CN109540198B - Parabolic cylinder antenna unfolding reflecting surface ground test equipment - Google Patents
Parabolic cylinder antenna unfolding reflecting surface ground test equipment Download PDFInfo
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Abstract
The invention belongs to the technical field of satellite systems, and discloses a parabolic cylinder antenna unfolding reflecting surface ground test device which comprises a support truss, a hanging device and an active following control system; the supporting truss is connected with the hanging device through the mounting frame; the hanging device consists of a cylindrical surface direction passive following device (a lower layer), an arc surface direction active following device (an upper layer) and a vertical following device (a middle layer); the active following control system comprises a horizontal active following control system, a vertical following control system and a force and displacement measuring device. The invention designs a suspension type ground expansion test device with active and passive following combined use by combining the expansion principle of the expansion reflecting surface of the parabolic cylinder antenna and the accurate unloading requirement of gravity/gravity moment in the expansion process, has higher precision, and provides powerful technical support and engineering practice guarantee for realizing various ground tests of the satellite antenna on the whole.
Description
Technical Field
The invention belongs to the technical field of satellite systems, and particularly relates to a parabolic cylinder antenna unfolding reflecting surface ground test device.
Background
As an important composition structure of a satellite system, the accuracy of each item of data in a satellite antenna expansion test is an important guarantee for a satellite to successfully complete a space task. Therefore, the development of a set of high-precision satellite antenna ground test equipment is of great significance. The space spacecraft is under the action of gravity in the ground environment and is in a weightless state during orbital operation, so that whether the satellite antenna can be successfully unfolded and folded in space and a balanced and stable state is an indispensable test content. In order to simulate the real zero-gravity environment of the satellite antenna in the folding and unfolding process, the design of the satellite antenna follow-up hanging gravity compensation test device is particularly important.
In summary, the problems of the prior art are as follows:
(1) the current gravity compensation methods which are widely applied include water buoyancy, gas buoyancy, free fall movement and hanging gravity compensation. The gas buoyancy and hanging gravity compensation in the field of satellite antennas is most widely applied
(2) At present, the expansion test equipment for large and complex foldable and expandable antennas at home and abroad is scarce, and the expansion test equipment is mainly applied to air-floating expansion test devices, but the test devices are suitable for small antennas.
(3) The air-floating type test device has the advantages of high cost, low precision, inconvenient structure movement and complex test process. It is difficult to meet the requirement of following the motion track of the antenna.
(4) The center of gravity position migration caused by structural shape change in the unfolding process of the satellite-borne large antenna is difficult to compensate, the air-floating type antenna only can be used for plane simulation and has high requirements on test environment, and for the large satellite-borne antenna, the air-floating type antenna is difficult to load and unload for multiple times and repeat tests, so that the cost is huge.
The difficulty and significance for solving the technical problems are as follows:the invention provides a microgravity large-scale folding and unfolding antenna test device, which solves the problem of how to prevent a satellite antenna from being subjected to gravity in a space orbit in an earth surface environment, and has the advantages of reasonable structural design, reliable structure and high stability, and the microgravity folding and unfolding test requirements of the large-scale satellite antenna can be met.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a parabolic cylinder antenna unfolding reflecting surface ground test device.
The invention is realized in this way, a parabolic cylinder antenna expansion reflecting surface ground test device includes a supporting truss, a hanging device and an active following control system;
the supporting truss is connected with the hanging device through the mounting frame;
the hanging device consists of a cylindrical surface direction passive following device (a lower layer), an arc surface direction active following device (an upper layer) and a vertical following device (a middle layer);
the active following control system comprises a horizontal active following control system, a vertical following control system and a force and displacement measuring device.
Furthermore, the support truss is composed of truss units in a detachable splicing unit form and comprises a truss and a base; the truss is composed of a plurality of units which can be spliced and disassembled, and the unit size is as follows: 800mm is multiplied by 800mm, and 350 truss units are totally arranged; the unit consists of a straight rod, an inclined rod and a connecting ball head; the top of the truss is in a double-layer layout; the base comprises frame, gyro wheel, brake block and clamping screw, totally 8 bases.
