained suspension system with center of mass automatic alignment function - Google Patents
Design method of unconstrained suspension system with center of mass automatic alignment function Download PDFInfo
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- CN103818567A CN103818567A CN201410109898.6A CN201410109898A CN103818567A CN 103818567 A CN103818567 A CN 103818567A CN 201410109898 A CN201410109898 A CN 201410109898A CN 103818567 A CN103818567 A CN 103818567A
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Abstract
The invention discloses a design method of an unconstrained suspension system with the center of mass automatic alignment function. The system comprises a three-degree-of-freedom rotating follow-up module, a fastening module, a center of mass alignment module and a data acquisition and control module. The three-degree-of-freedom rotating follow-up module can guarantee that a spacecraft conducts approximately unconstrained pitching, yawing and rolling motion under low friction interference; the fastening module can adjust the degree of the suspension system for clamping the spacecraft under the action of a motor; the center of mass alignment module can be matched with the fastening module to automatically align the center of mass of the spacecraft and automatically clamp the spacecraft when the structure of the spacecraft changes and guarantee that an equivalent suspension point always coincides with the center of mass; the data acquisition and control module is used for system signal transmission and coordination control of the modules and achieves the automatic alignment of the center of mass and unconstrained suspension of the spacecraft of the variable structure. The method has the advantages that three-rotational-degree-of-freedom motion of the spacecraft of the variable structure can be guaranteed only through single-point suspension, no coupling exists in the system, the system is easy to control, the center of the mass can be automatically aligned, and clamping force can be automatically adjusted.
Description
Affiliated technical field
The invention belongs to verification technique field, spacecraft Navigation, Guidance and Control system ground, be specifically related to a kind ofly automatically find accurately without constraint suspension network system realization for the barycenter that becomes structure spacecraft ground checking.
Background technology
Space engineering is an excessive risk, high investment, high repayment, high complexity and high-precision system engineering, and can its development degree determine seize high-tech commanding elevation, farthest utilize space resources.Certainly, actively develop space technology research in China extremely urgent, but space environment is extremely severe, in order to complete smoothly space mission, must test fully on ground, therefore domestic and international each space flight mechanism all pays much attention to the experimental verification of spacecraft on ground.
A most important feature of space environment is microgravity, but, ground experiment chamber is for there being gravity environment, in order to reproduce the real motion situation in spacecraft space microgravity environment on ground, improve the confidence level of ground validation Navigation, Guidance and Control system experimentation, need to be on ground spacecraft six-freedom motion set up one close to space real conditions retraining microgravity environment.Realize this target, its core is compensation spacecraft suffered gravity in ground experiment room environmental, provide that the translation of spacecraft three degree of freedom and three degree of freedom rotate without constraint environment.The existing means that realize this target have liquid float glass process, weight-loss method, By Bubble-floating Method, suspension method.What weight-loss method was common is parabolic flight and free-falling body, and the shortcoming of the method is that time space short, that take limited space and cost large, that can provide are high; The damping of liquid float glass process is large, maintenance cost is high and be only suitable for the situation of low-speed motion, and By Bubble-floating Method is relative with suspension method system architecture simple, be easy to set up in laboratory without constraint microgravity environment.If number of patent application is CN201220400797, " the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure " announced a kind of to be the gravity of spacecraft by gas foot thrust-compensating analog satellite, to provide spacecraft to be similar to unconfined three attitude axle rotational freedoms by air-bearing; Number of patent application be CN201310466806's " a kind of without initiatively gravity compensation design method of constraint suspension formula " announced a kind of gravity that hangs compensation spacecraft by hang spring tension force, retraining link block by nothing provides spacecraft to be similar to unconfined three rotational freedoms.Consider space tasks such as Technique in Rendezvous and Docking, need spacecraft to stretch out docking mechanism, its structure changes, and spacecraft entirety barycenter is offset.But the pilot system attitude motion that above-mentioned two patents are announced cannot be applicable to become the certification testing of structure Spacecraft During Attitude Maneuver without restraining structure part.
