CN103879571B - Design method for vertical constant force system - Google Patents
Design method for vertical constant force system Download PDFInfo
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- CN103879571B CN103879571B CN201410142865.1A CN201410142865A CN103879571B CN 103879571 B CN103879571 B CN 103879571B CN 201410142865 A CN201410142865 A CN 201410142865A CN 103879571 B CN103879571 B CN 103879571B
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Abstract
The invention provides a vertical constant force system. The vertical constant force system comprises a balance point constant force spring module, a gear and rack compensation module and a data acquisition and control module and is used for compensating the gravity generated in the process of ground validation of a spacecraft. The balance point constant force spring module comprises a compressed spring, a linear guide rail, linear bearings, rolling bearings, a spring jacket and connecting parts and is used for providing constant force at a balance point. The gear and rack compensation module comprises a gear and rack set, a motor and a fixing plate. When the spacecraft deviates from the balance point, the gear and rack compensation module can drive the balance point constant force spring module arranged at the lower end of the gear and rack compensation module to do acceleration and deceleration motion or uniform motion in the vertical direction to adjust force on the compressed spring, so constant force output is guaranteed. The data acquisition and control module comprises a motor driver, a control card, a high-precision tension sensor, a displacement sensor, a data acquisition card and an upper computer PC. The vertical constant force system can be used for providing the constant force in the vertical direction and compensating the gravity of the spacecraft and has the advantages being stable in operation, not prone to external interference, high in constant force accuracy and the like.
Description
Art
The invention belongs to verification technique field, spacecraft Navigation, Guidance and Control system ground, be specifically related to a kind of vertical direction constant force system.
Background technology
Space engineering is an excessive risk, high investment, high repayment, high complexity and high-precision system engineering, and can its development degree determine seize high-tech commanding elevation, farthest utilize space resources.Certainly, actively develop space technology research in China extremely urgent, but space environment is extremely severe, in order to complete space mission smoothly, must test fully on ground, therefore domestic and international each space flight mechanism all pays much attention to the experimental verification of spacecraft on ground.
A most important feature of space environment is microgravity, but, ground experiment room is for there being gravity environment, in order to reproduce the real motion situation in spacecraft space microgravity environment on ground, improve the confidence level of ground validation Navigation, Guidance and Control system experimentation, need to be that spacecraft sets up a microgravity environment close with space real conditions on ground.Realize this target, its key compensates spacecraft gravity suffered in ground experiment room environmental.The existing means realizing 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 that is short, that take is large, the limited space that can provide and cost is high; The damping of liquid float glass process is large, maintenance cost is high and be only suitable for the situation of low-speed motion, and By Bubble-floating Method is relative with suspension method system architecture simple, is easy to the microgravity environment set up in laboratory.By Bubble-floating Method generally can only carry out the motion simulation of five degree of freedom, hangs the simulation that rule can carry out six degree of freedom." the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure " that number of patent application is CN201220400797 discloses a kind of " parallel connection " scheme by motor ball-screw and cylinder suspension integration and compensates gravity suffered by spacecraft and provide the freedom of motion of its vertical direction, solve the problem that By Bubble-floating Method can only carry out five degree of freedom motion simulation, but its structure relative complex, air compressing process equipment floor area is large, and marble involves great expense; Number of patent application is the freedom of motion that " a kind of without constraint suspension formula initiatively gravity compensation design method " of CN201310466806 discloses that a kind of gravity by hang spring tension force suspension compensation spacecraft provides vertical direction, but spacecraft moment is stressed when exceeding space craft gravity, tension force on hang spring is undergone mutation, and proposes high requirement to the performance of charging system; Thus needing to seek a kind of simple effective method for suspension type charging system provides constant force.
In this type of constant force system existing, steel rope is adopted to provide constant force, when the power on steel rope changes, Active Compensation, but the power on steel rope changes instantaneously, when the external force that spacecraft is subject to is greater than the gravity of spacecraft, steel wire rope looseness, compensates the risk that there is transient failure; The assembly designed by spring assembly meets spacecraft in certain range of movement, and the power that spring system provides is constant, but the accuracy requirement of the method to spring constant is high, and range of movement is little, and complex structure; Double-motor adds the method for designing of torsion spring, and control complicated, vertical direction is easily disturbed.