Further, the passive device of following of cylinder direction is located the lowermost end of cable suspension device, and the upper end of passive device of following is associative with vertical following device through the cable, and the lower extreme passes through the cable and is associative with the antenna hoisting point, is equipped with 9 passive following devices of group altogether, and every passive following device of group comprises cylinder guide rail, slider, square pipe, support and angle encoder, and the angle encoder passes through the support mounting on the slider in the middle.
Furthermore, the cambered surface direction following device is positioned on the uppermost layer of the whole hanging device and consists of an upper-layer mounting frame, a horizontal adjusting column, a guide rail mounting square tube, a guide rail, a sliding block, a sliding beam, a driving motor and a synchronous belt transmission device; the number of the upper-layer mounting frames is 5, the number of the sliding beams is 8, and the number of the fixed beams is 1; the upper surface of the sliding beam is connected with the sliding block, the lower surface of the sliding beam is used for installing active following devices in the vertical direction, and the number of the active following devices corresponds to that of the passive following devices in the cylindrical surface direction; the sliding beam is fixed with the synchronous belt transmission devices, the following movement of the lifting point along the direction of the cambered surface is realized through the driving of the driving motor, and one sliding beam is driven by two sets of synchronous belt transmission devices.
Furthermore, the vertical following device is designed in a separated mode, distributed in a step shape and comprises a driving transposition and a hoisting point device, the driving device consists of a servo motor, a worm gear (right-angle reducer) and a steel wire containing wheel, and the hoisting point device consists of a pulley block, a buffer spring, a force sensor, a steel wire rope, an installation support and the like; the tail end of the steel wire rope is connected with a bracket of the cylindrical surface direction passive following device, and the steel wire rope is wound and unwound through a motor; the pulley block converts the tension of the inhaul cable into the pressure of the sensor, the pressure sensor measures the tension of the steel wire rope and provides a feedback signal for the vertical following device, and the buffer spring is used for avoiding sudden change force and ensuring the control precision; each group of passive following devices adopts 2 groups of vertical active following devices.
Further, the horizontal direction control structure of the active following control system is as follows: the inclination angle sensor measures an included angle between the suspension wire and the vertical direction, the included angle is compared with an expected vertical calibration angle (natural vertical angle), the deviation of the included angle is used as input, a motor actuator of the suspension translation mechanism is controlled to move according to an expected rule through a proper control law, the deviation is reduced, and finally the suspension wire is kept vertical.
Further, the control structure of the active following control system in the vertical direction is as follows: the force sensor measures the tension of the suspension wire, compares the tension with the expected counterweight force, takes the deviation as input, controls the suspension winding mechanism to pull the suspension wire through a proper control law, reduces the deviation with the expected counterweight force, and finally keeps the tension of the suspension wire equal to the counterweight force.
Furthermore, the electric control system of the active following control system comprises a power supply and distribution unit, a data acquisition unit, a motor driving unit and a following control unit.
The invention has the advantages and positive effects that: the invention designs a suspension type ground unfolding test device which is used in an active and passive following combined mode by combining the unfolding principle of the unfolding reflecting surface of the parabolic cylinder antenna and the requirement of accurate unloading of gravity/gravity moment in the unfolding process, the precision is high, the straightness of the vertical following device is below 20 mm, the levelness of the horizontal following device is below 10 mm, and the starting angle threshold of the active following device fluctuates within 1.3 degrees from the required value. The device has important significance for the development of a satellite system, and provides powerful technical support and engineering practice guarantee for realizing various ground tests of the satellite antenna on the whole.