In order to overcome the deficiency of existing spacecraft ground test method in the time that reply becomes structure spacecraft barycenter generation skew, the present invention propose a kind of be applicable to become the checking of structure spacecraft ground without constraint suspension network system realization, can skew occur at spacecraft barycenter finds accurately automatically to it, be combined with suspension type active gravity compensation system, can be change structure spacecraft an approximate microgravity environment without constraint six-freedom motion is provided, and then reproduce its real motion under space microgravity environment, guarantee the validity of ground validation Navigation, Guidance and Control system.
Summary of the invention
The present invention proposes a kind of can barycenter automatically find accurately without constraint suspension design method, object is to realize spacecraft to roll, pitching and yaw attitude are not subject to the constraint of suspension connection device while adjustment, guarantee that spacecraft is in the time that posture position recurring structure changes arbitrarily simultaneously, in the situation that not changing its attitude, realize system automatically finding accurately spacecraft barycenter, equivalent hitch point is overlapped with spacecraft barycenter all the time, additional eccentric torque does not induce one, guarantee the spacecraft state in neutral equilibrium all the time, provide an approximate unconfined three degree of freedom Attitude control environment for becoming structure spacecraft.
The present invention is based on hitch point overlaps with the object mass center that is draped, be draped object in neutral equilibrium state, object gravity does not produce additional torque, precise rolling bearing friction force is little simultaneously, the additional torque that force of rolling friction produces is adjusted moment much smaller than spacecraft attitude, thereby the collection three degree of freedom that the present invention proposes rotates servo-actuated module, fastened die block, barycenter find that module and data acquisition and control module can barycenter find accurately automatically in one a kind of accurately without constraint suspension system, can be embodied as well change structure spacecraft approximate unconfined this intended target of three degree of freedom Attitude control environment is provided.
Technical scheme of the present invention:
A kind of can barycenter automatically find accurately comprise that without constraint suspension system three degree of freedom rotates servo-actuated module, fastened die block, barycenter and finds module and data acquisition and control module accurately.
Described three degree of freedom rotates servo-actuated module can guarantee that spacecraft does approximate unconfined pitching, driftage, rolling movement under low-frictional force disturbs; Described fastened die block is the clamping degree of capable of regulating suspension to spacecraft under the effect of motor; Described barycenter is found module accurately and under the cooperation of described fastened die block, can in the time that spacecraft structure changes, be completed automatically the finding accurately and Automatic-clamping of spacecraft barycenter, guarantees that equivalent hitch point overlapped with the barycenter moment, and the gravity of spacecraft does not affect its Attitude control; Described data acquisition and control module is responsible for system signal transmission and is coordinated to control, and makes the each module of system by system work, completes that barycenter to becoming structure spacecraft is found accurately automatically and without constraint suspension.
Further, described three degree of freedom rotates servo-actuated module and comprises connecting element in thrust baring, thrust baring, the outer connecting element of thrust baring, overall fixed frame, gusset, double-screw bolt, antifriction-bearing box, bearing screw collar, force-applying piece, little rolling bearing axis, little antifriction-bearing box and bolt of rear end plate.Little antifriction-bearing box directly and spacecraft Surface Contact, it is fixed on force-applying piece by little rolling bearing axis, double-screw bolt one end is connected with force-applying piece, and by being fixed on the tightness degree of the little antifriction-bearing box of bearing screw collar control in antifriction-bearing box and spacecraft laminating, under the compression of double-screw bolt, in the time that spacecraft does rolling movement, the little antifriction-bearing box of contact is followed rolling with it; Antifriction-bearing box is fixed on overall fixed frame, is inside connected with bearing screw collar, and in the time that spacecraft does luffing, under the low friction support providing at antifriction-bearing box, little antifriction-bearing box, force-applying piece, double-screw bolt, bearing screw collar do luffing thereupon together; Thrust baring upper end is arranged on overall fixed frame by the outer connecting element of thrust baring, its lower end is connected with connecting element in thrust baring, in the time that spacecraft does yawing rotation and rotates around thrust baring axis, in thrust baring lower end and thrust baring connecting element, remainder is with spacecraft yawing rotation, and three rotational freedoms having realized spacecraft are not subject to the constraint of connecting device.Entirety fixed frame is provided with gusset, increases the stability of system.
