Two-stage cooperative motion control system for multi-motion platform

Abstract

The invention provides a two-level cooperative motion control system for multiple motion platforms so as to realize dynamic cooperation of mutual motions and avoid occurrence of interference, and belongs to the field of ground microgravity simulation for space robots. The two-level cooperative motion control system comprises N two-dimensional motion platforms, N first-level controllers, N constant tension system, a second-level controller, cameras and a target, and is characterized in that each first-level controller controls motions of one two-dimensional motion platform; each two-dimensional motion platform is provided with one constant tension system; the target is arranged on a moving component, and the camera performs imaging on the moving component suspended below the constant tension systems by referring to the target; the first-level controllers acquires the tracking deviation of projections of the corresponding two-dimensional motion platform and the moving component in a horizontal plane according to imaging of the cameras, and controls the corresponding two-dimensional motion platform to move according to the tracking deviation until the tracking deviation is eliminated; and the second-level controller is used for controlling motions of N two-dimensional motion platforms in a coordinated manner according to positions of the N two-dimensional motion platforms so as to avoid interference among the two-dimensional motion platforms.

Description

technical field [0001] The invention relates to a motion control system, in particular to a multi-motion platform two-stage cooperative motion control system, and belongs to the field of ground microgravity simulation of space robots. Background technique [0002] Space robot systems such as space station manipulators need to conduct motion tests on the ground before launch, and the design and working environment of space robots is mostly a low-gravity environment. need. Suspended low-gravity simulation is suitable for long-term and multi-dimensional micro-low gravity simulation system. Suspended low-gravity simulation systems usually consist of a constant tension system and a two-dimensional motion platform. The constant tension system pulls the target space structure through ropes, thereby offsetting part of its weight to realize the simulation of micro-low gravity. The two-dimensional motion platform performs two-dimensional servo tracking on the target space structure...

AI Technical Summary

Problems solved by technology

[0004] At present, it is difficult to realize the zero-gravity simulation of multiple moving parts at the same time by using the zero-gravity simulation system of a single rope in the servo suspension micro-low gravity simulation method. When controlling the motion of multiple platforms, it is difficult to realize the tracking of a single moving platform In the case of measuring the target, there is a problem that multiple motion platforms interfere during the motion process

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