Drawings
Fig. 1 is a general configuration diagram of a ground test device for a spreading reflecting surface of a parabolic cylinder antenna provided by an embodiment of the invention;
fig. 2 is a system composition diagram of a parabolic cylinder antenna unfolding reflector ground test apparatus according to an embodiment of the present invention;
fig. 3 is an operation flow of the developed reflector ground test apparatus of the parabolic cylinder antenna developed reflector ground test apparatus according to the embodiment of the present invention;
fig. 4 is a horizontal direction movement control structure of the ground test equipment for the extended reflection surface of the parabolic cylinder antenna provided by the embodiment of the invention;
fig. 5 is a vertical direction movement control structure of the ground test equipment for the extended reflection surface of the parabolic cylinder antenna provided by the embodiment of the invention;
fig. 6 is a hanging form diagram of the unfolded reflecting surface of the parabolic cylinder antenna of the ground testing apparatus for the unfolded reflecting surface of the parabolic cylinder antenna according to the embodiment of the present invention;
fig. 7 is a hanging form diagram of a folded state of an unfolded reflecting surface of a parabolic cylinder antenna of the ground testing apparatus for an unfolded reflecting surface of a parabolic cylinder antenna provided in the embodiment of the present invention;
fig. 8 is an envelope dimension diagram a of the ground test equipment for the extended reflection surface of the parabolic cylinder antenna provided by the embodiment of the invention;
fig. 9 is an envelope dimension diagram b of the ground test equipment for the extended reflection surface of the parabolic cylinder antenna provided by the embodiment of the invention;
fig. 10 is a structural diagram of a supporting truss of the ground testing apparatus for the unfolded reflecting surface of the parabolic cylinder antenna according to the embodiment of the present invention;
fig. 11 is a drawing of a rack unit of the ground testing apparatus for a parabolic cylinder antenna spreading reflecting surface according to an embodiment of the present invention;
fig. 12 is a base structure diagram of the ground testing apparatus for the extended reflection surface of the parabolic cylinder antenna according to the embodiment of the present invention;
fig. 13 is a structural diagram of a suspension device of the ground test equipment for the extended reflection surface of the parabolic cylinder antenna according to the embodiment of the present invention;
fig. 14 is a diagram of a cylindrical passive following device of a parabolic cylindrical antenna unfolding reflection surface ground test apparatus provided by an embodiment of the present invention;
FIG. 15 is a view showing an installation form of an angle encoder of the ground testing apparatus for the extended reflection surface of the parabolic cylinder antenna according to the embodiment of the present invention;
fig. 16 is a structural diagram of an active following device in the arc direction of the ground test equipment for the extended reflection surface of the parabolic cylinder antenna provided by the embodiment of the present invention;
fig. 17 is a structural component diagram of an active following device in the arc direction of a parabolic cylinder antenna unfolding reflector ground test apparatus according to an embodiment of the present invention;
fig. 18 is a structural form diagram a of an arc direction active following device of a parabolic cylinder antenna spreading reflector ground test apparatus according to an embodiment of the present invention;
fig. 19 is a structural form diagram b of an arc direction active following device of the ground test equipment for the extended reflection surface of the parabolic cylinder antenna according to the embodiment of the present invention;
fig. 20 is a step distribution diagram adopted by a driving device of the ground test equipment for the unfolding reflection surface of the parabolic cylinder antenna provided by the embodiment of the invention;
fig. 21 is a basic component of an electric control system of the ground test equipment for the extended reflection surface of the parabolic cylinder antenna provided by the embodiment of the invention;
fig. 22 is a diagram of a force-following control system of the ground test apparatus for the extended reflection surface of the parabolic cylinder antenna according to the embodiment of the present invention;
fig. 23 is a diagram of a horizontal deviation follow-up control system of the ground testing apparatus for the extended reflection surface of the parabolic cylinder antenna according to the embodiment of the present invention;
in the figure: 1. supporting the truss; 2. a hanging device; 3. an active follow control system; 4. a mounting frame; 5. a cylindrical surface direction passive following device; 6. the cambered surface direction actively follows the device; 7. the vertical following device is formed; 8. a cylindrical guide rail; 9. a slider; 10. a square tube; 11. a support; 12. an angle encoder; 13. a swing rod; 14 an upper mounting frame; 15. a horizontal adjustment column; 16. mounting a square tube on the guide rail; 17. a guide rail; 18. a sliding beam; 19. a drive motor; 20. synchronous belt drive device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The application of the principles of the present invention will now be further described with reference to the accompanying drawings.
As shown in fig. 1 and 2, the parabolic cylinder antenna unfolding reflection surface ground test equipment comprises a support truss 1, a hanging device 2 and an active following control system 3;
the supporting truss 1 is connected with the hanging device 2 through a mounting frame 4;
the hanging device 2 has the main functions of following the movement of the antenna hanging point in the horizontal direction and the vertical direction and realizing the unloading of gravity and gravity moment, and consists of a cylindrical surface direction passive following device 5 (a lower layer), an arc surface direction active following device 6 (an upper layer) and a vertical following device 7 (a middle layer);
the active following control system 3 comprises a horizontal active following control system, a vertical following control system and a force and displacement measuring device.