Further, described fastened die block comprises big gear wheel, monodentate miniature gears and fastening servomotor.Monodentate miniature gears is arranged on fastening servomotor, and the every rotation of fastening servomotor one week is rotated a radian that monodentate is corresponding with the big gear wheel of monodentate miniature gears engagement, and the double-screw bolt that big gear wheel and three degree of freedom rotate in servo-actuated module is connected.By the control that fastening servomotor is rotated, can control described three degree of freedom and rotate the tightness degree that the medium and small antifriction-bearing box of servo-actuated module and spacecraft are fitted.Adopt monodentate miniature gears can avoid introducing additional friction torque in the time of space flight luffing, its principle is, if miniature gears is full-depth tooth, when big gear wheel is followed spacecraft luffing, be engaged with the miniature gears being arranged on fastening servomotor and follow rotation, thereby drive the rotation of fastening servomotor motor shaft, introduce the drag torque that motor shaft rotates, if monodentate, in the time that fastened die block is not worked, servomotor drives monodentate pinion rotation to the position of not engaging with big gear wheel, can avoid the introducing of additional friction torque.
Further, described barycenter is found module accurately and is comprised lower end carriage, gusset, line slideway, slide block, clamping servomotor, miniature gears, big gear wheel, double-screw bolt, guide rail servomotor, synchronizing wheel, synchronizing wheel fixed mount, Timing Belt and be arranged on overall fixed frame the line slideway, slide block, clamping servomotor, double-screw bolt, big gear wheel, the miniature gears that coordinate with it.Clamping servomotor, double-screw bolt, big gear wheel and miniature gears form clamping group.The line slideway of below is arranged on the carriage of lower end, on it, be combined with the slide block that can move along it, clamping servomotor and double-screw bolt are installed on slide block, miniature gears is arranged on clamping servomotor, engage with the big gear wheel that is arranged on double-screw bolt, can drive big gear wheel along the double-screw bolt axis direction fastening spacecraft that moves; The symmetrical mechanism being arranged on overall fixed frame has coordinated the fastening action to spacecraft with said mechanism.Spacecraft clamped fixing after, the guide rail servomotor being arranged on line slideway drives by the transmission of synchronizing wheel and Timing Belt the slide block movement being arranged on line slideway, thereby drives spacecraft to move, and completes finding accurately barycenter.Lower end carriage has been installed gusset, guarantees stability.
Further, described data acquisition and control module comprises host computer PC, capture card, driving control card, rang sensor and obliquity sensor.Obliquity sensor is arranged on spacecraft, and rang sensor is arranged on barycenter and finds accurately in the big gear wheel in module.Data acquisition module coordination control barycenter finds module accurately and fastened die block completes the adjustment to spacecraft hanging position, guarantees that equivalent hitch point overlaps with the barycenter of spacecraft all the time.
According to above-mentioned mechanical construction and control system, when the present invention proposes a kind of can realizing spacecraft and hang without constraint suspension system of can barycenter automatically finding accurately, the barycenter of spacecraft is found accurately and automated exchanged cutter when the changing without constrained motion and spacecraft structure of three rotational freedom attitudes adjustment.Wherein the rotating servo-actuated module without constrained motion principle of work at three degree of freedom and be described in detail of three rotational freedoms of spacecraft, introduces now and when spacecraft structure changes, it is carried out to barycenter and find accurately and automated exchanged cutter process.In the time that system receives the signal that spacecraft structure will change, be arranged on spaceborne obliquity sensor and be arranged on the rang sensor that barycenter finds accurately in module big gear wheel current demand signal is passed to host computer PC through capture card, in the time that spacecraft structure changes, host computer PC is according to the information of obliquity sensor and rang sensor, the work of control fastened die block, unclamp the clamping to spacecraft, control barycenter adjusting module clamping group keeps in the constant situation of the current attitude of spacecraft simultaneously, by its clamping, then according to the acceleration/accel of the quality of spacecraft launching site ring and motion, speed, the situation that estimation spacecraft barycenter changes, control barycenter and find the position of module adjustment spacecraft accurately, carrying out barycenter finds accurately, after spacecraft structure has changed, clamping group is unclamped spacecraft, fastened die block effect clamps spacecraft, judge consistent before whether changing with spacecraft structure of numerical value on obliquity sensor and can guarantee existing attitude, if consistent and keep existing attitude, proceed checking work, maybe can not keep existing attitude as inconsistent, fastened die block is abandoned effect, barycenter adjusting module starts, again adjust the position of spacecraft, until find the barycenter of spacecraft accurately, after the barycenter of spacecraft is overlapped with hitch point of equal value, carry out checking work.
