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杜木雄,贺 云,刘明洋,等. 系绳拖曳半物理试验装置设计与方案可行性验证[J]. 科学技术与工程, 2020, 20(35): 14730-14736.
dumuxiong,liumingyang,et al.Design and feasibility verification of tethered towingsemi-physical test device[J].Science Technology and Engineering,2020,20(35):14730-14736.
系绳拖曳半物理试验装置设计与方案可行性验证
Design and feasibility verification of tethered towingsemi-physical test device
投稿时间:2020-03-18  修订日期:2020-08-29
DOI:
中文关键词:  绳系系统  半物理装置  张力控制器  可行性验证
英文关键词:tethered system  semi-physical device  tension controller  feasibility verification
基金项目:兴辽计划(XLYC1808040)
              
作者单位
杜木雄 中国科学院沈阳自动化研究所机器人学国家重点实验室
贺 云 中国科学院沈阳自动化研究所机器人学国家重点实验室
刘明洋 中国科学院沈阳自动化研究所机器人学国家重点实验室
张世轩 中国科学院沈阳自动化研究所机器人学国家重点实验室
赵志亮 东北大学机械工程与自动化学院
摘要点击次数: 72
全文下载次数: 15
中文摘要:
      空间绳系系统需进行地面试验,以验证其理论研究结果的正确性。针对其非线性动力学模型较为复杂,地面难以模拟太空复杂情况而不易开展全物理试验的问题,设计了系绳拖曳地面半物理仿真试验装置。其中,仿真系统中系绳收放与张力控制部分以实物的方式引入仿真回路,拖曳过程中系统动力学部分以数学模型描述并转化为仿真计算模型,与实物部分构建成半物理仿真闭合回路。采用基于模糊PID的主从位置闭环控制器对张力控制器进行控制,搭建半物理试验装置拖曳过程simulink仿真模型,对闭合回路实现仿真计算以验证半物理试验装置方案设计的可行性。仿真结果表明:(1)张力控制器满足半物理加载机构对模拟被动星的系绳控制指令要求;(2)半物理试验装置设计方案原理正确,可通过模拟不同工况下动力学模型特性,考核系绳收放装置性能。
英文摘要:
      The space tethering system needs a ground test to verify the correctness of its theoretical research results. Aiming at the problem that its nonlinear dynamic model is complex and it is difficult for the ground to simulate the complex situation of space and it is not easy to carry out a full physical test, a tethered towed semi-physical simulation test device is designed. the tether retracting and tensioning part of the simulation system introduces a simulation circuit in the form of a physical object. During the dragging process, the system dynamics part is described by a mathematical model and converted into a simulation calculation model. A semi-physical simulation closed loop is constructed with the physical part. The controller of the master-slave position based on fuzzy PID is used to control the tension controller, and the simulink simulation model of the dragging process of the semi-physical test device is set up. From the simulation results, it can be seen that: 1) the tension controller meets the requirements of the tether control instruction of the semi-physical loading mechanism to simulate the passive star; 2) the design principle of the semi-physical test device is correct, and the dynamic model characteristics under different working conditions can be simulated; Assess the performance of the tether retractable device.
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