As a preferred embodiment of the present invention, the supporting truss 1 is composed of truss units in the form of detachable splicing units, and includes a truss and a base; the supporting truss 1 is composed of a plurality of units which can be spliced and disassembled, and the unit size is as follows: 800mm is multiplied by 800mm, and 350 truss units are totally arranged; the unit consists of a straight rod, an inclined rod and a connecting ball head; the top of the truss is in a double-layer layout; the base comprises frame, gyro wheel, brake block and clamping screw, totally 8 bases.
As a preferred embodiment of the invention, the cylindrical surface direction passive following device 5 is positioned at the lowest end of the hanging device 2, the upper end of the passive following device is connected with the vertical following device through a guy cable, the lower end of the passive following device is connected with an antenna hanging point through a guy cable, 9 groups of passive following devices are arranged, each group of passive following devices consists of a cylindrical guide rail 8, a sliding block 9, a square tube 10, a bracket 11 and an angle encoder 12, the angle encoder 12 is arranged on the sliding block 9 in the middle through the bracket 11, and the measurement of the angular displacement of the guy cable along the arc surface direction is realized through a swing rod 13.
As a preferred embodiment of the present invention, the arc direction following device 6 is located at the uppermost layer of the whole hanging device, and is composed of an upper mounting frame 14, a horizontal adjusting column 15, a guide rail mounting square tube 16, a guide rail 17, a slider 9, a sliding beam 18, a driving motor 19, and a synchronous belt transmission device 20; the number of the upper-layer mounting frames 14 is 5, the number of the sliding beams 18 is 8, and the number of the fixed beams is 1; the upper surface of the sliding beam 18 is connected with the sliding block 9, the lower surface of the sliding beam is used for installing active following devices in the vertical direction, and the number of the active following devices corresponds to that of the passive following devices in the cylindrical surface direction; the sliding beam 18 is fixed with a synchronous belt transmission device 20, the following movement of the lifting point along the direction of the cambered surface is realized by the driving of a driving motor 19, and one sliding beam 18 is driven by two sets of synchronous belt transmission devices 19.
As a preferred embodiment of the present invention, the vertical following device 7 is designed separately, distributed in a step-like manner, and includes a driving device and a lifting point device, the driving device is composed of a servo motor, a worm gear (right-angle reducer), and a steel wire storage wheel, and the lifting point device is composed of a pulley block, a buffer spring, a force sensor, a steel wire rope, a mounting support, and the like; the tail end of the steel wire rope is connected with a bracket of the cylindrical surface direction passive following device, and the steel wire rope is wound and unwound through a motor; the pulley block converts the tension of the inhaul cable into the pressure of the sensor, the pressure sensor measures the tension of the steel wire rope and provides a feedback signal for the vertical following device, and the buffer spring is used for avoiding sudden change force and ensuring the control precision; each group of passive following devices adopts 2 groups of vertical active following devices.
As a preferred embodiment of the present invention, the horizontal control structure of the active following control system 3 is: the inclination angle sensor measures an included angle between the suspension wire and the vertical direction, the included angle is compared with an expected vertical calibration angle (natural vertical angle), the deviation of the included angle is used as input, a motor actuator of the suspension translation mechanism is controlled to move according to an expected rule through a proper control law, the deviation is reduced, and finally the suspension wire is kept vertical.
As a preferred embodiment of the present invention, the control structure of the active following control system 3 in the vertical direction is: the force sensor measures the tension of the suspension wire, compares the tension with the expected counterweight force, takes the deviation as input, controls the suspension winding mechanism to pull the suspension wire through a proper control law, reduces the deviation with the expected counterweight force, and finally keeps the tension of the suspension wire equal to the counterweight force.
As a preferred embodiment of the present invention, the electric control system of the active following control system 3 is composed of a power supply and distribution unit, a data acquisition unit, a motor driving unit and a following control unit.
The following specific examples further illustrate the principles of the invention.
1. Parabolic cylinder antenna unfolding reflecting surface ground test equipment assembly
In combination with the unfolding principle of unfolding the reflecting surface of the parabolic cylinder antenna and the accurate unloading requirement of gravity/gravity moment in the unfolding process, a suspension type ground unfolding test device which is used in an active and passive following combined mode is designed, and the ground test device consists of a support truss, a suspension device and an active following control system, and is shown in figure 2;
the hanging device consists of a horizontal following device and a vertical following device, wherein the horizontal following device is divided into active following and passive following. The active following control system comprises a horizontal active following control system, a vertical following control system, force and angular displacement measurement and the like.