Draw algorithm by said system structure and principle of work:
(1) connecting element in thrust baring is fixed with extraneous;
(2) adjust fastened die block, by spacecraft be arranged on can barycenter automatically find accurately without in constraint suspension system, the preliminary rough position of adjusting spacecraft, adjusts the axle of little bearing on force-applying piece, makes each shaft strength even, guarantees spacecraft firm grip;
(3) can checking system follow rolling, pitching, the yawing rotation of spacecraft flexibly;
(4) after above step completes, system powers on, and host computer PC, according to the information of obliquity sensor, is coordinated to control barycenter and found module and fastened die block co-ordination accurately, finds the barycenter of spacecraft accurately, completes the suspension that hitch point of equal value overlaps with barycenter;
(5) after barycenter is found accurately and is automatically fixed, start the relevant checking work of spacecraft, in experimental verification process, when host computer PC receives after the information of spacecraft structure variation, coordinate fastened die block and barycenter and find module work accurately, adjust at any time the hanging position of spacecraft, the barycenter that meets equivalent hitch point overlaps with the barycenter of spacecraft all the time;
(6) complete after relevant checking or work, PTO Power Take Off, unloads spacecraft.
The present invention contrasts prior art method and has following characteristics:
1, single-point hang can guarantee to become three rotational freedoms of structure spacecraft approximate without constrained motion, simple in structure, fitting operation convenient, do not have coupling, easy to control between system;
2, low friction, little to the attitude motion drag torque of spacecraft;
3, realize the barycenter that becomes structure spacecraft and automatically found accurately, found precision accurately high, applied widely;
4, while suspension, do not change the structure of spacecraft, without accessory device;
5, gripping power can be adjusted automatically.
Accompanying drawing explanation
Fig. 1 is a kind of front elevation without constraint suspension system of can barycenter automatically finding accurately of the present invention:
Number in the figure:
1: miniature gears; 2: slide block; 3: clamping servomotor; 4: line slideway; 5: big gear wheel; 6: double-screw bolt; 7: rang sensor; 8: lower end carriage; 9: spacecraft; 10: little antifriction-bearing box; 11: little rolling bearing axis; 12: force-applying piece; 13: fastening servomotor; 14: monodentate miniature gears; 15: big gear wheel; 16: double-screw bolt; 17: bearing screw collar; 18: antifriction-bearing box; 19: gusset; 20: overall fixed frame; 21: obliquity sensor; 22: thrust baring; 23: connecting element in thrust baring; 24: the outer connecting element of thrust baring.
Fig. 2 is a kind of lateral plan without constraint suspension system of can barycenter automatically finding accurately of the present invention:
Number in the figure:
25: synchronizing wheel fixed mount; 26: Timing Belt; 27: bolt of rear end plate; 28: synchronizing wheel; 29: guide rail servomotor; 30: spacecraft launching site ring.
Fig. 3 be the present invention a kind of can barycenter automatically find accurately without constraint suspension system A to view.
Number in the figure:
1: bolt of rear end plate; 2: little rolling bearing axis; 3: force-applying piece; 4: force-applying piece rectangular through holes.
Fig. 4 be the present invention a kind of can barycenter automatically find accurately without constraint suspension system block diagram.
Fig. 5 be the present invention a kind of can barycenter automatically find accurately without constraint suspension system clamping group work front elevation.
Fig. 6 be the present invention a kind of can barycenter automatically find accurately without constraint suspension system clamping group active side view.
Fig. 7 is a kind of control block diagram without constraint suspension system of can barycenter automatically finding accurately of the present invention.
