A tether tension control device and method

A technology of tension control and tethering, which is applied in the directions of transportation and packaging, thin material handling, and delivery of filamentous materials, etc. It can solve problems such as tether tension signal drift, tether loose winding, tension overshoot, etc., and achieve envelope The effect of large range, prevention of tether crushing, and weak coupling effect

Active Publication Date: 2021-06-29
SHANGHAI AEROSPACE SYST ENG INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in practical applications, due to changes in the space environment and temperature, problems such as tether tension signal drift, tether damage after multiple movements, tension overshoot, and tether loose winding often occur.

Method used

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  • A tether tension control device and method
  • A tether tension control device and method
  • A tether tension control device and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] Such as figure 1As shown, the tether tension control method provided by the present invention includes: collecting the tether tension signal, amplifying and conditioning the tether tension signal to obtain the tether tension feedback value; and giving the tether tension feedback value and the tension closed-loop controller to Compare the specified tether tension values, and judge whether to perform tether anti-rolling control 1 according to the comparison results; compare the tether tension values ​​given by the tension closed-loop controllers at two adjacent time points, and judge whether to Perform tether tension suppression overshoot control 2; when the tether tension value given by the tension closed-loop controller is within the range of [0.5N, 3.5N], compare the tether tension feedback value with the tether tension given by the tension closed-loop controller The size of the tension value, according to the comparison result, judge whether to carry out tether anti-s...

Embodiment 2

[0055] The tether tension control device provided by the present invention includes a tension sensor for collecting a tether tension signal; a tension signal processor for amplifying and adjusting the tether tension signal collected by the tension sensor to obtain a tether tension feedback value; The tether anti-rolling module compares the tether tension feedback value with the tether tension value given by the tension closed-loop controller, and judges whether to perform tether anti-rolling control 1 according to the comparison result; the tether tension suppression overshoot module , compare the size of the tether tension value given by the tension closed-loop controller at two adjacent time points, and judge whether to carry out the tether tension suppression overshoot control 2 according to the comparison result; the tether anti-slack module, when the tension closed-loop controller is given When the tether tension value is within the range of [0.5N, 3.5N], compare the tethe...

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Abstract

The invention discloses a tether tension control device and method. The method firstly collects, amplifies, regulates and filters a tether tension signal to ensure that an effective tension feedback value and a tether tension value given by a tension closed-loop controller are performed. Comparison; according to the tension deviation value, the anti-rolling control of the tether is carried out; when the tether tension has a large step, the overshoot of the tether tension is suppressed; in order to prevent the tether from loosening during the rope retraction or release, the tether is used. Rope anti-slack control; according to different tension values, segmented PI control is adopted; in order to avoid the state mutation caused by frequent switching of the tether at different speeds, the tether driver adopts different control strategies when running at high speed and low speed. The above method solves the problems of the tether tension signal drift, the crushing damage after repeated actions of the tether, the overshoot of the tension, and the slack winding of the tether when the temperature changes in a wide range in the space environment.

Description

technical field [0001] The invention belongs to the design field of aircraft flexible assembly control based on tether connection, and in particular relates to a tether tension control device and method. Background technique [0002] The use of space rope nets to capture non-cooperative targets is a new flexible capture method, which has the advantages of long net capture distance, large envelope range, and weak coupling between aircraft. After completing the target acquisition, the aircraft uses its own fuel to perform the towing task. The tension control of the tether during the towing process of capturing the target has an important impact on the attitude stability of the aircraft, and is a key technology for the on-orbit towing of the aircraft. [0003] Maintaining the effective small tension of the tether (on the order of 1N) for a long time during the dragging process of the aircraft is a typical working state of the tether retraction control. Dynamic tension, so the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65H59/38B65H75/44
CPCB65H59/385B65H59/387B65H75/44B65H2701/35
Inventor 吴源兵刘定国杨志达方智毅孙海林叶甲秋蒋彦超
Owner SHANGHAI AEROSPACE SYST ENG INST
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