JP2003276694A - Method for controlling vibration caused by induced electromagnetic force and shape of hinged structure - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for controlling the vibration caused by the induced electromagnetic force and the shape of a hinged structure for maintaining the shape of the hinged structure developed to use and easy to cause the vibration of discontinuous characteristics by forcibly, reliably and easily controlling an entire panel including hinges by a control device of a lightweight and simple structure. <P>SOLUTION: A sensor unit 12 and an actuator unit 13 (and 14) to be controlled by the induced electromagnetic force are installed on panels 10 and 11 on both sides of the hinges 4, the angle of the hinges 4 is restored to the original position by controlling the angle by the electromagnetic force from the actuator unit 13 (14) according to the angular change of the hinges 4 detected by the sensor unit 12. Alternatively, the offset current is applied to an actuator coil to set the hinges to the specified position. In particular, by disposing a magnet on an extension part, the working stroke of the sensor and the actuator is increased with high accuracy, and the control force for damping is also increased. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration / shape control method for a deployable antenna of a satellite, a hinge-bonded structure such as a solar cell panel structure or a MEMS structure.

[0002]

2. Description of the Related Art At present, in satellite antennas and solar cell panels used in outer space, antennas and solar cell panels that are folded on the earth before the artificial satellite is launched are deployed in outer space. Operated. Maintaining the deployed operational shape is essential for maintaining antenna characteristics and battery characteristics. Moreover, if vibration is applied to these deployed structures due to the movement of the satellite itself or space dust, etc., the vibration will have a strong influence on the attitude control of the entire satellite, and the vibration of the observation values necessary for the purpose or execution of the mission It is also a cause of deterioration of accuracy and strength fatigue of panel members in the expanded structure. Especially in space where the air density is extremely low unlike on the ground, vibration damping due to air resistance cannot be expected.

Because of this, the vibration of the deployed structure
Various shape control methods have been proposed in the past. For example, the rotation axis of the solar cell panel is attached offset from the rotation axis of the panel drive device, and the vibration of the solar cell panel is controlled by the rotation control of the panel drive device, that is, the artificial satellite body and the coupling part. Of 1
In some places, a first conventional example disclosed in Japanese Patent Application Laid-Open No. 5-124597 in which vibration of a solar cell panel is controlled by a mechanical mechanism, or a three-axis driving device is used for the pointing direction of an antenna sub-reflecting mirror Thus, there is a second conventional example disclosed in Japanese Patent Laid-Open No. 6-13812 that effectively suppresses vibration of a flexible antenna mast.

[0004]

However, in any of the vibration and shape control methods for the deployable structure of the first and second conventional examples, any of the methods for controlling the vibration and shape of the deployable structure, such as an antenna panel mounting portion in the main body of the artificial satellite, is used. Vibration by only one-point control (vibration / shape control of only the hinge near the main body)
Shape control is performed, and in such one-point control, a plurality of thin plates or mesh-shaped panel elements are configured to be foldable and expandable by hinges or the like to cause vibration with discontinuous characteristics, which is generally long. With respect to the hinge-jointed deployable structure having dimensions, it is difficult to transmit the control force to the plurality of panel elements via the hinges, which is insufficient for vibration / shape control. Moreover, since a motor or the like is used as a drive device for control, the control is complicated and the weight of the device tends to increase.

In view of the above, the present invention solves the problems of the conventional vibration / shape control of the developed structure, and provides a hinge-bonded structure which is apt to cause a vibration having discontinuous characteristics with a lightweight and simple structure. It is an object of the present invention to provide a vibration / shape control method for a hinge-bonded structure by a control device, which strongly and reliably and easily controls the entire panel including the hinge and maintains the shape to be deployed and operated by induced electromagnetic force. .