Summary of the invention
The present invention proposes actv. on a kind of vertical direction, high-precision, stable, that be not subject to ectocine and can the constant force design method of gravity suffered by full remuneration spacecraft, thus the microgravity environment simulated in space, be not subject to the impact of gravity when ensureing spacecraft ground verification experimental verification.
The principle that the present invention is based on is that the power on spring was not undergone mutation in the moment of its stressed change, namely when spring one end stressed changes, power on spring can not flip-flop, thus the equilibrium point of space craft gravity is equaled at spring force, spacecraft stressed moment, power on spring equals space craft gravity, the state of kinematic motion of spacecraft depends on external force completely, when under external force, during spring generation micro-displacement, select the spring that spring rate is less, still can think that the power of spring equals the gravity of spacecraft, but the high precision tension force of system and displacement pickup can record this change, pass to host computer PC, this change of host computer PC control torque torque motor motion compensation, the power that guarantee system exports is constantly equal to the gravity of spacecraft.
Technical scheme of the present invention:
A kind of vertical direction constant force of the present invention system comprises equilibrium point constant force spring module, rack-and-gear compensating module and data acquisition and control module, and rack-and-gear compensating module and equilibrium point constant force spring module are for being rigidly connected.Equilibrium point constant force module realizes spacecraft when stress balance is in static or uniform movement, and spring force equals space craft gravity all the time, and the motion of spacecraft is not affected by gravity; Rack-and-gear compensating module, when ensureing the stressed change of spacecraft, the amount of compression of timely compensator spring, realizes the constant force on spring, and namely spring force equals the gravity of spacecraft all the time; Data acquisition and control module, the change of power and the change of spacecraft vertical direction displacement on Real-Time Monitoring spring, by the real time signal processing gathered, the action of pinion tooth bar compensating module, finally realize the motion of spacecraft spacecraft under various regimes by the impact of gravity, spacecraft is in the movement environment of microgravity.
Described equilibrium point constant force spring module comprises stage clip, line slideway, linear bearing, linear bearing contiguous block, spring upper end contiguous block, the first antifriction-bearing box, the first antifriction-bearing box fixed mount, spring overcoat and overcoat coupling end.Linear bearing is embedded in linear bearing contiguous block, coordinates with line slideway, can the linearly low friction rolling of guide rail; Linear bearing contiguous block is connected with spring upper end contiguous block, spring overcoat is connected to the lower end of spring upper end contiguous block, spring overcoat lower end is provided with and overcoat coupling end convenient connection is compensated spacecraft, the gravity of spacecraft passes to stage clip by overcoat coupling end, spring overcoat and overcoat coupling end, under space craft gravity effect, stage clip is compressed, and reaches the equilibrium point state of equilibrium of Mg=k △ x.First antifriction-bearing box fixed mount is arranged on the lower end of line slideway, it is fixed with two the first antifriction-bearing boxs, and the first antifriction-bearing box has coordinated the support to spring overcoat with linear bearing, makes it along the low friction of guide rail without shaking Dynamic stability rolling movement.Stage clip selects elasticity modulus less, produces larger deformation when identical application force, to improve the precision of system.
Described rack-and-gear compensating module comprises miniature gears, tooth bar and fixation kit thereof, torque motor and adapter plate.Tooth bar fixation kit comprises tooth bar extenal fixation frame and the second antifriction-bearing box, and the second antifriction-bearing box is arranged on tooth bar extenal fixation frame, tooth bar and the second antifriction-bearing box tangent.Miniature gears engages with tooth bar, and under torque motor effect, band carry-over bar in the vertical direction does acceleration and deceleration or uniform movement, drives and is arranged on its lower end equilibrium point constant force spring block motion, control the amount of compression of stage clip, thus the power on controlling spring.Miniature gears is arranged on torque motor, and tooth bar and fixation kit thereof and torque motor are all arranged on adapter plate.
Described data acquisition and control module comprises motor driver, motor control card, high precision tension pick-up, displacement pickup, data collecting card and host computer PC.This module is the brain of system, is responsible for the Data Collection of various piece, process produce the work that control signal works in coordination with every part.High precision tension pick-up can detect that on spring, the subtle change of power passes to PC in time, the change in displacement of the linear bearing contiguous block recorded is passed to PC by simultaneous displacement sensor, both signals are carried out data fusion by PC, produce control signal, the amount of compression of controlling spring.
