CN108594897A - Based on temperature controlled shape memory cable net structure type face precision active regulating system - Google Patents
Based on temperature controlled shape memory cable net structure type face precision active regulating system Download PDFInfo
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- CN108594897A CN108594897A CN201810210796.1A CN201810210796A CN108594897A CN 108594897 A CN108594897 A CN 108594897A CN 201810210796 A CN201810210796 A CN 201810210796A CN 108594897 A CN108594897 A CN 108594897A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/20—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature
- G05D23/24—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature the sensing element having a resistance varying with temperature, e.g. a thermistor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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Abstract
The invention belongs to computer software technical fields, disclose one kind and being based on temperature controlled shape memory cable net structure type face precision active regulating system, described to include based on temperature controlled shape memory cable net structure type face precision active regulating system：Shape-memory alloy wire module, power module, multi-channel data acquisition module, temperature sensing module, Labview control modules.The power drive essence of shape memory drag-line is the power drive control of marmem, the power drive of marmem is controlled further through temperature, the present invention uses traditional electrified regulation type of drive, electrified regulation is carried out to memory alloy wire, austenite phase transformation occurs, contraction distortion is generated, realizes the tightening to drag-line.When heating is stopped, martensitic traoformation occurs for memory alloy wire, and the tensile force of drag-line reduces；Using the rope net antenna of 2m bores, integrated shape-memory alloy wire forms shape memory cable net structure and is tested.
Description
Technical field
The invention belongs to computer software technical fields, more particularly to one kind being based on temperature controlled shape memory rope net knot
Configuration face precision active regulating system.
Background technology
Currently, the prior art commonly used in the trade is such：Large-scale antenna high-precision cable net structure is severe in space for a long time
It is deformed under environment and mechanical property reduces, make the military service performance degradation of antenna.Currently, satellite in-orbit projected life compared with
It is long.If Thuraya telecommunication satellites in-orbit projected life is 12 years, Inmarsat4 satellites in-orbit projected life is 13 years.However,
Space environment is the major obstacle that satellite and antenna realize the long-life.The base that JAXA is studied in III truss antennas of ETS-V
On plinth, just trying to develop high-precision antenna by increasing the measure of circumferential rope and radial auxiliary rib, precision has reached submillimeter magnitude.So
And high-precision cable net structure respects sensitivity further to space environment, it is also necessary to try to improve the in-orbit guarantor of rope net day line style face precision
Holding property.
Therefore, harsh space environment makes the enlarged growth requirement of cable net structure antenna be kept with its functional form face precision
Between contradiction become increasingly conspicuous, new challenge is brought to traditional structure-design technique.It can be summarized as following two aspects
Reason：Structural relaxation under short cycle temperature profile effect and long period space radiation.
In conclusion problem of the existing technology is：Large-scale antenna high-precision cable net structure is for a long time in the severe ring in space
It is deformed under border and mechanical property reduces, make the military service performance degradation of antenna.
Solve the difficulty and meaning of above-mentioned technical problem：In order to overcome the defect of traditional structural design technology, must just grind
Study carefully under spatial complex environment, cable net structure antenna reflective face is in the in-orbit guarantor of Life cycle including short cycle and long period
The design method of type.And it is expected to carry to in-orbit guarantor's type design of antenna reflective face based on marmem variation rigidity Model Design
For effective solution route.
Invention content
In view of the problems of the existing technology, the present invention provides one kind being based on temperature controlled shape memory cable net structure
Type face precision active regulating system.
The invention is realized in this way a kind of actively adjusted based on temperature controlled shape memory cable net structure type face precision
System, it is described to include based on temperature controlled shape memory cable net structure type face precision active regulating system：Marmem
Silk module, power module, multi-channel data acquisition module, temperature sensing module, Labview control modules.