[0006]

For this reason, the present invention provides a method for controlling the vibration and shape of a hinge-bonded structure in which at least a pair of adjacent panels are bonded by a hinge or the like and which has discontinuous vibration characteristics. Sensors and actuators that are controlled by induced electromagnetic force are installed on the panels on both sides, and the angle of the hinge is controlled by controlling the electromagnetic force from the actuator according to the angle change of the hinge detected by the sensor. It is characterized in that the original position is restored, or an offset current is applied to the actuator coil to set the actuator coil to a specified position. In the present invention, the sensor unit detects the value of the induced current flowing in the coil based on the change in the relative position of the magnet magnetic field to the coil, and the actuator unit detects the value of the induced current flowing in the coil in the magnet magnetic field as the induced current value or It is characterized in that the control is performed according to an offset current value given separately. Further, the present invention is characterized in that coils and magnets respectively constituting the sensor unit and the actuator unit are separately arranged on both sides of a hinge. Further, according to the present invention, in order to enhance the induction efficiency of the current value with respect to the change of the hinge angle, the coil and the magnet constituting the sensor section and the actuator section are provided so that one panel extends toward the other panel side from the hinge. It is characterized in that it is installed between the extended portion and the other panel, respectively. With these, a large induced current can be obtained.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION One example (laboratory model) of an embodiment of a vibration / shape control method of a hinged structure according to the present invention by an induction electromagnetic force will be described in detail below with reference to the drawings. 1 is an enlarged view of the sensor and actuator parts, FIG. 2 (A) is an overall view of the experimental apparatus, FIG. 2 (B) is a flow chart of vibration / shape control, FIG. 3 is a sensor principle diagram, FIG. 4 is an actuator operation principle diagram, FIG. 5 is an explanatory view of the control force for suppressing the vibration of the panel, FIG. 6 is an explanatory view of the hinge control force when vibration is generated by the disturbance, and FIG. 7 is a steady state vibration displacement diagram of the hinge-bonded structure when a periodic external force is applied. FIG. 8 is a diagram of vibration damping of the hinged structure when an initial impulse force is applied.

The vibration / shape control method of the hinged structure of the present invention by the induced electromagnetic force will be described in detail below. As shown in FIG. 1, the method of controlling the vibration and shape of the hinge-bonded structure of the present invention by the induction electromagnetic force is such that at least a pair of adjacent panels 10 and 11 are connected by the hinge 4 and have a discontinuous vibration characteristic. In the vibration / shape control method of the joint structure, the panels 10 and 11 on both sides of the hinge 4 are provided.
The sensor unit 12 and the actuator unit 13 (14) controlled by induction electromagnetic force are installed in the actuator unit 13 and the actuator unit 13 (14) according to the angle change of the hinges 10 and 11 detected by the sensor unit 12. It is characterized in that the angle of the hinge 4 is restored to its original position by controlling with an electromagnetic force. Further, it is also possible to control the electromagnetic force of the actuator section only by a signal added separately.

FIG. 1 shows the arrangement of the sensor section 12 and the actuator sections 13 and 14 only for the hinge 4, but as shown in the experimental device of FIG. Many panels are hinge 1 ~
Each hinge is provided with a sensor unit and an actuator unit, but may be provided every other unit. In FIG. 1, a magnet is arranged on one side of the panels 10 and 11, which are two elements connected by the hinge 4, and a coil is arranged on the other side. In the illustrated example, the magnet 12M of the sensor unit 12 is located on the panel 10 side and the coil 12 of the sensor unit 12 is
C is arranged on the panel 11 side. The magnet 12M is disposed on the side closer to the panel 11 in the approximate center of the panel width direction (vertical direction in the drawing). The magnets 13 of the actuator portions 13 and 14 are provided at both ends in the panel width direction.
M and 14M are on the panel 11 side, and the actuator unit 13,
Fourteen coils 13C and 14C are arranged on the panel 10 side. The magnet 12M and the coil 1 of the sensor unit 12
There is no problem even if the position of 2C is exchanged. The same applies to the actuator section.