Working process of the present invention is: when spacecraft carries out orbit maneuver, the motor-driven actr of spacecraft own orbit is applied through the application force of barycenter to spacecraft body: when directed force F vertically time, spacecraft by this signal transmission to vertical direction constant force system, system is according to the size of power F, direction and high precision tension pick-up, the change of the information of displacement pickup, send control signal, the effect of pinion tooth bar compensating module, band libration point identical tension block motion, the change of compensator spring amount of compression under external force F effect, spring force is made to equal space craft gravity all the time.The moment of power is straight up subject at spacecraft, power on spring is not undergone mutation, namely this moment spring force equal the gravity of spacecraft, the dynamics of spacecraft is not affected by gravity, when under vertical direction power F effect, the amount of compression of spring changes, when spring force F is not equal to space craft gravity G, high precision tension pick-up by the signal transmission that detects to PC, the change of the amount of spring compression recorded is passed to host computer PC by simultaneous displacement sensor, PC produces control signal control torque motor movement according to the feed-forward information of the signal intensity of sensor and spacecraft, thus band libration point constant force spring module acceleration and deceleration or uniform movement, the amount of compression of adjustment spring, eliminate the deviation of spring force, ensure that the constant force of vertical direction exports.
The constant force system features in convenient of a kind of vertical direction that the present invention proposes, is connected spacecraft with overcoat coupling end, point of stable equilibrium to be achieved, powers on and just can start working.
The present invention contrasts existing technology following features:
1, be connected with rope, the power on spring can not be undergone mutation, and when the power that spacecraft vertical direction is subject to exceedes the gravity of spacecraft, spring still can provide the compensation of degree of precision;
2, be connected with extension spring, stage clip is easily fixed, and is not subject to external interference and shakes, and afford redress precision;
3, the constant force provided with magnetic force, structure is simple, can provide enough large stroke at vertical direction, can not produce electromagnetic interference to the circuit of spacecraft;
4, the constant force provided with air supporting, adds the degree of freedom of vertical direction motion;
5, with liquid the constant force provided is provided, when being applicable to spacecraft high-speed motion, can not to spacecraft produce corrosion, cost and maintenance cost low.
Accompanying drawing explanation
Fig. 1 is the front elevation of a kind of vertical direction constant force of the present invention system.
Number in the figure: 1: spring overcoat coupling end; 2: the first antifriction-bearing boxs; 3: the first antifriction-bearing box fixed mounts; 4: line slideway; 5: stage clip; 6: spring overcoat; 7: spring upper end contiguous block; 8: linear bearing; 9: linear bearing contiguous block; 10: displacement pickup; 11: high precision tension pick-up; 12: adapter plate; 13: torque motor; 14: miniature gears; 15: tooth bar and fixation kit thereof.
Fig. 2 is rack-and-gear compensating module birds-eye view of the present invention.
Number in the figure: 1: miniature gears; 2: bolt of rear end plate; 3: motor fixing plate; 4: torque motor; 5: adapter plate; 6: the second antifriction-bearing boxs; 7: tooth bar; 8: tooth bar extenal fixation frame.
Fig. 3 is that the present invention first antifriction-bearing box and its fixed mount assemble schematic diagram.
Number in the figure: 1: the first antifriction-bearing box; 2: bearing bolt of rear end plate; 3: the first antifriction-bearing box fixed mounts.
Fig. 4 is the present invention first antifriction-bearing box fixed mount schematic diagram.
Number in the figure: 1: through hole; 2: tapped bore, 3: oblong aperture installed by bearing; 4: relief groove; 5: threaded ends.
Fig. 5 is the information flow direction figure of a kind of vertical direction constant force of the present invention system.
Fig. 6 is the simplification math modeling schematic diagram of a kind of vertical direction constant force of the present invention system.
