CN108839825A - A kind of adaptively suspension gravity compensation and method - Google Patents
A kind of adaptively suspension gravity compensation and method Download PDFInfo
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- CN108839825A CN108839825A CN201810595530.3A CN201810595530A CN108839825A CN 108839825 A CN108839825 A CN 108839825A CN 201810595530 A CN201810595530 A CN 201810595530A CN 108839825 A CN108839825 A CN 108839825A
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- top plate
- gravity compensation
- rope
- motor
- horizontal support
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
Abstract
A kind of adaptive suspension gravity compensation, including pedestal, longitudinal carrier, top plate, horizontal support, motor, rope and tension sensor；Longitudinal carrier is vertically and fixedly arranged on pedestal, and the top of longitudinal carrier is fixedly installed top plate, and top plate is parallel to pedestal；One end of several horizontal supports is parallel to top plate and is fixed on top plate；The other end of each horizontal support stretches out top plate and is fixedly installed motor in end；The output end of motor connects rope, is provided with tension sensor in the middle part of rope.Adaptive suspension gravity compensation system of the present invention, using adaptive algorithm, a set of equipment can realize the gravity compensation to a variety of objects by the iteration of weight W, the true model of approximation system.It is particularly useful for the complex environment of complex object and variation, greatly improves the versatility of gravity compensation system.
Description
Technical field
The invention belongs to space flight ground experiment gravity compensation field, in particular to a kind of adaptive suspension gravity compensation
And method.
Background technique
Spacecraft is the basis of solar-system operation, after spacecraft leaves the earth, will face many unfavorable factors, such as micro- heavy
The influence of power, electromagnetic radiation, micrometeroroid and space junk etc., it is exactly gravity that influence power is the most outstanding among these.Space
The gravitational field of gravitational field and the earth has a certain difference, this can mechanical performance to spacecraft and control performance bring it is very big
It influences, to new spacecraft ground test equipment, more stringent requirements are proposed.If spacecraft is not able to satisfy detected celestial body
Gravitational field, will lead to entire detection mission can not be normally carried out, and even result in the damage of the spacecraft.So must be by space flight
Device is emitted to the simulation test that zero-g or microgravity are carried out before other celestial body surfaces.
Gravity compensation system is to provide pulling force by passive equilibrium or active control to offset gravity, stimulated microgravity
A kind of method.It is applied not only to the microgravity experiment test of ground aviation device, also there is weight to the space simulation training of astronaut
Want meaning.Microgravity simulation in ground is the continuous development with space technology and the recent studies on field occurred, compared to traditional
Theoretical appraisal and Digital Simulation, using gravity-compensated device carry out microgravity simulate obtained test data it is more true, can
It leans on, there is irreplaceable advantage.The control system of gravity compensation system directly determines compensation effect, further influences entire
The success or failure of experimentation.Current gravity compensation system is mostly targetedly to design, and lacks versatility.
Summary of the invention
The purpose of the present invention is to provide a kind of adaptive suspension gravity compensation and methods, to solve the above problems.
To achieve the above object, the present invention uses following technical scheme：
A kind of adaptive suspension gravity compensation, including pedestal, longitudinal carrier, top plate, horizontal support, motor, rope
And tension sensor；Longitudinal carrier is vertically and fixedly arranged on pedestal, and the top of longitudinal carrier is fixedly installed top plate, and top plate is flat
Row is in pedestal；One end of several horizontal supports is parallel to top plate and is fixed on top plate；The other end of each horizontal support stretches out
Top plate and motor is fixedly installed in end；The output end of motor connects rope, is provided with tension sensor in the middle part of rope.
Further, top plate is discoid, and horizontal support is arranged radially along top plate, and the number of horizontal support is four, often
Two horizontal supports are oppositely arranged, and two adjacent horizontal supports are mutually perpendicular to.
Further, inclined support bar is provided between horizontal support and longitudinal carrier.
Further, hole is provided on the output shaft of motor, rope is fixedly installed across hole；Each motor is all connected to outer
Connect controller and external power supply；The dynamic equilibrium of motor control rope tension and gravity is to compensate gravity.
Further, gravity compensation object is arranged around longitudinal carrier, is connect by rope with gravity compensation object.
Further, a kind of control method of adaptive suspension gravity compensation, based on described in above-mentioned any one
A kind of adaptive suspension gravity compensation, includes the following steps：
Step 1, initialization W (0) is random nonzero value, and W is weight vector；
Step 2, y (n)=W (n) X (n) is calculated, wherein n is sequence of iterations, and X (n)={ x (n), x (n-1) ... ... } is
The actual measured value of tension sensor and the deviation of ideal value, y (n) indicate the comprehensive measurement value of system mode；
Step 3, e (n)=1/2 (d (n)-y (n)) 2 is calculated, wherein e indicates systematic error, and d indicates that ideal value, d perseverance are
Zero；
Step 4, judge whether e is less than threshold θ, be, then repeatedly step 2-4；It is no, then follow the steps 5；Wherein threshold θ is
It is calculated by acceptable maximum y value by step 3, θ takes 1；
Step 5, weight vector W is iterated according to systematic error e, W (n+1)=W (n)+α X (n) e (n), wherein α
It is constant, indicates learning rate；
Step 6, control input u (n+1)=α X (n) e (n) is calculated, input signal of the signal u as motor is controlled, is returned
Step 2.