Although the illustration of the arrangement of various measuring instruments and the wiring between the sensor section 12 and the actuator sections 13 and 14 and various measuring instruments are omitted, the sensor section 12 is not shown.
Detects the value of the induced current flowing in the coil 12C on the basis of the relative position change with respect to the coil 12C in the magnetic field of the magnet 12M, and through the various amplifiers, the actuator unit 1
Coil 13 in the magnetic field of magnets 13M, 14M at 3, 14
By controlling the currents flowing through C and 14C according to the value of the induced current, a vibration damping operation for restoring the angle of the hinge to the original position during vibration or a shape control as a hinge joint structure is performed. Further, a new shape is controlled by giving a separate signal to the actuator section.

FIG. 2A shows an experimental apparatus having a mechanism capable of keeping the tension applied to the developed structure constant. A pair of support pillars 16A and 16B are provided up and down on the support base 15 and nine thin-walled panels connected by hinges 1 to 9 between them (the thick-walled triangular end plate at the right end is supported by the support pillar 16B). However, a hinged structure as a deployable structure is stretched. One end of the wire 19 is fixed to the triangular panel 21, and the weight 20 is attached to the other end of the wire 19 which is vertically converted by the pulley 18 axially supported by the pulley support column 17. With such a configuration, the displacement at the hinges 1 and 9 is constrained to zero, and the tension applied to the hinged structure is kept constant (for comparison with the analysis). The vibration waveform due to the passage of time when an external force is applied to such a hinged structure is measured with or without control.

FIG. 2B is a flow chart of vibration / shape control. The sensor 12 detects the induced current according to the hinge angle, and the detected signal is amplified by the preamplifier 22,
It is processed by the control circuit 23 in the next stage. The processed signal is power-amplified by the main amplifier 24 and sent to the actuators 13 and 14 as a control current to control vibration. Further, the control circuit 23 applies an offset voltage to set the shape at a prescribed position.

FIG. 3 is a diagram for explaining the sensor principle. Paying attention to a hinge i having a sensor portion and an actuator portion, i
-1, i + 1 indicates the adjacent hinges of the panel. Let w be the displacement at each hinge, q be the distance from the hinge i to the magnet, p be the distance from the hinge to the coil, B _{pqs be the} magnetic flux density _created by the magnet in the coil, and Δx be the distance between the elements. Due to the geometrical relationship, the displacement w _s of the coil and the displacement w _mg of the magnet are: w _s = (pw _{i + 1} + (Δx−p) w _i ) / Δx w _mg = ((Δx + q) w _i −qw _i It can be expressed as _-1 ) / Δx. Thereby, the relative displacement w _re of the magnet and the coil
Becomes w _re = (qw _{i −1} − (p + q) w _i + pw _{i + 1} ) / Δx. Accordingly, the relative velocity v _re is v _re = ∂w _re / ∂t = ∂ ((qw _i-1 − (p + q) w _i
Since + pw _{i + 1} ) / Δx) / ∂t, V _s = v _re × B _pqs × l _s × n is obtained as the electromotive force V _s generated in the coil due to the relationship of the induced electromotive force. Here, n is the number of turns of the coil, l _s is the length of the coil, and B _pqs is the magnetic flux density in the coil. This induced electromotive force becomes a detection signal by the sensor. actually,
Since this output voltage is very small, it is necessary to give the gain by the amplifier to operate the actuator as described above.

FIG. 4 is a diagram for explaining the principle of the actuator, where Δx is the distance between the elements, B _pqa is the magnetic flux density _created by the magnet in the coil, and f _a is the electromagnetic force generated when a current is passed through the coil. When an electric current flows through a coil placed vertically in the density, the coil is subjected to a force in the direction perpendicular to the direction of the magnetic flux density and the direction of the flowing current. This force is used as the control force for the actuator. Now, when the voltage V _s is applied to the coil for the actuator, the flowing current I _a is I _a = V _s / R, where R is the resistance of the coil. Therefore, the force f _a coil is subjected becomes _{f a = I a × B pqa} × l a × m. However, let l _a be the length of the coil and m be the number of turns of the coil. According to the law of action / reaction, _a force of f _a acts between the coil and the magnet, and if this force is replaced with a force equivalent to the force applied to the hinge of the element i, the control force F applied to the hinge is obtained.
_a becomes F _a = ((p + q) / Δx) f _a .

