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Six-degree-of-freedom space microgravity simulation device and control method

A technology of microgravity simulation and control method, which is applied to the simulation device of space navigation conditions, transportation and packaging, space navigation equipment, etc. It can solve the problems of insufficient control accuracy and low system robustness, and achieve the purpose of expanding the range of motion and improving The effect of control accuracy and robustness

Active Publication Date: 2022-01-14
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This paper proposes a three-degree-of-freedom rapid suspension microgravity simulation control system based on the fast and controllable characteristics of electromagnetic force. The PID control method adopted puts forward high requirements on the modeling accuracy of the controlled system, and the system robustness is low. Insufficient control precision

Method used

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  • Six-degree-of-freedom space microgravity simulation device and control method
  • Six-degree-of-freedom space microgravity simulation device and control method
  • Six-degree-of-freedom space microgravity simulation device and control method

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Effect test

Embodiment 1

[0053] Embodiment one: if Figure 1-4 As shown in and 8, a six-degree-of-freedom space microgravity simulation device involved in this embodiment is mainly composed of a two-dimensional air bearing platform, a cylinder, a tension pressure sensor, a ball screw, a dumbbell type Composed of three-axis air bearing turntable, control module and simulated objects, such as figure 1 shown.

[0054] The simulation device is supported by four horizontal air feet to support a two-dimensional plane air-floating platform. The plane motion platform is used as a mobile base and physically serves as the lower part of the entire simulation device. The rest of the systems and subsystems are placed on this basic platform. Above, the entire simulation system is located on a horizontal plane and can float on a thin layer of air on the granite surface. Four horizontal gas square configurations are rigidly mounted on the foundation platform and powered by compressed air from four series-connected g...

Embodiment 2

[0061] Embodiment two: if Figure 1-4 As shown, a six-degree-of-freedom space microgravity control method involved in this embodiment, the vertical direction control part:

[0062] 1. Ball screw system control

[0063] The block diagram of the closed-loop control system in the vertical direction of the system is as follows: Figure 5 As shown, the control goal of the six-DOF simulation system in the vertical direction is to make the measured value of the pressure sensor equal to the gravity value of the test target (simulated object + three-axis air-floating turntable + connection plane), and the thrust output of the low-friction cylinder Using constant value estimation, set the output thrust as the estimated value of the test target. At present, the cylinder thrust control technology is becoming more and more mature. In this system, no separate control system is designed for the cylinder thrust.

[0064] The thrust control of the ball screw adopts the terminal sliding mode ...

Embodiment 3

[0084] Embodiment 3: The control method of a six-degree-of-freedom space microgravity simulation device involved in this embodiment is the same as the microgravity simulation introduced in "Research on Multi-degree-of-Freedom Microgravity Simulation Experiment System Based on Suspension Method and Air Float Method" Compared with the device, this application uses the cross-coupling control method combining the cylinder and the ball screw, which effectively improves the microgravity simulation accuracy and dynamic response effect; avoids the gravity component in the horizontal direction brought by the suspension method, and expands the The range of motion of the microgravity simulation device and the motion posture of the simulated object; the use of neural network-based sliding mode variable structure control greatly improves the adaptability of the control system; the six-degree-of-freedom simulation is realized, which is more advanced, more reliable, more practical.

[0085] ...

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Abstract

The invention provides a six-degree-of-freedom space microgravity simulation device and a control method and belongs to the field of microgravity simulation control. An air cylinder tension and pressure sensor is fixed to the top of an air cylinder piston, a lead screw nut on the outer side of a ball screw is connected with a ball screw tension and pressure sensor, the air cylinder tension and pressure sensor and the ball screw tension and pressure sensor are fixed to the bottom of a connecting plane, and a dumbbell type three-axis air floating rotary table is fixed to the center of the connecting plane; and a simulated object is fixed on the dumbbell type three-axis air floating rotary table. Compared with an existing microgravity simulation device, the system adopts the cooperative cross coupling effect of a ball screw and a low-friction air cylinder to carry out microgravity simulation in the vertical direction, the dumbbell type three-axis air floating rotary table is used for space microgravity simulation, and a neural network and terminal sliding mode variable structure control are combined to carry out intelligent control; control precision and robustness of the system are improved, and the motion range of the simulation system and the motion attitude of the simulated object are expanded.

Description

technical field [0001] The invention relates to a simulation technology, relates to a microgravity simulation system combined with an air bearing table and a ball screw, and a microgravity simulation control method in the Z-axis direction, belonging to the field of microgravity simulation control. Background technique [0002] In order to ensure the safety and reliability of aerospace equipment in orbit, it is necessary to conduct sufficient simulation tests on the ground during the development and testing phase of aerospace equipment, and to develop a low-cost, high-flexibility full-physical ground microgravity simulation system for aerospace The development of technology is of great significance. With the prosperity and development of the space industry, the space microgravity simulation system plays an important role in the development of space technology. The invention provides an advanced and reliable six-degree-of-freedom space microgravity simulation device based on ...

Claims

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Application Information

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IPC IPC(8): B64G7/00B64G5/00
CPCB64G7/00B64G5/00
Inventor 温奇咏胡潇如夏红伟马广程
Owner HARBIN INST OF TECH
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