Fig. 8 be the present invention a kind of can barycenter automatically find accurately without the accurate workflow diagram of constraint suspension system barycenter automatic alignment.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described: three degree of freedom rotates servo-actuated module and utilizes bearing that slip is converted into rolling, has realized following flexibly three rotational freedoms of spacecraft; Fastened die block, under the effect of servomotor, utilizes the self-locking performance of screw thread to adjust the size of the application of force; Barycenter is found the state that keeps neutral equilibrium when module utilizes the barycenter of spacecraft to overlap with hitch point of equal value accurately, under the coordination control of relevant data acquisition control module, in the situation that not affecting the existing attitude of spacecraft, complete finding accurately barycenter together with fastened die block, guarantee that hitch point overlaps with spacecraft barycenter all the time, the gravity of spacecraft does not exert an influence to the dynamics of spacecraft.
Specifically, the bearing set that eight little antifriction-bearing boxs 10 form directly contacts with spacecraft 9, under the compression of double-screw bolt 16, bearing set can be followed the rolling movement of spacecraft 9, bearing set is fixed on force-applying piece 12 by little rolling bearing axis 11 under the effect of bolt of rear end plate 27, little rolling bearing axis 11 can move among a small circle that (specific implementation method as shown in Figure 4, little rolling bearing axis 2 is arranged in the force-applying piece rectangular through holes 4 on force-applying piece 3, can within the scope of through hole, move along force-applying piece rectangular through holes, after adjust position, utilize bolt of rear end plate 1 that it is fastening.), after location positioning, be fixed on force-applying piece 12 by bolt of rear end plate 27, the assembly of the similar dolly that they form is connected with double-screw bolt 16, and double-screw bolt 16 is arranged in the bearing screw collar 17 that imbeds antifriction-bearing box 18, under the low friction support providing at antifriction-bearing box 18, can follow the luffing of spacecraft 9.Double-screw bolt 16 upper ends are provided with big gear wheel 15, big gear wheel 15 engages with monodentate miniature gears 14, under the drive that is arranged on the fastening servomotor 13 on overall fixed frame 20, rotate, drive double-screw bolt 16 side-to-side movements, the laminating degree of controlling bearing set and spacecraft 9 is clamping degree.Antifriction-bearing box 18 is arranged on overall fixed frame 20, in order to guarantee the stability of entire system structure, on overall fixed frame 20, gusset 19 is installed.Thrust baring 22 is arranged on overall fixed frame 20 by the outer connecting element 24 of thrust baring, and the other end is connected with extraneous by connecting element 23 in thrust baring, and thrust baring assurance entire system can be followed the yawing rotation of spacecraft 9.The structure that the structure of barycenter adjusting module is rotated servo-actuated module and fastened die block with respect to three degree of freedom is comparatively independent, line slideway 4 is arranged on lower end carriage 8, on it, be combined with the slide block 2 that can move along it, double-screw bolt 6 and clamping servomotor 3 are installed on slide block 2, clamping servomotor 3 can drive miniature gears mounted thereto 1 to rotate, thereby drive the big gear wheel motion being arranged on double-screw bolt 6, rang sensor 7 is installed in big gear wheel 5, the moment measures the distance of spacecraft 9.Totally four groups of the assemblies that double-screw bolt 6, clamping servomotor 3, miniature gears 1, big gear wheel 5 and rang sensor 7 form, as shown in Figure 2, clamping group can complete to the clamping of spacecraft any attitude as shown in Figure 5, Figure 6 the clamping group that they have formed barycenter adjusting module jointly.Timing Belt 26 is fixed on slide block 2, respectively there is a synchronizing wheel at the two ends of Timing Belt, synchronizing wheel 28 is arranged on guide rail servomotor 29, guide rail servomotor 29 is arranged on line slideway 4, another synchronizing wheel is fixed on line slideway 4 by synchronizing wheel fixed mount 25, in the position that the symmetrical overall fixed frame 20 of guide rail 4 is installed with lower end carriage 8, servo-actuated line slideway and slide block are installed, under the drive of servomotor 29, slide block 2 can move along line slideway, drive spacecraft 9 to move, complete the finding accurately of barycenter, specific works flow process as shown in Figure 8.