Shape-memory alloy wire module is connect with the output end of power module, using shape and spun gold, utilizes power module
Heating；
Multi-channel data acquisition module and temperature sensing module for the temperature of acquisition shape-memory alloy wire in real time and are incited somebody to action
In institute's gathered data synchronous transfer to the Labview programs of computer end；The Labview programs completion of computer end entirely controlled
Target temperature value is arranged in Labview front panels in journey, and Labview rear panels are collected temperature signal and target temperature value
It is compared in real time, obtains deviation signal e, PID control then is carried out to deviation, according to number in real time on Labview front panels
Adjust experience that pid parameter is set in real time according to comparison and pid parameter, P controls for ratio, and deviation size is proportional, adjusting P
Program is set to accelerate voltage and current governing speed；I is integration control, is the integral to deviation, and adjustment I misses to eliminate stable state
Difference；D controls for differential, is the differential of deviation, and differential is used for the variation tendency of prediction deviation, adjusts D to reduce overshoot, in turn
Improve system stability；Deviation signal is sent to power supply (programmable power supply) after PID control, in this way, power supply mould
Block can provide stable voltage output, and then require to heat shape-memory alloy wire according to the control of PC, until stablizing
To target temperature value.Control deviation e above-mentioned refers to the target temperature value r set and the temperature value y actually measured
Difference, i.e. the control signal of e (t)=r (t)-y (t), output is
Labview control modules, for read and handle the memory alloy wire of multi-channel data acquisition module transfer
Real time temperature, and according to target temperature value, output voltage and output are adjusted by the pid algorithm inside Labview programs
Electric current；Real-time control is carried out to power module, multi-channel data acquisition module and power module are connect with computer；
Temperature sensing module is mounted in multi-channel data acquisition module and is connected with shape-memory alloy wire module, is used for
Measure the temperature of shape-memory alloy wire module.
Further, described further to be wrapped based on temperature controlled shape memory cable net structure type face precision active regulating system
It includes：Computer, temperature collecting module, power supply, camera, shape memory drag-line, temperature sensor.
Further, the specific connection relation of circuit of the Labview control modules is：The input of Labview control modules
End connection temperature collecting module reads temperature data, the power module of output end connection power supply, Labview control modules in real time
Output voltage and electric current are adjusted according to target temperature value treatment temperature data
Another object of the present invention is to provide temperature controlled shape memory cable net structure type face essence is based on described in one kind
Spend active regulating system based on temperature controlled shape memory cable net structure type face precision active adjusting method, it is described based on temperature
The shape memory cable net structure type face precision active adjusting method of degree control includes the following steps：
Step 1 is powered to the memory alloy wire in shape memory drag-line；
Step 2, temperature collecting module collecting temperature data are supplied to computer；
Step 3, computer treatment temperature data and then the output power for controlling electric power source pair of module memory alloy wire；
Step 4, while being changed using the length of the photogrammetric shape memory drag-line of high resolution camera, by shape memory
The type face accuracy data of rope net antenna structure is transferred to computer and carries out data processing.
Further, described that PID is used based on temperature controlled shape memory cable net structure type face precision active adjusting method
The closed-loop control system of temperature is realized in control.
In conclusion advantages of the present invention and good effect are：The power drive essence of shape memory drag-line is shape memory
The power drive of alloy controls, and the power drive of marmem is controlled further through temperature, and the present invention is added using traditional energization
Thermal drivers mode carries out electrified regulation to memory alloy wire, austenite phase transformation occurs, generate contraction distortion, realizes to drag-line
Tightening.When heating is stopped, martensitic traoformation occurs for memory alloy wire, and the tensile force of drag-line reduces；Utilize the rope net of 2m bores
Antenna, integrated shape-memory alloy wire form shape memory cable net structure and are tested.Eight shape memory drag-lines of the present invention couple
Temperature controlled, make shape-memory alloy wire temperature meet rope net day line style face memory alloy wire temperature accuracy (0.2
DEG C) require.
Several groups of experimental datas done below for the invention：
From experimental data it can be seen that temperature error is less than 0.2 DEG C, the temperature much larger than memorial alloy drives interval value (horse
The difference of family name's body and austenite transformation temperature) meet test request.Under the control of this temperature control system, the RMS types face essence of antenna is measured
Degree can control within 0.01mm.
Compare other day line style face RMS data that shape memory drag-line antenna structure is not used.
The present invention is based on temperature controlled shape memory cable net structure type face precision actively to adjust system it can be seen from above
It unites to overcome the defect of traditional structural design technology to provide effective solution approach, the memorial alloy therein based on shape
Variation rigidity Model Design is expected to the design of in-orbit guarantor's type to antenna reflective face in Life cycle and provides effective solution route.
Invention enhances the abilities that rope net antenna structure is adapted to external environment, meet and finally improve the property of rope net antenna structure
Energy.