The specific structural composition of the parabolic cylinder antenna unfolded reflecting surface ground test equipment is shown in fig. 1. The hanging form of the unfolding reflecting surface of the parabolic cylindrical antenna in the unfolding state is shown in fig. 6, the hanging form of the unfolding reflecting surface of the parabolic cylindrical antenna in the folding state is shown in fig. 7, and the envelope size of the ground test equipment for the unfolding reflecting surface of the parabolic cylindrical antenna is as follows: 18485X 16085X 12000mm, as shown in FIGS. 8 and 9.
2. The operation flow of the parabolic cylinder antenna unfolding reflector ground test equipment is as follows (as shown in fig. 10):
2.1 preparation phase of unfolding
Mounting an antenna, connecting a selected hanging point of the unfolded reflecting surface with the tail end of a hanging point of ground test equipment, adjusting the position, the height and the angle of a fixed end by measuring the force of each inhaul cable, fixing an unfolded starting point of the antenna with a supporting tool, and preparing for an unfolding test;
debugging the tension of each hanging point, detecting the working state, judging and processing the fault when the work is abnormal;
the inclination angle of the encoder is debugged, the working state is detected, the work is abnormal, and the fault is judged and processed.
2.2 unfolding phase of unfolded reflecting surface
The unfolding process of the unfolded reflecting surface comprises unfolding motions in the horizontal direction and the vertical direction, the three directions are unfolded simultaneously, and the horizontal motion comprises two-degree-of-freedom motion in the cylindrical direction and the cambered surface direction.
The cylinder is followed passively, and the slider passively adjusts the hoisting point position under the cable acting force to follow the corresponding hoisting point position of the antenna.
The following of the arc surface adopts active following, the angular displacement of the stay cable in the direction of the arc surface is measured through an angle encoder, the antenna is controlled to be unfolded in the direction of the arc surface, whether the unfolding is normal or not is monitored by a system in the unfolding process, judgment is carried out, the unfolding is abnormal, and a fault is judged and processed until the unfolding is normal;
the vertical following adopts active following, the tension of the inhaul cable is measured through the pressure sensor, the antenna is controlled to be unfolded along the vertical direction, the system monitors whether the unfolding is normal or not in the unfolding process, the judgment is carried out, the unfolding is abnormal, and the fault is judged and processed until the unfolding is normal.
2.3 unfolding into position
The unfolded reflecting surface is unfolded in place, and the position of the motor is locked.
3. Detailed design of equipment mechanism
3.1 supporting truss
The supporting frame is used for supporting the gravity load of a balanced product of the hanging system and the weight of the total testing device body, the main body of the supporting frame is composed of truss units, and a detachable splicing unit form is adopted, as shown in figure 11.
The overall envelope dimension of the supporting truss is as follows: 18.5 mx 16.1 mx 12.0m, comprising a truss and a base (fig. 11), the truss being made up of a plurality of spliceable and detachable units, the unit size being: 800mm × 800mm × 800mm, and each unit is composed of a straight rod, an inclined rod and a connecting ball head, as shown in fig. 12. Because the whole span of the supporting truss is large, the top of the truss adopts double-layer layout, and the test device is formed by about 350 truss units. The base consists of a frame, rollers, brake pads and fixing screws, and as shown in fig. 13, the whole device totally adopts 8 bases.
3.2 hanging device
The suspension device of the ground test equipment has the main functions of following the horizontal and vertical movements of the antenna suspension point and realizing the unloading of gravity and gravity moment. The hanging device consists of a cylindrical surface direction passive following device (a lower layer), an arc surface direction active following device (an upper layer) and a vertical following device (a middle layer) (figure 14), and is connected with the support truss through the mounting frame.
1) Cylindrical surface direction passive following device
According to the unfolding principle of the parabolic cylinder antenna, the selected antenna hanging points have the same characteristics along each column of 5 hanging points in the antenna cylinder direction in the antenna unfolding process, namely the heights of the 5 hanging points in the vertical direction are always the same, the positions of the hanging points in the arc surface direction are always on the same straight line, and the 5 hanging points are gradually far away along the antenna unfolding along the cylinder direction. Therefore, according to the characteristics of the selected hoisting point, the hoisting points with the same characteristics are uniformly hoisted by adopting the same device in the cambered surface direction and the vertical direction, and the hoisting points are followed by adopting a passive following device along the cylindrical surface.