As is clear from the above analysis, for example, as shown in FIG. 5, when the panel side is going to vibrate and deform like a downward arc arrow around the hinge, the damping control force acting on the hinge is It tries to suppress the vibration by making it act downward as indicated by a straight arrow. Then, as shown in FIG. 6, when an external force is applied to, for example, the hinge 6 of a large number of panel connected bodies serving as the hinge coupling structure, the wave generated thereby propagates to the hinge 4. The vibration is controlled by the vibration control. However, in the case of this example, it goes without saying that it is more efficient to dispose the sensor portion and the actuator portion on the hinge 6.

FIG. 7 and FIG. 8 are numerical simulation result diagrams relating to the vibration suppression control of the hinge joint structure which is the expanded structure from the above-mentioned derivation formula. 7 is a sensor,
FIG. 2 shows control results when only one actuator set is provided at the hinge 4 part and when four other sets are provided at every other part. It is a result figure when a vibration settles down to a steady state. According to this, it is presumed that the larger the number of sets of the sensor and the actuator, the smaller the amplitude due to the vibration damping, and the higher the vibration damping effect. FIG. 8 shows the same conditions as in FIG.
It is a result diagram of the amplitude displacement of the hinge when an initial impulse force is applied to the structure. Also from this, it is presumed that when a large number of sensors and actuators are attached, the amplitude is smaller in the vibration suppression control and the vibration damping effect is higher. The result of this simulation is sufficiently compatible with the measurement result by the laser displacement meter of the vibration suppression experiment using the above-mentioned experimental device.

Although described in detail above, within the scope of the present invention, the shape of the panel (the panel itself is a flat plate, a curved surface, etc., and the hinge joint structure as a whole is a flat plate, a parabolic curved surface, etc.), a material. , Hinge form (In addition to hinge-bonding the entire surface in the width direction of the panel, only both ends are hinge-bonding parts, and the magnets and coils of the sensor part and the actuator part are effectively interposed between them, for example, alternately staggered. Etc.), the shape of the sensor part and the actuator part,
Form (sensors and actuators with a pair of magnet and coil, combination of various displacement gauges and actuators with a pair of magnet and coil, etc.) and arrangement form and number, detection form of induced current, form of each amplifier and The arrangement form, the drive control form of the actuator by the induction electromagnetic force including the gain value, and the like can be appropriately selected. It should be noted that the above-described embodiment is merely an example in all respects and should not be limitedly interpreted.

[0018]

As described above in detail, according to the present invention, in a vibration / shape control method for a hinge-bonded structure in which at least a pair of adjacent panels are bonded by a hinge or the like and which has discontinuous vibration characteristics. A sensor unit and an actuator unit controlled by induction electromagnetic force are installed on both sides of the hinge, and the electromagnetic force from the actuator unit controls the hinge unit according to the angle change of the hinge detected by the sensor unit. Since the angle of the hinge is restored to the original position or the offset current is applied to the actuator coil to set it at the specified position, the sensor section and the actuator section are arranged on both sides of the hinge, and the sensor and the actuator are arranged. The operating stroke of is large and highly accurate, and the damping control force is also large. Kill. Moreover, the sensor and the actuator provided independently of the hinge can be of a non-contact type that is less likely to be damaged by fatigue or the like.