Description of the drawings
Fig. 1 is provided in an embodiment of the present invention based on the actively adjusting of temperature controlled shape memory cable net structure type face precision
System structure diagram；
Fig. 2 is shape-memory alloy wire bulk temperature control flow chart provided in an embodiment of the present invention.
Fig. 3 is temperature control system main modular unit relation schematic diagram provided in an embodiment of the present invention.
Fig. 4 is shape-memory alloy wire cable net structure schematic diagram provided in an embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The present invention starts with from cable net structure, and shape-memory alloy wire is applied to the cable net structure of antenna, is remembered using shape
The shape memory effect of B alloy wire is recalled to meet the type face precision of cable net structure, mainly passes through the temperature of control shape-memory alloy wire
Degree is adjusted to realize.
As shown in Figure 1, provided in an embodiment of the present invention be based on temperature controlled shape memory cable net structure type face precision master
Dynamic regulating system includes：Shape-memory alloy wire module (memory alloy wire), power module (power supply), data acquisition module
(temperature collecting module), temperature sensing module (temperature sensor), Labview control modules (PC).
As shown in Figure 1, the temperature control of shape memory drag-line, which is actively adjusted, uses Yokogawa multi-channel data acquisition system of MX100 Japan
System, can acquire the temperature data of more memory alloy wires, and feed back to PC machine, computer treatment temperature by RS485 serial ports simultaneously
Data control output current and output voltage of the power supply to memory alloy wire in turn.The face precision measure of RMS types is remote using day
3-D photography measuring system, by non-contact digital photography multiangular measurement method, the space for obtaining each node of wire side is sat
Mark, enters data into computer and calculates its RMS value, obtain the type face precision of cable net structure.
As shown in Fig. 2, shape-memory alloy wire bulk temperature control flow chart provided in an embodiment of the present invention specifically includes
Following steps：When experiment starts, a target temperature is given, gives the temperature of the rough amperometric determination memory alloy wire of power supply one
Degree, next relatively observed temperature and target temperature, comparison result divide three various situations：Situation one, observed temperature are less than target
Temperature, at this time system be automatically increased inflow current Δ, retest temperature；Situation two, observed temperature are more than target temperature, at this time
System reduces inflow current Δ automatically, retests temperature；Situation three, observed temperature are equal to target temperature, and system waits for N at this time
Continue thermometric after second, into comparison procedure.Whole process has reached the negative feedback control of a closed loop, and closed loop is realized to temperature
Control effect.
This experiment has used PID control in the design.PID control (proportional integral differential control) is one and is controlled in industry
Common backfeed loop component, is made of proportional unit P, integral unit I and differentiation element D in system application.The basis of PID control
It is ratio control；Integration control can eliminate steady-state error, but may increase overshoot；Differential control can accelerate Great inertia system response
Speed and decrease overshoot trend.Therefore the closed-loop control system of temperature is realized in experiment using PID control.
As shown in figure 3, temperature control system main modular unit relation schematic diagram provided in an embodiment of the present invention includes：It surveys
Warm module, control module, heating module, memory alloy wire.Whole system is a closed-loop control system, and heating module is power supply
Power supply, control module are the special Labview programs of computer end, and temperature measurement module is that MX100 Japan Yokogawa multi-channel data is adopted
Collecting system.
As shown in figure 4, shape-memory alloy wire cable net structure provided in an embodiment of the present invention, is a 2m bore collection forming
Shape remembers the antenna of cable net structure, and the stage casing of drag-line in cable net structure is designed to that shape-memory alloy wire, i.e. shape memory are drawn
Rope realizes the active control to antenna profile forms.
The application effect of the present invention is explained in detail with reference to experiment.
1, major experimental equipment：The programmable large power supply of shape-memory alloy wire, DPS600A, MX100 Japan Yokogawa are more
The Labview of channel data acquisition system, PT100 temperature sensors, the ends PC controls program.
2, memory alloy wire by DPS600A may be programmed large power supply heating, DPS600A may be programmed large power supply with
PC end data lines connect, and DPS600A may be programmed large power supply and be controlled program control by the Labview at the ends PC in the experiment control stage
Its output voltage and electric current are made, the temperature of shape-memory alloy wire is controlled.