The passive following device is positioned at the lowest end of the hanging device (figure 14), so that additional friction force and inertia force can be reduced to the greatest extent, and the following error is reduced. The 81 selected hoisting points are 9 columns along the cylindrical surface direction, so that 9 groups of passive following devices are provided.
Each group of passive following devices (figure 15) consists of a cylindrical guide rail, a sliding block, a square tube, a bracket and an angle encoder. According to the unfolding principle of the antenna, the suspension point slide block in the middle is fixed, and the other 4 suspension point slide blocks move towards two sides along the cylindrical guide rail along with the unfolding of the antenna. The upper end of the passive following device is connected with the vertical following device through a guy cable, and the lower end of the passive following device is connected with the antenna suspension point through a guy cable.
Because the length of the cylindrical surface direction antenna is 12m, the two hoisting points are adopted and have large span, and the four hoisting points are combined into two hoisting points through the two supports, so that the rigidity of the square tube is increased, and the deflection is reduced. In order to increase the synchronism of the vertical following device, the number of lifting points arranged on the passive following device is not too large. The support comprises 2 aluminium alloy and 3 hinges.
Because the 5 hoisting points move consistently along the direction of the unfolding cambered surface of the antenna, only one angle encoder is arranged at the position. The angle encoder is installed on the middle sliding block through a support, the measurement of the angular displacement of the stay cable along the direction of the cambered surface is realized through the swing rod, see fig. 16, the measured value of the angle encoder is fed back to a control system of the cambered surface following device in real time, and feedback information is provided for the following movement of the direction of the cambered surface.
2) Cambered surface direction active following device
The cambered surface direction following device is located on the uppermost layer of the whole hanging device, in order to realize the following of a hanging point in the three-dimensional unfolding process of the antenna, the hanging device uses a large number of guide rails, sectional materials and other parts, the additional friction force and the inertia force are large, the unfolding driving force of the parabolic cylinder antenna is difficult to overcome the additional factors to complete the unfolding action, and therefore the active following device is adopted along the cambered surface direction of the unfolding of the antenna.
The cambered surface direction active following device (figure 17) mainly comprises an upper layer mounting frame, a horizontal adjusting column, a guide rail mounting square tube, a guide rail, a slide block, a sliding beam, a driving motor and a synchronous belt transmission device, and is shown in figure 18. The mounting bracket connects the whole hanging device with the supporting truss, and the horizontal adjusting column is used for adjusting the horizontal height of the guide rail.
The length of the parabolic cylindrical antenna along the cylindrical direction is 12m, the span is large, in addition, the weight of the whole antenna and the mass of additional parts are loads of the active following device, and 5 mounting frames are arranged for increasing the integral rigidity of the hanging device and reducing deflection deformation.
The upper surface of the sliding beam is connected with the sliding block, the lower surface of the sliding beam is used for installing the active following devices in the vertical direction, the number of the active following devices corresponds to that of the passive following devices in the direction of the cylindrical surface, and the lifting point where the antenna unfolding starting point is located does not shift along the direction of the cambered surface, so that 8 sliding beams and 1 fixed beam are arranged. The sliding beam is fixed with the synchronous belt, and the following movement of the hoisting point along the direction of the cambered surface is realized through the driving of a motor. Because the sliding beam is longer, one sliding beam adopts two sets of transmission devices to complete driving.
3) Vertical direction active following device
The vertical following device has the function of following the vertical movement of the antenna suspension point and providing balance force for the antenna suspension point to unload gravity and gravity moment. The working principle is as follows: the force sensor monitors the tensile force of the rope in real time, the rope is wound and unwound through the motor, the gravity of a tensile force balance product is controlled in a feedback mode, when the tensile force of the steel wire rope is increased, the steel wire rope is unwound through controlling the motor to rotate, otherwise, the rope is wound, and the tensile force of the steel wire rope is controlled within an error range.