The sensor section detects the value of the induced current flowing through the coil based on the change in the relative position of the magnet magnetic field to the coil, and the actuator section detects the value of the induced current flowing through the coil in the magnetic field of the magnet or the value of the induced current. When it is configured to control according to the offset current value given separately, it is possible to make it a lightweight, flat and simple structure by combining the magnet and coil, and if necessary, also embed it in the panel. By adopting it, you can eliminate unnecessary protrusions and completely fold and unfold the panel via the hinge. Further, when the coils and the magnets respectively constituting the sensor section and the actuator section are separately arranged on both sides of the hinge, the relative angle change with the hinge as a fulcrum is changed in the relative position in the sensor section and the actuator section composed of the coil and the magnet. The structure can be simplified because it can be effectively used for angle detection and vibration suppression control.

Furthermore, in order to increase the induction efficiency of the current value with respect to the change of the hinge angle, one panel is extended from the hinge to the other panel side with respect to the coil and the magnet constituting the sensor section and the actuator section. When installed between the extended portion and the other panel, the induction value of the coil current can be further increased. Thus, according to the present invention, a hinge-bonded structure that easily causes vibration with discontinuous characteristics is strongly and reliably and easily controlled by the control device having a lightweight and simple structure in the entire panel including the hinge, and is deployed. Provided is a vibration / shape control method for a hinged structure that maintains an operating shape by using induced electromagnetic force.

[Brief description of drawings]

FIG. 1 is an enlarged view of a main part of a hinged structure according to the present invention, showing a layout of sensors and actuators.

FIG. 2 (A) is an overall view of the experimental apparatus, FIG. 2 (B).
Is a vibration / shape control flow chart.

FIG. 3 is a sensor principle diagram of the same.

FIG. 4 is a diagram showing the operating principle of the actuator.

FIG. 5 is an explanatory view of a control force for suppressing panel vibration.

FIG. 6 is an explanatory diagram of a hinge control force when vibration due to a disturbance occurs.

FIG. 7 is a vibration displacement diagram of the hinged structure in a steady state when a periodic external force is applied thereto.

FIG. 8 is a diagram of vibration damping of the hinged structure when an initial impulse force is applied thereto.

[Explanation of symbols]

1-9 hinges 10 panels 11 panels 12 Sensor section 12C sensor coil 12M sensor magnet 13 Actuator part 13C actuator coil 13M actuator magnet 14 Actuator part 14C actuator coil 14M actuator magnet 15 Device support stand 16A panel support pillar 16B panel support pillar 17 Pulley support pillar 18 pulley 19 wires 20 weights 21 Triangular end plate (thick panel) 22 Preamplifier 23 Control circuit 24 Main amplifier

Claims (4)

[Claims] 1. A vibration / shape control method for a hinge-bonded structure, wherein at least a pair of adjacent panels are linked by a hinge or the like and have discontinuous vibration characteristics, and the panels on both sides of the hinge are controlled by induced electromagnetic force. The sensor part and the actuator part are installed respectively, and the angle of the hinge is restored to the original position by controlling with the electromagnetic force from the actuator part according to the change in the angle of the hinge detected by the sensor part, or the actuator coil is A method for controlling the vibration and shape of a hinge-bonded structure by an induced electromagnetic force, which is configured so that an offset current is applied to set it at a specified position. 2. The sensor unit detects a value of an induced current flowing through the coil based on a change in relative position of the magnet magnetic field with respect to the coil, and the actuator unit detects a value of the induced current flowing through the coil in the magnet magnetic field as a value of the induced current or The vibration / shape control method of the hinged structure according to claim 1, wherein the vibration / shape control is performed according to an offset current value separately given. 3. The vibration and shape of the hinge-bonded structure according to claim 2, wherein the coil and the magnet constituting the sensor unit and the actuator unit are separately arranged on both sides of the hinge. Control method. 4. A coil and a magnet forming the sensor section and the actuator section are provided so that one panel extends closer to the other panel side than the hinge in order to increase the current value induction efficiency with respect to the change in the hinge angle. The vibration / shape control method for an hinge electromagnetically coupled structure according to claim 2, wherein the vibration / shape control is performed between the extending portion and the other panel.