3, PT100 temperature sensors and MX100 Japan Yokogawa multichannel data acquisition system can acquire more memorial alloys
The temperature data of silk, and the Labview for feeding back to by RS485 serial ports the ends PC controls program, temperature error is less than 0.2 Celsius
Degree much larger than the temperature driving interval value (difference of martensite and austenite transformation temperature) of marmem, therefore can meet
Temperature accuracy requirement of the cable net structure type in face of memory alloy wire.
4, Labview programs are opened, after may be programmed large power supply successful connection with DPS600A.In Labview operating surfaces
Start to test after setting relevant parameter on plate.Memory alloy wire is controlled by adjusting the pid parameter on Labview operation panels
Temperature, until equalized temperature target temperature.
When 5 experiments start, a target temperature is given, gives the temperature of the rough amperometric determination memory alloy wire of power supply one
Degree, next relatively observed temperature and target temperature, comparison result divide three various situations：Situation one, observed temperature are less than target
Temperature, at this time system be automatically increased inflow current Δ, retest temperature；Situation two, observed temperature are more than target temperature, at this time
System reduces inflow current Δ automatically, retests temperature；Situation three, observed temperature are equal to target temperature, and system waits for N at this time
Continue thermometric after second, into comparison procedure.Whole process has reached the negative feedback control of a closed loop, and closed loop is realized to temperature
Control effect.
This experiment has used PID control in the design.PID control (proportional integral differential control) is one and is controlled in industry
Common backfeed loop component, is made of proportional unit P, integral unit I and differentiation element D in system application.The basis of PID control
It is ratio control；Integration control can eliminate steady-state error, but may increase overshoot；Differential control can accelerate Great inertia system response
Speed and decrease overshoot trend.Therefore the closed-loop control system of temperature is realized in experiment using PID control.
By above-mentioned experimental program it is found that being primarily upon the RMS types face of temperature and the rope net antenna of 2 meters of bores in experiment test
Two magnitudes of precision.The temperature control of shape memory drag-line actively adjusts and uses MX100 Japan Yokogawa multichannel data acquisition system, can be same
When acquire the temperature datas of more memory alloy wires, and PC machine is fed back to by RS485 serial ports, temperature error is less than 0.2 DEG C, far
More than the temperature driving interval value (difference of martensite and austenite transformation temperature) of memorial alloy, therefore temperature test can be met and wanted
It asks.
The face precision measure of RMS types uses the remote 3-D photography measuring system in day, is surveyed by non-contact digital photography multi-angle
Amount method obtains the space coordinate of each node of wire side, enters data into computer and calculate its RMS value, obtain cable net structure
Type face precision.The RMS measurement accuracy of the system is can be controlled within 0.01mm.
The cable net structure that marmem is applied to antenna of the present invention is imitated using the shape memory of memory alloy wire
It answers, a kind of control system of control shape-memory alloy wire closed loop thermal is devised, eventually by the phase transformation of shape memory drag-line
Characteristic reaches the in-orbit retentivity of the type face precision and antenna that improve Spatial Cable net antenna.Temperature control system according to the present invention simultaneously
System has the characteristics that reaction is fast, precision is high, swift to operate, and temperature control system provides important borrow to the control experiment of some metal temperatures
Mirror.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (6)
1. one kind being based on temperature controlled shape memory cable net structure type face precision active regulating system, which is characterized in that described
Include based on temperature controlled shape memory cable net structure type face precision active regulating system：Shape-memory alloy wire module, electricity
Source module, multi-channel data acquisition module, temperature sensing module, Labview control modules；
Shape-memory alloy wire module is connect with the output end of power module, using shape and spun gold, using power module plus
Heat；
Multi-channel data acquisition module and temperature sensing module, temperature for acquiring shape-memory alloy wire in real time will simultaneously be adopted
Collect in data synchronous transfer to the Labview programs of computer end；
Labview control modules, for for the memory alloy wire that reads and handle multi-channel data acquisition module transfer it is real-time
Temperature, and according to target temperature value, output voltage and output current are adjusted by the pid algorithm inside Labview programs；
Real-time control is carried out to power module, multi-channel data acquisition module and power module are connect with computer；
Temperature sensing module is mounted in multi-channel data acquisition module and is connected with shape-memory alloy wire module, for measuring
The temperature of shape-memory alloy wire module.