Due to space limitation, the vertical following device (figures 19 and 20) adopts a separated design and comprises a driving transposition device and a hoisting point device, the driving device consists of a servo motor, a worm gear (right-angle reducer) and a steel wire containing wheel, the hoisting point device consists of a pulley block, a buffer spring, a force sensor, a steel wire rope, an installation support and the like, the tail end of the steel wire rope is connected with a support of the cylindrical surface direction passive following device, and the steel wire rope is wound and unwound through the motor, so that the tension of the steel wire rope balances the gravity of a product. The pulley block converts the pulling force of cable into the pressure of sensor, and pressure sensor measures the wire rope pulling force, provides feedback signal for vertical following device, and buffer spring's effect avoids abrupt change power, guarantees control accuracy.
In order to realize the following motion of the whole vertical direction of the cylindrical surface direction passive following device, each group of passive following devices adopts 2 groups of vertical direction active following devices. Because the available space of the hoisting points is small, the driving devices of the active following devices in the vertical direction are distributed in a step shape (figure 21), and the interference among the hoisting points is avoided.
4. Ground test equipment control system design
4.1 control System functions
The electric control system mainly realizes the control of the stroke and the force loading control in the whole process of the antenna folding and unfolding and the force follow-up control in the system unfolding process; the necessary man-machine interaction including command sending, state monitoring and reminding, fault diagnosis and the like is realized; and the functions of setting system parameters, assisting in debugging and the like are realized.
4.2 control System basic scheme
The antenna unfolding process mainly comprises the translation movement of a horizontal plane and the movement in the gravity direction, and the gravity direction needs to consider the gravity balance. Therefore, the suspension control system needs to control the suspension wires of the suspension platform to keep the gravity direction and simultaneously needs to control the suspension platform to move along the horizontal direction of the antenna; in addition, the suspension wires are controlled to move up and down to realize the movement along the gravity direction of the antenna and the gravity balance. The suspension control system can adopt various modes, and mainly adopts a servo motor-based follow-up control mode in consideration of flexibility and cost of system design.
The horizontal control structure is shown in fig. 22, the inclination angle sensor measures the included angle between the suspension wire and the vertical direction, the included angle is compared with an expected vertical calibration angle (natural vertical angle), the deviation is used as input, the motor actuator of the suspension translation mechanism is controlled to move according to an expected rule through a proper control law, the deviation is reduced, and finally the suspension wire is kept vertical.
The control structure in the vertical direction is as shown in fig. 23, the force sensor measures the tension of the suspension wire, compares the tension with the expected counterweight force, takes the deviation as input, controls the suspension winding mechanism to pull the suspension wire through a proper control law, reduces the deviation with the expected counterweight force, and finally keeps the tension of the suspension wire equal to the counterweight force. When the specific antenna moves, the motor drives the winding mechanism to take up and pull the suspension wire to follow, so that the suspension wire is tensioned to the expected matching gravity. When the antenna has upward motion component, the tension of the suspension wire is reduced, and the suspension wire needs to be tightened by the positive rotation of the motor; when the antenna has a downward motion component, the tension of the suspension wire is increased, and the suspension wire needs to be loosened by reversing the motor.
4.3 control System composition
The control system mainly adopts an industrial control computer with an input/output interface circuit as a basic control component, and forms a full digital microcomputer control system together with a servo controller, an alternating current servo amplifier, an electric control device and the like. The device mainly comprises a control computer, a sensor, a motor, a speed reducer, a driving amplifier and the like.
According to the scheme, the control of the system folding and unfolding follow-up control system mainly comprises two types of control of horizontal deviation and vertical force.
