Spatial rotation mechanism gravity unloading device and method based on Kalman filtering

A technology of Kalman filtering and rotating mechanism, which is applied to simulation devices of space navigation conditions, transportation and packaging, space navigation equipment, etc., can solve the problems of complex control system, increased system cost, and cumbersome mechanical structure, and achieves elimination of mixed noise. , the effect of high unloading accuracy and fast tracking

Pending Publication Date: 2022-07-22
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0002] The patent "An Active Gravity Unloading Device" (invention patent, Hou Peng, 20180504) proposes an active gravity unloading device that can realize ground gravity compensation of a large-scale space expandable mechanism and simulate the state of weightlessness in space. Although it can meet the requirements of large-scale The multi-joint space expandable mechanism is unloaded by gravity on the ground, which has the advantages of small size, light weight, and large movement stroke. However, due to the complicated control system and cumbersome mechanical structure, the operability and maintainability of the system are reduced, and the cost of the system is increased.
[0003] The paper "Design of Active Gravity Compensation System for Zero-stiffness Hanging Wire Suspension" (The Ninth China Multi-Agent System and Control Conference, Jia Jiao, 20140726), designed an active gravity compensation system for zero-stiffness hanging wire suspension, which is suitable for the test spacecraft Although the gravity in the horizontal direction, the zero stiffness in the vertical direction, the disturbance of the wire rope and the influence of the suspension device on the experimental spacecraft are fully compensated, the delay in the angle information of the two-dimensional inclination sensor output deviating from the equilibrium position is not considered. and noise interference, did not achieve high tracking accuracy and compensation accuracy
[0004] The paper "Analysis of Gravity Unloading Accuracy of Air Floatation Test Bench" (Journal of Mechanical Engineering Vol. Rotating in a microgravity environment, although the gravity of the two joints of the drive mechanism can be unloaded separately, but the method adopted is the air flotation method, which limits the weight of the load and cannot meet the needs of large loads.

Method used

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  • Spatial rotation mechanism gravity unloading device and method based on Kalman filtering
  • Spatial rotation mechanism gravity unloading device and method based on Kalman filtering
  • Spatial rotation mechanism gravity unloading device and method based on Kalman filtering

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Embodiment 1

[0066] Example 1: as Figure 1-2 As shown in the figure, a Kalman filter-based gravity unloading device and method for a spatial rotating mechanism involved in this embodiment, the Kalman filtering-based gravity unloading device for a spatial rotating mechanism is composed of a servo motor, a Z-axis motor, a rotating platform, a tension sensor, Suspended wire, turntable load, turntable, truss, etc. The T-type turntable can drive the load to move in two degrees of freedom, pitch and yaw. The servo motor performs real-time angle tracking on the yaw movement of the turntable through the position encoder located on the yaw axis of the turntable, so that the unloading of the turntable load can be suspended. Always maintain the vertical state; at the same time, the suspension wire tension value calculated by the planned unloaded load gravity is used as the control command of the Z-axis motor, and the suspension wire tension is always maintained with the Z-axis motor control command ...

Embodiment 2

[0072] Embodiment 2: as figure 2 As shown, for a method for gravity unloading of a space rotating mechanism based on Kalman filtering involved in this embodiment, in order to describe the Kalman filtering algorithm, it is assumed that there is a linear system described by the following differential equation.

[0073] x(k)=Ax(k-1)+Bu(k)+w(k) (1)

[0074] z(k)=Hx(k)+v(k) (2)

[0075] x(k) and x(k-1) represent the state variables at the kth time and the k-1th time, u(k) represents the control amount of the input of the whole system at the kth time, z(k) is It represents the value obtained by the system from the sensor at the kth time. The three coefficients A, B, and H represent the state matrix, control matrix and measurement matrix, respectively. w(k) in equations (1) and (2) ,v(k) is generally used as white Gaussian noise as the interference of the whole system, and their covariance is generally represented by Q, R in equation (4) and equation (5).

[0076] Once we have th...

Embodiment 3

[0088] Example three: as figure 1 and 3 As shown, the present embodiment involves a method for unloading the gravity of a space rotating mechanism based on Kalman filtering, and a method for controlling the constant tension of a suspended wire:

[0089] Aiming at the elastic deformation of the suspension wire, the small torsion and the model nonlinearity caused by the servo motor, the unknown model parameters, etc., and because the sliding mode control has strong robustness, it is extremely insensitive to parameter perturbation and external interference. The design process of the control law is simple, and the sliding mode control is proposed to lock the tension of the suspension wire.

[0090] First we need to give the mathematical definition of sliding mode variable structure control. Consider an arbitrary nonlinear system expressed as:

[0091]

[0092] For the state space of the system shown in Eq. (8), there is a sliding mode surface

[0093] s(x)=s(x 1 ,x 2 ,…,x...

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Abstract

The invention provides a space rotating mechanism gravity unloading device and method based on Kalman filtering, and belongs to the field of gravity unloading or servo control. A position encoder located on a rotary table yaw shaft measures and obtains a yaw attitude angle, and Kalman filtering is carried out on the yaw attitude angle through an industrial personal computer to eliminate delay and noise interference; taking a suspension wire tension value obtained by calculating the gravity of the rotary table load planned to be unloaded as a control instruction of a Z-axis motor, and enabling the suspension wire tension to be always the same as the control instruction of the Z-axis motor through a tension sensor on the suspension wire; and when the gravity of the load of the rotary table is unloaded, the tension of the suspension wire is locked and controlled by adopting sliding mode control. According to the space rotating mechanism gravity unloading device and method based on Kalman filtering, the problem that the gravity unloading environment of a two-dimensional rotating mechanism is difficult to build is solved, meanwhile, the device and method can bear a large-weight rotary table load, and the device and method have the advantages of being rapid in tracking, high in unloading precision and the like.

Description

technical field [0001] The invention relates to a gravity unloading device and method for a space rotation mechanism based on Kalman filtering, belonging to the field of gravity unloading or servo control. Background technique [0002] The patent "An Active Gravity Unloading Device" (invention patent, Hou Peng, 20180504) proposes an active gravity unloading device that can realize ground gravity compensation of large-scale deployable mechanisms and simulate the state of weightlessness in space. The ground gravity unloading of the multi-joint space deployable mechanism has the advantages of small size, light weight and large movement stroke. However, due to the complex control system and cumbersome mechanical structure, the operability and maintenance of the system are reduced, and the cost of the system is increased. [0003] The paper "Design of Active Gravity Compensation System for Zero Stiffness Hanging Wire Suspension" (The 9th China Conference on Multi-Agent Systems an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G7/00
CPCB64G7/00
Inventor 马广程姜宏操夏红伟李莉温奇咏
Owner HARBIN INST OF TECH
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