Compared with prior art, the present invention has following technical effect：
Adaptive suspension gravity compensation system of the present invention, using adaptive algorithm, a set of equipment can pass through power
The iteration of value W, the true model of approximation system realize the gravity compensation to a variety of objects.Be particularly useful for complex object with
And the complex environment of variation, greatly improve the versatility of gravity compensation system.
Detailed description of the invention
Fig. 1 is gravity compensation system schematic；
Fig. 2 is the synthesis schematic diagram that target compensation is added；
In Fig. 1-Fig. 2,1, horizontal support, 2, motor, 3, rope, 4, tension sensor, 5, pedestal, 6, longitudinal carrier, 7,
Top plate, 8, inclined support bar, 9, gravity compensation object.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further described：
Please refer to Fig. 1 and Fig. 2, a kind of adaptive suspension gravity compensation, including pedestal 5, longitudinal carrier 6, top plate 7,
Horizontal support 1, motor 2, rope 3 and tension sensor 4；Longitudinal carrier 6 is vertically and fixedly arranged on pedestal 5, longitudinal carrier 6
Top is fixedly installed top plate 7, and top plate 7 is parallel to pedestal 5；One end of several horizontal supports 1 is parallel to top plate 7 and is fixed on top
On plate 7；The other end of each horizontal support 1 stretches out top plate 7 and is fixedly installed motor 2 in end；The output end of motor 2 connects
Splicing rope 3, the middle part of rope 3 are provided with tension sensor 4.
Top plate 7 be it is discoid, horizontal support 1 is arranged radially along top plate 7, and the number of horizontal support 1 is four, and every two is horizontal
It is oppositely arranged to bracket 1, two adjacent horizontal supports 1 are mutually perpendicular to.
Inclined support bar 8 is provided between horizontal support 1 and longitudinal carrier 6.
Hole is provided on the output shaft of motor 2, rope 3 is fixedly installed across hole；Each motor 2 is all connected to external control
Device and external power supply；Motor 2 controls the dynamic equilibrium of 3 tension of rope and gravity to compensate gravity.
Gravity compensation object 9 is arranged around longitudinal carrier 6, is connect by rope 3 with gravity compensation object 9.
A kind of control method of adaptive suspension gravity compensation, it is adaptive based on one kind described in above-mentioned any one
Gravity compensation is hung, is included the following steps：
Step 1, initialization W (0) is random nonzero value, and W is weight vector；
Step 2, y (n)=W (n) X (n) is calculated, wherein n is sequence of iterations, and X (n)={ x (n), x (n-1) ... ... } is
The actual measured value of tension sensor and the deviation of ideal value, y (n) indicate the comprehensive measurement value of system mode；
Step 3, e (n)=1/2 (d (n)-y (n)) 2 is calculated, wherein e indicates systematic error, and d indicates that ideal value, d perseverance are
Zero；
Step 4, judge whether e is less than threshold θ, be, then repeatedly step 2-4；It is no, then follow the steps 5；Wherein threshold θ is
It is calculated by acceptable maximum y value by step 3, θ takes 1；
Step 5, weight vector W is iterated according to systematic error e, W (n+1)=W (n)+α X (n) e (n), wherein α
It is constant, indicates learning rate；
Step 6, control input u (n+1)=α X (n) e (n) is calculated, input signal of the signal u as motor is controlled, is returned
Step 2.It is unconditional to return, it runs always, until system cut-off.Control system wants adjoint system to run always.
Suspension gravity compensation system of the invention, including bracket, diameter 2m, high 2m, material is 45 steel, containing there are four stretch out
Plate, global density is big, for providing stable hitch point.Motor is fixed on the stretching plate end of bracket, using 42 steppings electricity
Machine, it is small in size, it is at low cost.It is drilled with aperture on motor shaft, is connect by aperture with rope, motor can collect rope by rotation.
Rope diameter 1mm, using Kev drawstring, elasticity modulus is big, improves the stability of experimentation.Tension sensor both ends are equipped with and hang
Ring, hanging ring connect rope, and tension sensor is integrally attached in the middle part of rope, for acquiring the pulling force of rope as measurement and feedback
Signal.Gravity compensation object is connect by multiple spot with gravity compensation system.
As shown in Fig. 2, tension sensor measures rope tension in system operation, it is sent to controller.Controller is logical
Adaptive control algorithm adjustment controller parameter is crossed, and Bit andits control is carried out to motor.Motor rotation collects or loosens
Rope changes rope tension, so that the gravity of rope tension and target compensation is carried out dynamic equilibrium, achievees the purpose that gravity compensation.
