CN202735857U - Rope actuator for flexible space structure vibration control - Google Patents
Rope actuator for flexible space structure vibration control Download PDFInfo
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- CN202735857U CN202735857U CN 201220402961 CN201220402961U CN202735857U CN 202735857 U CN202735857 U CN 202735857U CN 201220402961 CN201220402961 CN 201220402961 CN 201220402961 U CN201220402961 U CN 201220402961U CN 202735857 U CN202735857 U CN 202735857U
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Abstract
The utility model relates to a vibration control device, in particular to a rope actuator for flexible space structure vibration control. The rope actuator comprises a linear movement system, a flexible lever, a deformation sensor, a rope, a differential amplifier, a control computer and a linear motor actuator, wherein the linear movement system is formed by a base seat, a linear motor, a linear guide rail, a driving belt and a slide block, and the flexible lever comprises a rectangular thin copper sheet, a carbon fiber rod, a bolt connector and a ring type connector. One end of the copper sheet is fixed with the slide block, the other end of the copper sheet is connected with one end of the carbon fiber rod through the bolt connector, and the deformation sensor is formed by four resistance strain gauges connected in a full-bridge complementary mode. The rope actuator for the flexible space structure vibration control can output continuous tiny control tension, and has the advantages of being small in size, simple in structure, reasonable in design, convenient to install, and good in linearity of the outputted tension, and can effectively avoid impact on a system when the actuator moves.
Description
Technical field
The utility model relates to a kind of rope actuator for the flexible space structure vibration control, belongs to the Spacecraft vibration control apparatus.
Background technology
At present, human employed flexible space structure mainly comprises: solar panels, antenna space, space manipulator and the flexible shelf structure etc. that spreads out.These structure majorities are deployable structure and Space configuration formula structure, and contain the rope element in a lot of structure.Wherein rope is mainly used in the expansion of flexible structure.If these ropes are carried out suitable transformation, then it can be suppressed the vibration that launches flexible structure as active control system.When adopting the mode that changes pulling force in the rope to control flexibility structural vibration, be necessary for rope structure and design corresponding actuator, the ability of rope actuator output control has determined the vibration control effect of flexible structure.Because the vibration of adopting the rope unit to suppress flexible space structure is a kind of novel vibration control mode, the rope actuator design proposal of therefore being correlated with therewith is also few.Comparatively actuator design commonly used is: the end that will restrict is fixed on the flexible structure, the other end is fixed on the rotor of motor, by the rotation of motor, rope is taken up at rotor, thereby in rope, produce the vibration control that certain pulling force is used for flexible space structure.
The design proposal of this class rope actuator exists certain defective when being used for the vibration control of flexible space structure: 1) since actual space solar plate towards ultra-large future development, thereby make it have very little structural damping and very low single order model frequency, therefore it will be very small acting on the upper control pulling force that is used for the structural vibration inhibition of rope, and the actuator of this quasi-tradition is difficult to produce continuous so small control pulling force; 2) for this type of actuator when adopting open loop control mode that the rotation of motor is controlled, then can't realize the Real-time Feedback to pulling force in the rope, thereby so that the antijamming capability of system is relatively poor, even can't reach the purpose of vibration control; When adopting close-loop control mode that the rotation of motor is controlled, then must measure in real time the control pulling force in the rope, at present the metering system of pulling force in the rope is mainly the mode of laser sensing, real-time pulling force in obtaining to restrict by the deformation of measuring rope, this tension measurement mode complex structure, cost is high, and difficulty is installed; 3) therefore this type of actuator is easy to system is produced impact, thereby evokes the concussion of rope structure owing to there not being the buffering of flexible structure.
The utility model content
The purpose of this utility model is to overcome the weak point that exists in the above-mentioned technology, provide a kind of simple in structure, reasonable in design, cost is low, and is easy for installation, can the small control of output linearity and can avoid bringing the rope actuator that is used for the flexible space structure vibration control of impact to system.
