Annular truss three-dimensional servo system and control method thereof

Abstract

The invention relates to a control method of an annular truss three-dimensional follow-up system. The control method specifically comprises the following steps: S1, establishing a coordinate system by taking a parallel system of m ropes with n degrees of freedom as a research object; s2, establishing a generalized force balance model of the system; s3, the generalized force W of the cable parallel system is calculated; S4, whether a tension vector T composed of m cables meets the following relation that T is larger than or equal to Tmin and smaller than or equal to Tmax or not is judged, and it is ensured that all the inhaul cables are not subjected to virtual traction; s5, optimizing the established generalized force balance model of the cable system by taking the minimum variance minf (T) of the tension as a target; s6, calculating a force control working space of the cable parallel driving system; s7, establishing a follow-up control equation of the cable parallel drive system; s8, establishing a horizontal rapid servo system control model; and S9, setting a tension change curve, determining that the servo motor works in a torque mode, and performing tension closed-loop feedback control.

Description

Technical field [0001] The present invention relates to the technical field of simulation test platforms, and more particularly, the present invention relates to a three-dimensional follow-up system of an annular truss and a control method thereof. Background technique [0002] Earth-Outside Sky Low Gravity Simulation Test Platform is one of the key facilities of the first Mars detection of Mars, which provides a low gravity simulation environment such as Mars, Moon, Planetary Detector. [0003] The current low-gravity simulation test platform has the following two types: [0004] The first is a large rotating arm follow-up system. Its follow-up architecture uses a polar coordinate form, mounting a translation trail and a lifting reel mechanism on the rotary robot arm, and achieves the position of the horizontal surface by measuring the position and speed control cart and the void movement, control the position and speed to achieve the vertical direction. Tensile follow. The driv...

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Problems solved by technology

The truss car structure used in this scheme improves the structural strength of the system, and can increase the load capacity and range of motion of the translation trolley and reel mechanism, so that the test load can reach hundreds of kilograms and tens of meters in the low-gravity simulation space range, but due to The structure of the mobile girder is huge, and its weight usually reaches hundreds of tons, which limits the translational speed and acceleration of the system

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