CN104986359A - Six-degree-of-freedom air bearing table gravity balance control system and control method - Google Patents
Six-degree-of-freedom air bearing table gravity balance control system and control method Download PDFInfo
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- CN104986359A CN104986359A CN201510320046.6A CN201510320046A CN104986359A CN 104986359 A CN104986359 A CN 104986359A CN 201510320046 A CN201510320046 A CN 201510320046A CN 104986359 A CN104986359 A CN 104986359A
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Abstract
The invention discloses a six-degree-of-freedom air bearing table gravity balance control system and a control method used for dynamic unloading of rail machine and ascender simulation devices in a gravity direction in a moon weak collision rendezvous and docking ground all-physical simulation test. The invention proposes a six-degree-of-freedom air bearing table gravity balance control scheme for the first time to provide a strong method for spacecraft ground six-degree-of-freedom dynamics all-physical simulation.
Description
Technical field
The present invention relates to a kind of six degree of freedom air floating table gravitational equilibrium control system and control method, belong to full physical simulation field, space vehicle ground.
Background technology
Six degree of freedom air floating table is the nucleus equipment of the moon weak shock spacecrafts rendezvous ground full physical simulation test, geometric ratio mode is adopted to simulate quality and the Inertia Characteristics of orbiter, orbital vehicle, there are three rotational freedoms and three translational degree of freedom, in order to the microgravity environment of virtual space, realizing the gravity unloading on gravity direction is the root problem that must solve, also be the principal element of the full degree of freedom emulation of the full physics in restriction ground, space, have impact on the assessment of test results reliability greatly.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, propose a kind of six degree of freedom air floating table gravitational equilibrium control system and control method, dynamic offloading on the moon weak shock spacecrafts rendezvous ground full physical simulation test middle orbit device and lifting device analog machine gravity direction, the present invention proposes a kind of six degree of freedom air floating table gravitational equilibrium control method first for spacecraft ground six-degree-of-freedom dynamics full physical simulation provides strong means.
The technical solution used in the present invention is:
A kind of six degree of freedom air floating table gravitational equilibrium control system, comprising: six degree of freedom air floating table, airbag chamber, electromagnetic system, pressure sensor and linear grating; Airbag chamber is the cavity that top is opened wide, six degree of freedom air floating table is as in cavity, linear grating is fixed on airbag chamber inwall, electromagnetic system controls to air bag interacvity air-filling or venting, make six degree of freedom air floating table be suspended in airbag chamber, pressure sensor is placed in airbag chamber for measuring intracavity gas pressure; Six degree of freedom air floating table is floating up and down along the direction perpendicular to airbag chamber bottom surface according to the difference of inflation pressure.
A kind of air floating table gravitational equilibrium control method, step is as follows:
(1) controlled to air bag interacvity air-filling by electromagnetic system, make six degree of freedom air floating table floating;
(2) the gaseous tension p in airbag chamber is measured by pressure sensor;
(3) the distance d between the distance airbag chamber inner bottom surface of six degree of freedom air floating table bottom surface is measured by linear grating;
(4) step (3) is measured distance d and the L obtained and do difference, namely L-d, L are the expected value of the spacing of six degree of freedom air floating table bottom surface and airbag chamber inner bottom surface; Based on the difference L-d obtained, regulate according to the position of air floating table gravitational equilibrium control loop to air floating table, enter step (5) afterwards;
(5) circulation performs step (2)-(4), until L-d<2mm, now the buoyancy that produces of air bag intracavity gas offsets with the gravity of air floating table, thus realizes the gravitational equilibrium control of six degree of freedom air floating table.
Described air floating table gravitational equilibrium control loop comprises position ring and pressure ring; The input of position ring is L-d, is PID regulates after difference at position ring; Pressure ring be input as position ring PID regulate after output, be PID in pressure ring after the output after described position ring PID being regulated and described step (2) measure the gaseous tension p difference obtained and regulate
The present invention's beneficial effect is compared with prior art:
(1) the present invention's complex controll mode of adopting position and pressure to combine, improves the rigidity of system, achieves the AF panel to air pressure fluctuation, ensure that the dynamic offloading to air floating table gravity.