In order to achieve the above object, the technical solution adopted in the utility model is: comprise linear motion system, flexible lever, changing sensor, rope, differential amplifier, control computing machine and linear electric motor device, described linear motion system is by pedestal, linear electric machine, line slideway, driving-belt and slide block form, line slideway is fixed on the pedestal, linear electric machine is installed on the right-hand member of line slideway, driving-belt is connected the rotor of linear electric machine with slide block, slide block is positioned at the track of line slideway, described flexible lever comprises the Thin Rectangular copper sheet, the carbon fiber bar, Bolt Connector and ring type connector, one end and the slide block of copper sheet fix, the other end is bolted device and is connected with an end of carbon fiber bar, the other end of carbon fiber bar is connected with an end of rope by the ring type connector, the other end of rope is connected with flexible space structure, described changing sensor is by the first strain ga(u)ge, the second strain ga(u)ge, the 3rd strain ga(u)ge, the 4th strain ga(u)ge consists of, stick at the root of copper sheet in the flexible lever, wherein the first strain ga(u)ge and the second strain ga(u)ge stick at the front of copper sheet, the 3rd strain ga(u)ge and the 4th strain ga(u)ge stick at the back side of copper sheet, and the first strain ga(u)ge and the second strain ga(u)ge, the 3rd strain ga(u)ge and the 4th strain ga(u)ge lay respectively on the symmetric position on copper sheet two sides, four strain ga(u)ges adopt the mode of full-bridge complementation to connect described changing sensor, differential amplifier, be provided with successively signalling channel between control computer and the linear electric motor device.
The utility model has the advantages that:
The rope actuator that the utility model proposes can be exported continuous control pulling force in 0 newton in 0.8 newton's scope, this control can satisfy the requirement to the Large Flexible Space Structure vibration control, and it is little, simple in structure, reasonable in design to the utlity model has volume, easy for installation, the good advantage of the output pulling force linearity, the stress conversion that adopts straight-line mode owing to the utility model simultaneously and by flexible larger lever flexible deformation is produced is the pulling force of rope, the impact that in the time of therefore can effectively avoiding the actuator action system is produced.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is the structural representation of the utility model linear motion system;
Fig. 3 is the structural representation of the utility model flexible lever;
Fig. 4 is the installation site schematic diagram of the utility model changing sensor.
Embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is described in further detail.
By Fig. 1-Fig. 4 as can be known, the utility model comprises linear motion system 1, flexible lever 2, changing sensor 3, rope 4, differential amplifier 5, control computing machine 6 and linear electric motor device 7, described linear motion system 1 is by pedestal 8, linear electric machine 9, line slideway 10, driving-belt 11 and slide block 12 form, line slideway 10 is fixed on the pedestal 8, linear electric machine 9 is installed on the right-hand member of line slideway 10, driving-belt 11 is connected the rotor of linear electric machine 9 with slide block 12, slide block 12 is positioned at the track of line slideway 10, described flexible lever 2 comprises Thin Rectangular copper sheet 13, carbon fiber bar 14, Bolt Connector 15 and ring type connector 16, one end and the slide block 12 of copper sheet 13 fix, the other end is bolted device 15 and is connected with an end of carbon fiber bar 14, the other end of carbon fiber bar 14 is connected by the end of ring type connector 16 with rope 4, the other end of rope 4 is connected with flexible space structure, described changing sensor 3 is by the first strain ga(u)ge 17, the second strain ga(u)ge 18, the 3rd strain ga(u)ge 19, the 4th strain ga(u)ge 20 consists of, stick at the root of copper sheet 13 in the flexible lever 2, wherein the first strain ga(u)ge 17 and the second strain ga(u)ge 19 stick at the front of copper sheet, the 3rd strain ga(u)ge 18 and the 4th strain ga(u)ge 20 stick at the back side of copper sheet, and the first strain ga(u)ge 17 and the second strain ga(u)ge 18, the 3rd strain ga(u)ge 19 and the 4th strain ga(u)ge 20 lay respectively on the symmetric position on copper sheet 13 two sides, four strain ga(u)ges adopt the mode of full-bridge complementation to connect described changing sensor 3, differential amplifier 5, be provided with successively signalling channel between control computer 6 and the linear electric motor device 7.
A limit switch respectively is equipped with at described line slideway 10 two ends.
The utility model pedestal 8 is " worker " shaped steel rail, and the material of line slideway 10 and slide block 12 is aluminium alloy.Linear electric motor device 7 drives linear electric machine 9 and rotates, and drags slide block 12 mode rectilinear motion with position, speed or thrust on line slideway 10 through driving-belt 11.At the two ends of line slideway 10 limit switch is housed respectively; limit switch is series in the driving circuit of linear electric machine 9; play the effect of guarded by location: when slide block 12 slides into the position at limit switch place; the limit switch action; cut off the power supply of linear electric machine 9 driving circuits; slide block 12 stop motions, thus when having avoided slide block 12 to rapidly move to line slideway 10 two ends to the bump of its generation.