2. it is based on temperature controlled shape memory cable net structure type face precision active regulating system as described in claim 1,
It is characterized in that, it is described to be further comprised based on temperature controlled shape memory cable net structure type face precision active regulating system：Meter
Calculation machine, temperature collecting module, power supply, camera, shape memory drag-line, temperature sensor.
3. it is based on temperature controlled shape memory cable net structure type face precision active regulating system as described in claim 1,
It is characterized in that, the specific connection relation of circuit of the Labview control modules is：The input terminal of Labview control modules connects
Temperature collecting module reads temperature data in real time, and the power module of output end connection power supply, Labview control modules are according to mesh
It marks temperature value treatment temperature data and adjusts output voltage and electric current.
4. a kind of as described in claim 1 based on temperature controlled shape memory cable net structure type face precision active regulating system
Based on temperature controlled shape memory cable net structure type face precision active adjusting method, which is characterized in that described to be based on temperature control
The shape memory cable net structure type face precision active adjusting method of system includes the following steps：
Step 1 is powered to the memory alloy wire in shape memory drag-line；
Step 2, temperature collecting module collecting temperature data are supplied to computer；
Step 3, computer treatment temperature data and then the output power for controlling electric power source pair of module memory alloy wire；
Step 4, while being changed using the length of the photogrammetric shape memory drag-line of high resolution camera, by shape memory rope net
The type face accuracy data of antenna structure is transferred to computer and carries out data processing.
5. it is based on temperature controlled shape memory cable net structure type face precision active adjusting method as claimed in claim 4,
It is characterized in that, it is described real using PID control based on temperature controlled shape memory cable net structure type face precision active adjusting method
The closed-loop control system of existing temperature.
6. it is based on temperature controlled shape memory cable net structure type face precision active adjusting method as claimed in claim 4,
Be characterized in that, target temperature value is arranged in Labview front panels in computer, Labview rear panels collected temperature signal and
Target temperature value is compared in real time, obtains deviation signal e, then PID control is carried out to deviation, on Labview front panels
Compared according to real time data and pid parameter adjust experience to be arranged pid parameter in real time, P is ratio control, and deviation size at
Ratio, adjusting P makes program accelerate voltage and current governing speed；I is integration control, is the integral to deviation, adjusts I to disappear
Except steady-state error；D controls for differential, is the differential of deviation, and differential is used for the variation tendency of prediction deviation, and adjustment D is super to reduce
Tune amount；Deviation signal is sent to power supply after PID control, power module provides stable voltage output, and then presses
Control according to PC requires to heat shape-memory alloy wire, until being stabilized to target temperature value；Control deviation e refers to setting
The difference of target temperature value r and the temperature value y actually measured, the control signal of e (t)=r (t)-y (t), output are
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Cited By (8)
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| CN111271235A (en) * | 2020-01-15 | 2020-06-12 | 华南理工大学 | Mechanical driving platform based on shape memory alloy |
| CN111435073A (en) * | 2019-12-06 | 2020-07-21 | 上海建工集团股份有限公司 | Method and device for rapidly extracting deformation data of geotechnical engineering inclination measuring bar |
| CN111496799A (en) * | 2020-04-03 | 2020-08-07 | 中国科学技术大学 | Method for accurately controlling shape memory alloy composite soft driver |
| CN113078440A (en) * | 2021-04-07 | 2021-07-06 | 西北工业大学 | Memory alloy actuator of large-scale satellite-borne netted reflector antenna |
| CN113172119A (en) * | 2021-04-01 | 2021-07-27 | 刘冬 | Bending part constant temperature control system in die working, control method, terminal and medium |
| CN113641198A (en) * | 2021-08-18 | 2021-11-12 | 中南大学湘雅二医院 | Low-temperature-state sheath for kidney transplantation, sheath, refrigeration method, refrigeration equipment and storage medium |
| CN115479003A (en) * | 2022-10-28 | 2022-12-16 | 西安电子科技大学 | Shape memory alloy actuator for actively regulating and controlling shape surface of cable net reflecting surface antenna |
| CN116157854A (en) * | 2020-11-30 | 2023-05-23 | 华为技术有限公司 | Sensing device, electronic apparatus, and control method of electronic apparatus |
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| CN115479003A (en) * | 2022-10-28 | 2022-12-16 | 西安电子科技大学 | Shape memory alloy actuator for actively regulating and controlling shape surface of cable net reflecting surface antenna |
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