(2) essence of in-depth study air-bearing gravitational equilibrium of the present invention, innovation realization air floating table gravity dynamical balancing method; Innovative design barometric surveying and control method, achieve the gravity dynamic offloading to air floating table in conjunction with error compensation.Improve the dynamic stability of air floating table gravity unloading, can realize accurately unloading air floating table dynamic gravity, this thinking is that the six-degree-of-freedom dynamics emulation of space motion body ground provides possibility.
Accompanying drawing explanation
Fig. 1 is present system configuration diagram;
Fig. 2 is the inventive method diagram of circuit.
Fig. 3 is the inventive method principle schematic.
Detailed description of the invention
The present invention utilizes the intrinsic propesties of air supporting linear bearing, by actual measurement air pressure and position data, accurately can realize the stability contorting to gaseous tension, and can realize the full degree of freedom simulation of spacecraft ground dynam.For spacecraft ground six-degree-of-freedom dynamics full physical simulation provides strong means.
As shown in Figure 1, the invention provides a kind of six degree of freedom air floating table gravitational equilibrium control system, comprising: six degree of freedom air floating table, airbag chamber, electromagnetic system, pressure sensor and linear grating; Airbag chamber is the cavity that top is opened wide, six degree of freedom air floating table is as in cavity, linear grating is fixed on airbag chamber inwall, electromagnetic system controls to air bag interacvity air-filling or venting, make six degree of freedom air floating table be suspended in airbag chamber, pressure sensor is placed in airbag chamber for measuring intracavity gas pressure; Six degree of freedom air floating table is floating up and down along the direction perpendicular to airbag chamber bottom surface according to the difference of inflation pressure.
The present invention, also based on above-mentioned control system, achieves a kind of control method of air floating table gravitational equilibrium.Its principle as shown in Figure 3, is regulated by the position of air floating table gravitational equilibrium control loop to air floating table, thus makes air floating table be positioned at assigned address, and buoyant gas offsets air floating table gravity, realizes gravitational equilibrium and controls.
Air floating table gravitational equilibrium control loop comprises position ring and pressure ring.
As shown in Figure 2, air floating table gravitational equilibrium control method provided by the invention, step is as follows:
(1) controlled to air bag interacvity air-filling by electromagnetic system, pneumatic system is made up of airbag chamber-piston apparatus, and be connected with storage tank, the average pressure value being cylinder by the size of adjustment apportioning valve remains on setting value, realizes making six degree of freedom air floating table floating to the heavy equilibrium of forces of air floating table;
(2) the gaseous tension p in airbag chamber is measured by pressure sensor;
(2) the distance d between the distance airbag chamber inner bottom surface of six degree of freedom air floating table bottom surface is measured by linear grating;
(4) step (3) is measured distance d and the L obtained and do difference, namely L-d, L are the expected value of the spacing of six degree of freedom air floating table bottom surface and airbag chamber inner bottom surface; Based on the difference L-d obtained, regulate according to the position of air floating table gravitational equilibrium control loop to air floating table, enter step (5) afterwards;
Air floating table gravitational equilibrium control principle makes the pressure in lower atmospheric pressure cavity by pressure regulating valve and carries in a basic balance, control to make in gravity direction displacement to be zero substantially by pressure sensor feedback electric pressure-regulating valve again, reach gravity direction accurate balance, then keep this pressure always in whole simulation process.Its control loop is: the input of position ring is L-d, is PID regulates after difference at position ring; Pressure ring be input as position ring PID regulate after output, be PID in pressure ring after the output after described position ring PID being regulated and described step (2) measure the gaseous tension p difference obtained and regulate.(5) circulation performs step (2)-(4), until L-d<2mm, can ensure under disturbed condition by the suction quantity of electromagnetic valve auto regulation cylinder and air output, realize the counteracting to the gravity of air floating table, thus the gravitational equilibrium realizing six degree of freedom air floating table controls.
