Redundant backup-based rope driving system and control method thereof

Abstract

The invention discloses a redundant backup-based rope driving system and a control method thereof, and belongs to the field of automatic control and space robots. The rope driving system includes an unfolding line roller, a folding line roller, a line roller reduction box A, a line roller reduction box B, a motor reduction box A, a motor reduction box B, a backup motor gearbox A, a backup motor gearbox B, an unfolding motor, an unfolding backup motor, a folding motor, a folding backup motor, an unfolding rope A, an unfolding rope B and a folding rope. On the basis of normally working motors, the redundant backup-based rope driving system provided by the invention adds the backup motors which can replace main motors to work when the main motors cannot work normally, and when an accident occurs, for example, the system encounters an unpredictable unknown load, when driving force of the main motors is insufficient, the backup motors and the main motors can coordinate with each other and work together, thereby substantially improving operation driving force.

Description

technical field [0001] The invention belongs to the field of automatic control and space robots, and in particular relates to a redundant backup-based rope drive system and a control method thereof in an outer space environment. Background technique [0002] The outer space environment has the characteristics of high vacuum and microgravity, so the traditional internal combustion engine and other driving forms cannot be used for outer space operation equipment. Compared with other driving forms, the rope drive is light in weight, small in size, small in inertia, and has a certain degree of flexibility, and is widely used in various automation or semi-automation equipment. [0003] However, because the tension that the rope can withstand is generally small, if the tension in the rope is greater than the allowable tension of the driving rope for a long time, the rope will fail and break, and the flexibility of the rope will cause the driving rope to easily rewind during the op...

AI Technical Summary

Problems solved by technology

[0003] However, because the tension that the rope can withstand is generally small, if the tension in the rope is greater than the allowable tension of the driving rope for a long time, the rope will fail and break. At the same time, the flexibility of the rope makes the driving rope easy to rewind during operation.

The outer space environment is full of unknowns, with great uncertainty, and the tolerance for equipment failure rate is extremely low. How to avoid these problems in the drive system and how to ensure reliable work in an unfamiliar environment are current problems that need to be solved urgently

Images