For different target compensations, system can obtain model by Model Distinguish algorithm according to inputoutput data
Parameter.And the parameter of controller is modified according to model parameter, so that controller is suitable for different control objects, improves the logical of system
The property used.
Aerodiscone antenna as shown in Figure 2 is a complicated flexible body structure, and along with the complex environment in experimentation
Interference.System can recognize model error according to inputoutput data, and be modified, and system is made to can be used for the weight of complex object
Force compensating.
Claims (6)
1. a kind of adaptive suspension gravity compensation, which is characterized in that including pedestal (5), longitudinal carrier (6), top plate (7),
Horizontal support (1), motor (2), rope (3) and tension sensor (4)；Longitudinal carrier (6) is vertically and fixedly arranged at pedestal (5)
On, the top of longitudinal carrier (6) is fixedly installed top plate (7), and top plate (7) is parallel to pedestal (5)；Several horizontal supports (1)
One end be parallel to top plate (7) and be fixed on top plate (7)；The other end of each horizontal support (1) stretches out top plate (7) and in end
It is fixedly installed motor (2)；The output end of motor (2) connects rope (3), and rope is provided with tension sensor in the middle part of (3)
(4)。
2. a kind of adaptive suspension gravity compensation according to claim 1, which is characterized in that top plate (7) is disk
Shape, horizontal support (1) being arranged radially along top plate (7), the number of horizontal support (1) are four, and every two horizontal support (1) is opposite
Setting, two adjacent horizontal supports (1) are mutually perpendicular to.
3. a kind of adaptive suspension gravity compensation according to claim 1, which is characterized in that horizontal support (1) with
Inclined support bar (8) are provided between longitudinal carrier (6).
4. a kind of adaptive suspension gravity compensation according to claim 1, which is characterized in that the output of motor (2)
Hole is provided on axis, rope (3) is fixedly installed across hole；Each motor (2) is all connected to external controller and external power supply；Electricity
Machine (2) controls the dynamic equilibrium of rope (3) tension and gravity to compensate gravity.
5. a kind of adaptive suspension gravity compensation according to claim 1, which is characterized in that gravity compensation object
(9) it is arranged around longitudinal carrier (6), is connect by rope (3) with gravity compensation object (9).
6. a kind of control method of adaptive suspension gravity compensation, which is characterized in that any one based on claim 1 to 5
The adaptive suspension gravity compensation of one kind described in, includes the following steps：
Step 1, initialization W (0) is random nonzero value, and W is weight vector；
Step 2, y (n)=W (n) X (n) is calculated, wherein n is sequence of iterations, and X (n)={ x (n), x (n-1) ... ... } is pulling force biography
The actual measured value of sensor and the deviation of ideal value, y (n) indicate the comprehensive measurement value of system mode；
Step 3, e (n)=1/2 (d (n)-y (n)) 2 is calculated, wherein e indicates systematic error, and d indicates ideal value, and d perseverance is zero；
Step 4, judge whether e is less than threshold θ, be, then repeatedly step 2-4；It is no, then follow the steps 5；Wherein threshold θ is by can
The maximum y value received is calculated by step 3, and θ takes 1；
Step 5, weight vector W is iterated according to systematic error e, W (n+1)=W (n)+α X (n) e (n), wherein α is normal
Number indicates learning rate；
Step 6, control input u (n+1)=α X (n) e (n) is calculated, control input signal of the signal u as motor, return step
2。
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| CN201810595530.3A CN108839825B (en) | 2018-06-11 | 2018-06-11 | Self-adaptive suspension gravity compensation mechanism and method |
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| CN201810595530.3A CN108839825B (en) | 2018-06-11 | 2018-06-11 | Self-adaptive suspension gravity compensation mechanism and method |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0418826B1 (en) * | 1989-09-22 | 1994-07-06 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Space vehicle mockup to simulate an earth operation processing in space by an integrated manipulator |
| DE102008039981B3 (en) * | 2008-08-27 | 2010-04-08 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Device for proportionate compensation of force of gravity on test object by force of gravity against compensatory force, has spring arrangement that supports test object flexibly with compensatory force |
| CN103010493A (en) * | 2012-12-06 | 2013-04-03 | 上海裕达实业公司 | Suspended gravity compensation solar wing ground three-dimensional unfolding test device |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
-
2018
- 2018-06-11 CN CN201810595530.3A patent/CN108839825B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0418826B1 (en) * | 1989-09-22 | 1994-07-06 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Space vehicle mockup to simulate an earth operation processing in space by an integrated manipulator |
| DE102008039981B3 (en) * | 2008-08-27 | 2010-04-08 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Device for proportionate compensation of force of gravity on test object by force of gravity against compensatory force, has spring arrangement that supports test object flexibly with compensatory force |
| CN103010493A (en) * | 2012-12-06 | 2013-04-03 | 上海裕达实业公司 | Suspended gravity compensation solar wing ground three-dimensional unfolding test device |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
Non-Patent Citations (1)
| Title |
|---|
| 姚燕生: "悬挂式重力补偿系统精密跟踪方法", 《哈尔滨工业大学学报》 * |
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