Compound PID (proportion integration differentiation)-based centroid regulating mechanism and regulating method

A center-of-mass adjustment mechanism and center-of-mass technology, which is applied in three-dimensional position/channel control and other directions, can solve problems such as poor stability, low precision, and long system adjustment time

Active Publication Date: 2015-09-30
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

The invention solves the problems that the system adjustment time is too long, the precision is low, and the stability is poor when the deflection angle of the attitude platform is large

Method used

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  • Compound PID (proportion integration differentiation)-based centroid regulating mechanism and regulating method
  • Compound PID (proportion integration differentiation)-based centroid regulating mechanism and regulating method
  • Compound PID (proportion integration differentiation)-based centroid regulating mechanism and regulating method

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Embodiment Construction

[0039] Such as figure 1 As shown, the present invention provides a center-of-mass adjustment mechanism based on a composite PID, including three sets of center-of-mass adjustment mechanisms 2, a stepper motor driver 3 and an inclination sensor 4 mounted on a six-degree-of-freedom air bearing platform 1;

[0040] The attitude platform of the six-degree-of-freedom air bearing platform 1 includes two layers, which are the load lower table and the load upper table respectively, and the load lower table and the load upper table are connected by a support structure; the center of mass adjustment mechanism 2 includes a screw 5 and a mass block 6 , stepper motor 7 and base 8;

[0041] The quality block 6 has a threaded through hole, which is sleeved on the lead screw 5 and matched with the lead screw 5. One end of the three lead screws 5 is connected to the base 8 through a bearing, and the three lead screws 5 of the three sets of center-of-mass adjustment mechanisms 2 are respectivel...

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Abstract

The invention relates to a compound PID (proportion integration differentiation)-based centroid regulating mechanism and a regulating method, which are used for centroid regulation of a six-degree-of-freedom air bearing table of an orbiter and ascender simulator in a full-physical simulation test of the moon weak impact rendezvous and docking ground. According to the compound PID-based centroid regulating mechanism and the regulating method, a precise compound PID-based centroid regulating scheme is provided for the first time. The centroid regulating difficulty of the air bearing table is reduced, the regulating speed is increased, the engineering practicability of the system is guaranteed, and the problems of long system regulating time, low precision and poor stability when a deflection angle of the six-degree-of-freedom air bearing table is large are solved.

Description

technical field [0001] The invention relates to a center-of-mass adjustment mechanism and an adjustment method based on a composite PID, belonging to the field of full physical simulation on the ground of space vehicles. Background technique [0002] The six-degree-of-freedom air-floor platform is the core equipment for the full physical simulation test of the lunar weak impact rendezvous and grounding surface. It simulates the mass and inertia characteristics of the orbiter in a proportional manner. It has three rotational degrees of freedom and three translational degrees of freedom. To simulate the microgravity environment of the space, it is a fundamental problem that must be solved to realize the adjustment of the center of mass of the six-degree-of-freedom air bearing platform. The accuracy of the adjustment of the center of mass is also the main factor restricting the accuracy of the space microgravity environment, which greatly affects the reliability of the test resu...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 唐强刘磊汤亮丁泳鑫郝永波张勇智
Owner BEIJING INST OF CONTROL ENG
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