Basic step in conjunction with above-mentioned illustrative system work is:
1) connecting element in thrust baring is fixed with extraneous;
2) adjust fastened die block, by spacecraft be arranged on can barycenter automatically find accurately without in constraint suspension system, the preliminary rough position of adjusting spacecraft, adjusts the axle of little bearing on force-applying piece, makes each shaft strength even, guarantees spacecraft firm grip;
3) can checking system follow rolling, pitching, the yawing rotation of spacecraft flexibly;
4) after above step completes, system powers on, and host computer PC, according to the information of obliquity sensor, is coordinated to control barycenter and found module and fastened die block co-ordination accurately, finds the barycenter of spacecraft accurately, completes the suspension that hitch point of equal value overlaps with barycenter;
5) after barycenter is found accurately and is automatically fixed, start the relevant checking work of spacecraft, in experimental verification process, when PC receives after the information of spacecraft structure variation, coordinate fastened die block and barycenter and find module accurately, adjust at any time the hanging position of spacecraft, the barycenter that meets equivalent hitch point overlaps with the barycenter of spacecraft all the time;
6) complete after relevant checking or work, PTO Power Take Off, unloads spacecraft.
Claims (6)
1. can barycenter automatically find accurately without a constraint suspension design method, it is characterized in that: system comprises that three degree of freedom rotates servo-actuated module, fastened die block, barycenter and finds module and data acquisition and control module accurately.
According to right 1 require described a kind of can barycenter automatically find accurately without constraint suspension system, it is characterized in that: described three degree of freedom rotates servo-actuated module and comprises connecting element in thrust baring, thrust baring, the outer connecting element of thrust baring, overall fixed frame, gusset, double-screw bolt, antifriction-bearing box, bearing screw collar, force-applying piece, little rolling bearing axis, little antifriction-bearing box and bolt of rear end plate; Little antifriction-bearing box directly and spacecraft Surface Contact, it is fixed on force-applying piece by little rolling bearing axis, little bearing axle can move within the scope of the square through hole on force-applying piece, double-screw bolt one end is connected with force-applying piece, and by being fixed on the tightness degree of the little antifriction-bearing box of bearing screw collar control in antifriction-bearing box and spacecraft laminating, under the compression of double-screw bolt, in the time that spacecraft does rolling movement, the little antifriction-bearing box of contact is followed rolling with it; Antifriction-bearing box is fixed on overall fixed frame, is inside connected with bearing screw collar, and in the time that spacecraft does luffing, under the low friction support providing at antifriction-bearing box, little antifriction-bearing box, force-applying piece, double-screw bolt, bearing screw collar do luffing thereupon together; Thrust baring upper end is arranged on overall fixed frame by the outer connecting element of thrust baring, its lower end is connected with connecting element in thrust baring, in the time that spacecraft does yawing rotation and rotates around thrust baring axis, in thrust baring lower end and thrust baring, connecting element, remainder is with spacecraft yawing rotation; Entirety fixed frame is provided with gusset.
According to right 1 require described a kind of can barycenter automatically find accurately without constraint suspension system, it is characterized in that: described fastened die block comprises big gear wheel, monodentate miniature gears and fastening servomotor; Monodentate miniature gears is arranged on fastening servomotor and with big gear wheel and engages, and the double-screw bolt that big gear wheel and three degree of freedom rotate in servo-actuated module is connected; By the control that fastening servomotor is rotated, can control described three degree of freedom and rotate the tightness degree that the medium and small antifriction-bearing box of servo-actuated module and spacecraft are fitted; Adopt monodentate miniature gears to avoid introducing additional friction torque in the time of space flight luffing.
According to right 1 require described a kind of can barycenter automatically find accurately without constraint suspension system, it is characterized in that: described barycenter is found module accurately and comprised lower end carriage, gusset, line slideway, slide block, clamping servomotor, miniature gears, big gear wheel, double-screw bolt, guide rail servomotor, synchronizing wheel, synchronizing wheel fixed mount, Timing Belt and be arranged on the line slideway, slide block, clamping servomotor, double-screw bolt, big gear wheel, the miniature gears that on overall fixed frame, coordinate with it; Clamping servomotor, double-screw bolt, big gear wheel and miniature gears form clamping group; The line slideway of below is arranged on the carriage of lower end, on it, be combined with the slide block that can move along it, clamping servomotor and double-screw bolt are installed on slide block, miniature gears is arranged on clamping servomotor, engage with the big gear wheel being arranged on double-screw bolt, can drive big gear wheel along the double-screw bolt axis direction fastening spacecraft that moves; The symmetrical mechanism being arranged on overall fixed frame has coordinated the fastening action to spacecraft with said mechanism; Spacecraft clamped fixing after, the guide rail servomotor being arranged on line slideway drives by the transmission of synchronizing wheel and Timing Belt the slide block movement being arranged on line slideway, thereby drives spacecraft to move, and completes finding accurately barycenter; Lower end carriage is provided with gusset.