Fig. 7 is the control block diagram of a kind of vertical direction constant force of the present invention system.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
Composition graphs 1 and Fig. 5, basic ideas of the present invention are the feed-forward informations utilizing spacecraft, the system constant force realized near equilibrium point by equilibrium point constant force spring module is exported, when there being the power effect of vertical direction to make it to depart from equilibrium point, this change that tension pick-up and displacement pickup are surveyed, passes to PC, sends control command after PC processing signals, the motion of pinion tooth bar compensating module and then compensation external force cause the change of the power on spring, ensure that system constant force exports.
Spring overcoat coupling end 1 left end can be connected with spacecraft or the device hanging spacecraft, the other end is connected with spring overcoat 6, first antifriction-bearing box 2 is arranged on the first antifriction-bearing box fixed mount 3, first antifriction-bearing box fixed mount 3 is arranged on line slideway 4, first antifriction-bearing box 2 support spring overcoat 6 does the rolling movement of low friction on line slideway 4, the other end of spring overcoat 6 is connected on linear bearing contiguous block 9 by spring upper end contiguous block 7, form an entirety with it, its right-hand member can linearly move by guide rail 4 under the support of the linear bearing 8 be embedded in linear bearing contiguous block 9, the amount of compression of the controlled superzapping spring 5 of assembly that the part in above-mentioned introduction except line slideway 4 is formed.Stage clip 5 one end is fixed on other one end on the first antifriction-bearing box fixed mount 3 and is fixed on spring upper end contiguous block 7.Line slideway 4 is connected with high precision tension pick-up 11, and because light spring two ends power is equal, the power on spring passes to line slideway by the first antifriction-bearing box fixed mount 3 be arranged on line slideway 4, thus passes to high precision tension pick-up 11.Displacement pickup 10 is arranged on high precision tension pick-up 11, is fixed on the lower end of tooth bar 15 therewith, and tooth bar 15 and miniature gears 14 are engaged on acceleration and deceleration or uniform movement under the drive of torque motor 13.Miniature gears 14 is arranged on torque motor 13, and torque motor 13 is fixed on adapter plate 12 with tooth bar and installation component 15 thereof.Concrete: composition graphs 2, tooth bar extenal fixation frame 8 is arranged on adapter plate 5 and it is provided with the second antifriction-bearing box 6, under the drive of miniature gears 1, tooth bar 7 can along tooth bar extenal fixation frame 8 rolling movement, miniature gears 1 is arranged on torque motor 4, torque motor 4 is fixed on motor fixing plate 3 by bolt of rear end plate 2, is fixed on adapter plate 5 by motor fixing plate 3; Composition graphs 3, first antifriction-bearing box 1 is fixed on the first antifriction-bearing box fixed mount 3 by bearing bolt of rear end plate 2, the feature of bearing bolt of rear end plate 2 is that one end has screw thread, the other end is optical axis, thread end utilizes the self-locking performance of screw thread to be fixed on the first antifriction-bearing box fixed mount 3, optical axis end and the first antifriction-bearing box 3 interference fit, fix its position, remainder plays a supportive role; The first antifriction-bearing box in composition graphs 4, Fig. 3 is fixed on bearing by bearing bolt of rear end plate and installs in oblong aperture 3, and bearing bolt of rear end plate thread end coordinates with tapped bore 2, and light beam end coordinates with through hole 1, in order to better machining screw coupling end 5, leaves relief groove 4.
Composition graphs 6 and Fig. 7, a kind of vertical direction constant force of the present invention system is equivalent to the combination of torque motor and mass-spring system.
Claims (4)
1. a vertical direction constant force system, is characterized in that: system is made up of equilibrium point constant force spring module, rack-and-gear compensating module and data acquisition and control module, verifies for compensating spacecraft ground the gravity be subject to;
Described rack-and-gear compensating module comprises miniature gears, tooth bar and fixation kit thereof, torque motor and adapter plate; Tooth bar fixation kit comprises tooth bar extenal fixation frame and the second antifriction-bearing box, and the second antifriction-bearing box is arranged on tooth bar extenal fixation frame, tooth bar and the second antifriction-bearing box tangent; Miniature gears engages with tooth bar, and under torque motor effect, band carry-over bar in the vertical direction does acceleration and deceleration or uniform movement, drives and is arranged on its lower end equilibrium point constant force spring block motion, control the amount of compression of stage clip, thus the power on controlling spring; Miniature gears is arranged on torque motor, and tooth bar and fixation kit thereof and torque motor are all arranged on adapter plate;
Described data acquisition and control module comprises motor driver, motor control card, high precision tension pick-up, displacement pickup, data collecting card and host computer PC; Merge the feed back input of information as host computer PC of high precision tension pick-up and displacement pickup, improve precision; This module is the brain of system, is responsible for the Data Collection of various piece, process produce the work that control signal works in coordination with every part;
System equivalent mathematical model is the combination of torque motor and mass-spring system.