A kind of six degree of freedom air floating table weight balancing system of the present invention and control method, for the ground full degree of freedom dynamics of complete virtual space aircraft provides possibility, compared with traditional five degree of freedom air floating table, the true space vehicle motion process real kinetic that fully simulates develops, the method of the invention adds the freedom of motion of traditional air floating table vertical direction, achieve the simulation that space vehicle orbit plane moves outward, space vehicle ground full physics GNC will be made to test more true, more comprehensively.
Claims (3)
1. a six degree of freedom air floating table gravitational equilibrium control system, is characterized in that comprising: six degree of freedom air floating table, airbag chamber, electromagnetic system, pressure sensor and linear grating; Airbag chamber is the cavity that top is opened wide, six degree of freedom air floating table is as in cavity, linear grating is fixed on airbag chamber inwall, electromagnetic system controls to air bag interacvity air-filling or venting, make six degree of freedom air floating table be suspended in airbag chamber, pressure sensor is placed in airbag chamber for measuring intracavity gas pressure; Six degree of freedom air floating table is floating up and down along the direction perpendicular to airbag chamber bottom surface according to the difference of inflation pressure.
2., based on the air floating table gravitational equilibrium control method that control system described in claim 1 realizes, it is characterized in that step is as follows:
(1) controlled to air bag interacvity air-filling by electromagnetic system, make six degree of freedom air floating table floating;
(2) the gaseous tension p in airbag chamber is measured by pressure sensor;
(3) the distance d between the distance airbag chamber inner bottom surface of six degree of freedom air floating table bottom surface is measured by linear grating;
(4) step (3) is measured distance d and the L obtained and do difference, namely L-d, L are the expected value of the spacing of six degree of freedom air floating table bottom surface and airbag chamber inner bottom surface; Based on the difference L-d obtained, regulate according to the position of air floating table gravitational equilibrium control loop to air floating table, enter step (5) afterwards;
(5) circulation performs step (2)-(4), until L-d<2mm, now the buoyancy that produces of air bag intracavity gas offsets with the gravity of air floating table, thus realizes the gravitational equilibrium control of six degree of freedom air floating table.
3. a kind of six degree of freedom air floating table gravitational equilibrium control method according to claim 2, is characterized in that: described air floating table gravitational equilibrium control loop comprises position ring and pressure ring; The input of position ring is L-d, is PID regulates after difference at position ring; Pressure ring be input as position ring PID regulate after output, be PID in pressure ring after the output after described position ring PID being regulated and described step (2) measure the gaseous tension p difference obtained and regulate.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480440A (en) * | 2015-11-23 | 2016-04-13 | 上海卫星装备研究所 | Open earth simulator applied to three-axis air bearing table |
| CN105936339A (en) * | 2016-06-14 | 2016-09-14 | 南京航空航天大学 | Micro-gravity environment ground air flotation simulation mechanism and system and working method thereof |
| CN108146664A (en) * | 2017-12-05 | 2018-06-12 | 北京卫星制造厂 | A kind of space deployable mechanism gravity unloading device based on gas suspension |
| CN108445742A (en) * | 2018-02-07 | 2018-08-24 | 广东工业大学 | A kind of intelligent PID control method of gas suspension platform |
| CN108715236A (en) * | 2018-03-28 | 2018-10-30 | 上海宇航系统工程研究所 | The reusable Test-bed of simulated implementation space grapefruit satellite |
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2015
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480440A (en) * | 2015-11-23 | 2016-04-13 | 上海卫星装备研究所 | Open earth simulator applied to three-axis air bearing table |
| CN105936339A (en) * | 2016-06-14 | 2016-09-14 | 南京航空航天大学 | Micro-gravity environment ground air flotation simulation mechanism and system and working method thereof |
| CN108146664A (en) * | 2017-12-05 | 2018-06-12 | 北京卫星制造厂 | A kind of space deployable mechanism gravity unloading device based on gas suspension |
| CN108445742A (en) * | 2018-02-07 | 2018-08-24 | 广东工业大学 | A kind of intelligent PID control method of gas suspension platform |
| CN108715236A (en) * | 2018-03-28 | 2018-10-30 | 上海宇航系统工程研究所 | The reusable Test-bed of simulated implementation space grapefruit satellite |
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