The principle of work of this utility model is: control computer 6 is controlled pulling force with instruction and is exported in the mode of voltage, this voltage is as the control signal of linear electric motor device 7, linear electric machine 9 in amplifying rear drive linear motion system 1 rotates, and moves along line slideway 10 respective direction with movable slider 12 by driving-belt 11; Because the motion of slide block 12, make the flexible lever 2 that is connected the mutually with it deformation that bends, thereby in rope 4, produce the effect of control pulling force, the size of pulling force is measured and is exported in the mode of voltage by the changing sensor 3 that is fixed on flexible lever 2 roots in the mode of flexible lever 2 deformation, the output voltage of changing sensor 3 sends control computer 6 to as feedback signal after differential amplifier 5 amplifications and A/D conversion, control computer 6 is by the comparison to feedback signal and instruction signal, the revision directive of exporting in real time pulling force.
Claims (2)
1. rope actuator that is used for the flexible space structure vibration control, comprise linear motion system (1), flexible lever (2), changing sensor (3), rope (4), differential amplifier (5), control computing machine (6) and linear electric motor device (7), it is characterized in that: described linear motion system (1) is by pedestal (8), linear electric machine (9), line slideway (10), driving-belt (11) and slide block (12) form, line slideway (10) is fixed on the pedestal (8), linear electric machine (9) is installed on the right-hand member of line slideway (10), driving-belt (11) is connected the rotor of linear electric machine (9) with slide block (12), slide block (12) is positioned at the track of line slideway (10), described flexible lever (2) comprises Thin Rectangular copper sheet (13), carbon fiber bar (14), Bolt Connector (15) and ring type connector (16), one end of copper sheet (13) and slide block (12) fix, the other end is bolted device (15) and is connected with an end of carbon fiber bar (14), the other end of carbon fiber bar (14) is connected by the end of ring type connector (16) with rope (4), the other end of rope (4) is connected with flexible space structure, described changing sensor (3) is by the first strain ga(u)ge (17), the second strain ga(u)ge (18), the 3rd strain ga(u)ge (19), the 4th strain ga(u)ge (20) consists of, stick at the root of copper sheet (13) in the flexible lever (2), wherein the first strain ga(u)ge (17) and the second strain ga(u)ge (19) stick at the front of copper sheet, the 3rd strain ga(u)ge (18) and the 4th strain ga(u)ge (20) stick at the back side of copper sheet, and the first strain ga(u)ge (17) and the second strain ga(u)ge (18), the 3rd strain ga(u)ge (19) lays respectively on the symmetric position on copper sheet (13) two sides with the 4th strain ga(u)ge (20), four strain ga(u)ges adopt the mode of full-bridge complementation to connect described changing sensor (3), differential amplifier (5), be provided with successively signalling channel between control computer (6) and the linear electric motor device (7).
2. a kind of rope actuator for the flexible space structure vibration control according to claim 1, it is characterized in that: a limit switch respectively is equipped with at described line slideway (10) two ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220402961 CN202735857U (en) | 2012-08-09 | 2012-08-09 | Rope actuator for flexible space structure vibration control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220402961 CN202735857U (en) | 2012-08-09 | 2012-08-09 | Rope actuator for flexible space structure vibration control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202735857U true CN202735857U (en) | 2013-02-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220402961 Expired - Fee Related CN202735857U (en) | 2012-08-09 | 2012-08-09 | Rope actuator for flexible space structure vibration control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202735857U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104460723A (en) * | 2014-10-10 | 2015-03-25 | 哈尔滨师范大学 | Rope actuator system for controlling flexile space structural vibration |
| CN106773706A (en) * | 2017-01-09 | 2017-05-31 | 马境辰 | A kind of vibration based on hanging rope tension measurement suppresses solar array certainly |
-
2012
- 2012-08-09 CN CN 201220402961 patent/CN202735857U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104460723A (en) * | 2014-10-10 | 2015-03-25 | 哈尔滨师范大学 | Rope actuator system for controlling flexile space structural vibration |
| CN106773706A (en) * | 2017-01-09 | 2017-05-31 | 马境辰 | A kind of vibration based on hanging rope tension measurement suppresses solar array certainly |
| CN106773706B (en) * | 2017-01-09 | 2020-07-17 | 马境辰 | Vibration self-suppression solar sailboard based on suspension rope tension measurement |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130213 Termination date: 20130809 |