A Safety Limit Method of Vector Adjustment Mechanism
A technology for adjusting mechanisms and vectors, which is applied in the direction of aerospace vehicle propulsion systems, etc., can solve problems such as mechanism stalls, sliders hitting hard limits by mistake, and mechanical damage, so as to avoid mechanical damage, reduce overshoot, and improve The effect of control precision
Active Publication Date: 2020-07-14
BEIJING INST OF CONTROL ENG
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Problems solved by technology
[0004] When using the existing limit method, because the control parameters are obtained by linearizing the complex nonlinear model of the vector adjustment mechanism, there is overshoot in the control process, and the slider often needs to be adjusted several times around the target position to achieve the accuracy index. , there is an overshoot process. When the position of the slider corresponding to the target angle is close to the hard limit, the slider may touch the hard limit by mistake, causing the mechanism to stop, and precise control cannot be achieved. Increased risk of mechanical injury
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[0029] The structure of the vector adjustment mechanism is as figure 1 As shown, the simplified schematic diagram is as figure 2 Shown. The two sliding blocks are driven by the motor to realize the angle adjustment in two directions.
[0030] The vector adjustment mechanism is a complex non-linear system. Considering on-orbit operating conditions, in order to save on-board resources and improve software reliability, a linear simplified control algorithm is adopted for the control of the vector adjustment mechanism. Simplify the vector adjustment mechanism model to a linear system, according to the rotation angle α and β and the target angle α c , Β c Calculate the distance Δd the slider needs to move 1 And Δd 2 , Control the slider to move to achieve the adjustment of the target angle:
[0031]
[0032]
[0033] Among them, the coefficient K is the information obtained by linear fitting according to the nonlinear model of the vector adjustment mechanism, and the angle error Δα=α ...
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The invention provides a safe limiting method for a vector adjusting mechanism. Firstly, the current angle error of the vector adjusting mechanism is calculated, and then the needed displacement of asliding block of the vector adjusting mechanism is obtained; then the single-time maximum moving distance and the soft limitation range of the sliding block of the vector adjusting mechanism are obtained, and the displacement of the sliding block of the vector adjusting mechanism is corrected; and finally, according to the corrected displacement of the sliding block of the vector adjusting mechanism, moving of the sliding block is controlled till the precision requirement is met. Compared with the prior art, by arranging a soft limitation on the inner side of a hard limitation, the position ofthe sliding block is estimated before control each time, if the soft limitation is exceeded, the controlling quantity is adjusted to control the sliding block to move to the soft limitation and thenstop, thus it is ensured that the vector adjusting mechanism moves within the safety range, a hard limitation switch is not touched, mechanical damage is avoided, and the good using value is achieved.
Description
Technical field [0001] The invention relates to the field of electromechanical integration control, in particular to a safety limit method of a vector adjusting mechanism. Background technique [0002] The DFH-3B platform can use the electric propulsion system to complete the 15-year north-south position protection. The electric propulsion system includes electric thrusters and power supply and distribution processing units, storage and supply systems and control modules, etc., through the electric thruster ignition to provide the satellites north-south position protection needs thrust. The electric thruster has a long working time in orbit every day. In order to reduce the influence of the interference torque caused by the thrust direction deviating from the center of mass of the star during the ignition process of the thruster, the electric propulsion subsystem is equipped with a vector adjustment mechanism to support the electric thruster and adjust the electric thrust The di...
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IPC IPC(8): B64G1/40
CPCB64G1/40
Inventor 耿洁吕楠李晓辉李巍林佳伟王韬宫经刚蔡诚徐英学刘露咪马婷婷
Owner BEIJING INST OF CONTROL ENG