2. a kind of vertical direction constant force system according to claim 1, is characterized in that: described tooth bar and fixation kit thereof comprise bolt of rear end plate, motor fixing plate, the second antifriction-bearing box and tooth bar extenal fixation frame; Tooth bar extenal fixation frame is arranged on adapter plate and it is provided with the second antifriction-bearing box, under the drive of miniature gears, tooth bar can along tooth bar extenal fixation frame rolling movement, torque motor is fixed on motor fixing plate by bolt of rear end plate, is fixed on adapter plate by motor fixing plate.
3. a kind of vertical direction constant force system according to claim 1, is characterized in that: described equilibrium point constant force spring module comprises stage clip, line slideway, linear bearing, linear bearing contiguous block, spring upper end contiguous block, the first antifriction-bearing box, the first antifriction-bearing box fixed mount, spring overcoat and overcoat coupling end; Linear bearing is embedded in linear bearing contiguous block, coordinates with line slideway, can the linearly low friction rolling of guide rail; Linear bearing contiguous block is connected with spring upper end contiguous block, spring overcoat is connected to the lower end of spring upper end contiguous block, spring overcoat lower end is provided with and overcoat coupling end convenient connection is compensated spacecraft, the gravity of spacecraft passes to stage clip by overcoat coupling end, spring overcoat and overcoat coupling end, under space craft gravity effect, stage clip is compressed, and reaches the equilibrium point state of equilibrium that spring force equals space craft gravity; First antifriction-bearing box fixed mount is arranged on the lower end of line slideway, it is fixed with two the first antifriction-bearing boxs, and the first antifriction-bearing box has coordinated the support to spring overcoat with linear bearing, makes it along the low friction of guide rail without shaking Dynamic stability rolling movement.
4. a kind of vertical direction constant force system according to claim 3, is characterized in that: described first antifriction-bearing box and its fixed mount comprise the first antifriction-bearing box, bearing bolt of rear end plate and the first antifriction-bearing box fixed mount; First antifriction-bearing box fixed mount comprises through hole, tapped bore, bearing installation oblong aperture, relief groove and threaded ends; First antifriction-bearing box is fixed on the first antifriction-bearing box fixed mount by bearing bolt of rear end plate, the feature of bearing bolt of rear end plate is that one end has screw thread, the other end is optical axis, thread end utilizes the self-locking performance of screw thread to be fixed on the first antifriction-bearing box fixed mount, optical axis end and the first antifriction-bearing box interference fit, fix its position, remainder plays a supportive role; First antifriction-bearing box is fixed on bearing by bearing bolt of rear end plate and installs in oblong aperture, and bearing bolt of rear end plate thread end coordinates with tapped bore, and light beam end coordinates with through hole, in order to better machining screw coupling end, leaves relief groove.
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| CN201410142865.1A CN103879571B (en) | 2014-04-10 | 2014-04-10 | Design method for vertical constant force system |
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| CN108408088B (en) * | 2017-12-26 | 2020-04-10 | 北京卫星制造厂 | Two-dimensional unfolding zero-gravity simulation device and method based on constant force spring |
| CN108502214B (en) * | 2018-05-02 | 2019-05-10 | 哈尔滨工业大学 | A kind of permanent tension system based on bi-motor and differential gear train |
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| CN113212816B (en) * | 2021-05-31 | 2022-04-12 | 哈尔滨工业大学 | Suspension type four-degree-of-freedom motion simulation system and use method |
| CN113565872B (en) * | 2021-07-30 | 2022-08-02 | 哈尔滨工业大学 | Electromagnetic auxiliary air-float constant force spring support |
| CN113928603B (en) * | 2021-09-13 | 2022-10-14 | 哈尔滨工业大学 | Six-degree-of-freedom space microgravity simulation device and control method |
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