According to right 1 require described a kind of can barycenter automatically find accurately without constraint suspension system, it is characterized in that described data acquisition and control module comprises host computer PC, capture card, driving control card, rang sensor and obliquity sensor; Obliquity sensor is arranged on spacecraft, and rang sensor is arranged on barycenter and finds accurately in the big gear wheel in module; Data acquisition module coordination control barycenter finds module accurately and fastened die block completes the adjustment to spacecraft hanging position, guarantees that equivalent hitch point overlaps with the barycenter of spacecraft all the time.
According to right 1 require described a kind of can barycenter automatically find accurately without constraint suspension system, it is characterized in that: the algorithm of this system is as follows:
(1) connecting element in thrust baring is fixed with extraneous;
(2) adjust fastened die block, by spacecraft be arranged on can barycenter automatically find accurately without in constraint suspension system, the preliminary rough position of adjusting spacecraft, adjusts the axle of little bearing on force-applying piece, makes each shaft strength even, guarantees spacecraft firm grip;
(3) can checking system follow rolling, pitching, the yawing rotation of spacecraft flexibly;
(4) after above step completes, system powers on, and host computer PC, according to the information of obliquity sensor, is coordinated to control barycenter and found module and fastened die block co-ordination accurately, finds the barycenter of spacecraft accurately, completes the suspension that hitch point of equal value overlaps with barycenter;
(5) after barycenter is found accurately and is automatically fixed, start the relevant checking work of spacecraft, in experimental verification process, when host computer PC receives after the information of spacecraft structure variation, coordinate fastened die block and barycenter and find module accurately, adjust at any time the hanging position of spacecraft, the barycenter that meets equivalent hitch point overlaps with the barycenter of spacecraft all the time;
(6) complete after relevant checking or work, PTO Power Take Off, unloads spacecraft.
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| CN105173125A (en) * | 2015-07-31 | 2015-12-23 | 上海卫星工程研究所 | Adjustable air flotation device for satellite eccentric expandable accessories and using method of adjustable air flotation device |
| CN105173125B (en) * | 2015-07-31 | 2017-03-08 | 上海卫星工程研究所 | Scalable air-floating apparatus for the eccentric deployable adnexa of satellite and its using method |
| CN105551366A (en) * | 2015-12-16 | 2016-05-04 | 北京精密机电控制设备研究所 | Ground microgravity equivalent experimental device and method of six-freedom-degree spatial mechanical arm |
| CN106005495B (en) * | 2016-06-12 | 2018-01-02 | 北京航空航天大学 | It is a kind of to maintain system without constraint suspension posture |
| CN106005495A (en) * | 2016-06-12 | 2016-10-12 | 北京航空航天大学 | Unconstrained suspension attitude maintaining system with three typical implementation modes |
| CN106081172A (en) * | 2016-06-13 | 2016-11-09 | 北京航空航天大学 | A kind of irregular spacecraft attitude servo system with inertia compensation |
| CN106005497A (en) * | 2016-06-13 | 2016-10-12 | 北京航空航天大学 | Suspension type six-degree-of-freedom micro-gravity environment simulating system |
| CN105947237A (en) * | 2016-06-13 | 2016-09-21 | 北京航空航天大学 | Spacecraft attitude servo system suitable for mass center dynamic change |
| CN105905320B (en) * | 2016-06-13 | 2017-11-10 | 北京航空航天大学 | A kind of active gravity compensation system for having driftage servo-actuated |
| CN105905320A (en) * | 2016-06-13 | 2016-08-31 | 北京航空航天大学 | Active gravity compensation system with yaw follow-up function |
| CN106081172B (en) * | 2016-06-13 | 2018-02-06 | 北京航空航天大学 | A kind of irregular spacecraft attitude servomechanism with inertia compensation |
| 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 |
| 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 |
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