The horizontal direction follow-up electric control part is basically the same except that the sensor is different.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. A parabolic cylinder antenna unfolding reflection surface ground test device is characterized by comprising a support truss, a hanging device and an active following control system;
the supporting truss is connected with the hanging device through the mounting frame;
the hanging device consists of a cylindrical surface direction passive following device, an arc surface direction active following device and a vertical following device;
the active following control system comprises a horizontal active following control system, a vertical following control system and a force and displacement measuring device;
the supporting truss is composed of truss units in a detachable splicing unit form and comprises a truss and a base; the truss is composed of a plurality of units which can be spliced and disassembled, and the unit size is as follows: 800mm is multiplied by 800mm, and 350 truss units are totally arranged; the unit consists of a straight rod, an inclined rod and a connecting ball head; the top of the truss is in a double-layer layout; the base consists of a frame, rollers, a brake pad and a fixing screw rod, and the number of the bases is 8;
the cylinder direction passive following device is positioned at the lowest end of the hanging device, the upper end of the passive following device is connected with the vertical following device through a guy cable, the lower end of the passive following device is connected with an antenna hanging point through a guy cable, 9 groups of passive following devices are arranged, each group of passive following device is composed of a cylinder guide rail, a sliding block, a square tube, a bracket and an angle encoder, and the angle encoder is arranged on the sliding block in the middle through the bracket;
the cambered surface direction following device is positioned on the uppermost layer of the whole hanging device and consists of an upper mounting rack, a horizontal adjusting column, a guide rail mounting square tube, a guide rail, a sliding block, a sliding beam, a driving motor and a synchronous belt transmission device; the number of the upper-layer mounting frames is 5, the number of the sliding beams is 8, and the number of the fixed beams is 1; the upper surface of the sliding beam is connected with the sliding block, the lower surface of the sliding beam is used for installing active following devices in the vertical direction, and the number of the active following devices corresponds to that of the passive following devices in the cylindrical surface direction; the sliding beams are fixed with the synchronous belt transmission devices, the following movement of the lifting points along the direction of the cambered surface is realized through the driving of the driving motor, and one sliding beam is driven by two sets of synchronous belt transmission devices;
the vertical following device is designed in a separated mode, distributed in a step shape and comprises a driving device and a hoisting point device, the driving device consists of a servo motor, a worm gear and a worm and a steel wire containing wheel, and the hoisting point device consists of a pulley block, a buffer spring, a force sensor, a steel wire rope and a mounting support part; the tail end of the steel wire rope is connected with a bracket of the cylindrical surface direction passive following device, and the steel wire rope is wound and unwound through a motor; the pulley block converts the tension of the inhaul cable into the pressure of the sensor, the pressure sensor measures the tension of the steel wire rope and provides a feedback signal for the vertical following device, and the buffer spring is used for avoiding sudden change force and ensuring the control precision; each group of passive following devices adopts 2 groups of vertical active following devices.
2. The ground test device for the unfolded reflecting surface of the parabolic cylinder antenna as claimed in claim 1, wherein the horizontal control structure of the active following control system is as follows: the inclination angle sensor measures an included angle between the suspension wire and the vertical direction, the included angle is compared with an expected vertical calibration angle, deviation is used as input, a motor actuator of the suspension translation mechanism is controlled to move according to an expected rule through a proper control law, the deviation is reduced, and finally the suspension wire is kept vertical.
3. The parabolic cylinder antenna unfolding reflector ground test device as claimed in claim 1, wherein the control structure of the active following control system in the vertical direction is as follows: the force sensor measures the tension of the suspension wire, compares the tension with the expected counterweight force, takes the deviation as input, controls the suspension winding mechanism to pull the suspension wire through a proper control law, reduces the deviation with the expected counterweight force, and finally keeps the tension of the suspension wire equal to the counterweight force.
4. The ground test equipment for the unfolded reflecting surface of the parabolic cylinder antenna as claimed in claim 1, wherein an electric control system of the active following control system comprises a power supply and distribution unit, a data acquisition unit, a motor driving unit and a following control unit.
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| CN112061432B (en) * | 2020-09-25 | 2022-02-25 | 西安电子科技大学 | Parabolic cylinder antenna low-gravity unfolding test bed based on curved guide rail |
| CN112416028B (en) * | 2020-11-12 | 2022-11-29 | 上海卫星装备研究所 | Multi-point hanging constant force joint adjustment control method and system |
| CN113219261B (en) * | 2021-03-29 | 2022-06-24 | 西安电子科技大学 | Modular deployable antenna ground deployment test system, control method and application |
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| JP2008068541A (en) * | 2006-09-14 | 2008-03-27 | Ricoh Co Ltd | Injection-molding die separating equipment |
| CN102145755B (en) * | 2010-02-10 | 2013-03-27 | 上海卫星工程研究所 | Zero-gravity suspension type deployment test device |
| CN106365044A (en) * | 2016-10-21 | 2017-02-01 | 南京邮电大学 | Gravity balance suspension following device and system and work method of system |
| CN107741334B (en) * | 2017-10-23 | 2020-01-21 | 南京航空航天大学 | Microgravity large-scale folding and unfolding antenna test device |
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