Horizontal tension simulation device for detector extraterrestrial celestial body take-off and rise test

Abstract

The invention relates to a detector extraterrestrial celestial body take-off and rise test horizontal tension simulation device which comprises a sliding block follow-up device based on rope driving, a constant tension device and a mounting base. The constant tension device applies horizontal tension required in the simulation process to the detector through a tension output rope; the sliding block follow-up device achieves high-speed follow-up motion in the vertical direction in the take-off process of the detector and comprises a sliding block lifting device, a first guide pulley block, a second guide pulley block, two sliding block driving ropes, a sliding block trolley and a sliding block guide rail. The sliding block guide rail is arranged between an upper pulley pair and a lower pulley pair of the first guide pulley block, one ends of the two sliding block driving ropes are connected with the sliding block lifting device, and the other ends of the two sliding block driving ropes are connected with the two ends of the sliding block trolley; and the sliding block trolley vertically moves along the sliding block guide rail. According to the invention, the task of applying the horizontal tension within a large stroke in the whole takeoff process of the detector is realized, and the rope tension control precision and the horizontal tension direction precision are ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of spacecraft recovery and landing and low-gravity extraterrestrial body landing and take-off tests, and relates to a horizontal tension simulation device for a probe extraterrestrial body take-off and ascent test. Background Art

[0002] With the advancement and development of aerospace technology, extraterrestrial exploration missions have become a hot topic in the aerospace industry. For extraterrestrial exploration missions, especially those involving the return of samples from the surface of extraterrestrial bodies, the takeoff mission of the probe on the surface of the celestial body is characterized by high difficulty and high implementation risk. Therefore, it is necessary to simulate the mechanical environment during the takeoff process on the surface of an extraterrestrial body in order to carry out comprehensive ground verification tests of the probe to ensure that the probe can work reliably and successfully complete the takeoff mission.

[0003] The simulation of the takeoff process of spacecraft such as probes usually includes two methods: mechanism simulation and ignition test. Among them, the ignition test is to fill the probe with fuel. During the test, the probe's own engine provides thrust, and the control and simulation of its own motion trajectory and motion posture are achieved by controlling the engine thrust. Fueling is required during the ignition test, and the test preparation cycle is long, the test cost is high, there are many uncontrollable factors and the test risk is relatively high. In contrast, the mechanism simulation method has the advantages of short test preparation time, low cost and high test safety. Despite this, the motion stroke involved in the takeoff and ascent conditions of the probe is large and the motion speed is fast. Traditional rigid mechanisms are difficult to meet the motion conditions of large stroke, high speed and high acceleration during its takeoff process. As a flexible structure, the rope drive structure has the characteristics of large working space, light structural weight, fast response speed and good dynamic characteristics, which can better test the characteristics of large flight space and long motion stroke of spacecraft such as probes during flight. However, the existing spacecraft mechanics simulation devices are mainly aimed at the gravity unloading task during the flight of the probe, and few devices are used to simulate the engine thrust in the horizontal direction during the flight of the probe. Especially for probe takeoff conditions involving high speed, high acceleration and large motion stroke, although the traditional rope-driven robot with a fixed cable-out point layout can complete the output of lateral tension, when the working stroke is large, the change in the applied tension will produce a large deviation with the movement of the end load in the vertical direction, and at the same time produce crosstalk with the simulation accuracy of the vertical tension, it is difficult to ensure the accuracy of the tension control and apply it to the probe takeoff test. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the technical difficulties of the horizontal tension simulation task during the take-off process of a probe, and to propose a horizontal tension simulation device for the probe's extraterrestrial take-off and ascent test, so as to realize the horizontal tension application task within a larger stroke during the entire probe's take-off process, while achieving good rope tension control accuracy and horizontal tension direction accuracy.

[0005] The solution to the technical problem of the present invention is: a horizontal tension simulation device for a probe extraterrestrial body takeoff and ascent test, comprising a slide follower device based on rope drive, a constant tension device and a mounting base;

[0006] The constant tension device applies the required horizontal tension in the simulation process to the detector through the tension output rope, and the magnitude of the applied horizontal tension is adjusted by setting the tension control target;

[0007] The rope-driven slider follower device realizes high-speed following motion in the vertical direction during the take-off of the detector, ensuring that the tension output rope always applies horizontal tension to the detector during the take-off of the detector; it includes a slider lifting device, a first guide pulley group, a second guide pulley group, two slider driving ropes, a basket bolt, a slider trolley and a slider guide rail;

[0008] The slider lifting device is fixedly installed on the ground and fixedly connected to the base of the mounting base. The first guide pulley block is composed of two pairs of pulley pairs, and the two pairs of pulley pairs are vertically installed at the upper and lower ends of the mounting base column respectively. The second guide pulley block is composed of a pair of coaxial pulley pairs, which are installed between the two pairs of pulley pairs of the first guide pulley block. The slider guide rail is vertically installed between the two pairs of pulley pairs of the guide pulley block to provide the movement stroke of the slider trolley;

[0009] One end of a slider driving rope is connected to the slider lifting device, and it passes through the upper tangent point of the second guide pulley group and the lower tangent point of the pulley pair at the lower end of the first guide pulley group in turn, and is connected to the lower end of the slider trolley. One end of the other slider driving rope is connected to the slider lifting device, and it passes through the right tangent point of the second guide pulley group and the upper tangent point of the pulley pair at the upper end of the first guide pulley group in turn, and is connected to the upper end of the slider trolley through a basket bolt; the connecting sections of the two slider driving ropes and the slider trolley are kept in line, so that the two slider driving ropes led out from the slider lifting device are connected to the slider trolley to form a closed loop, thereby realizing the transmission function and completing the precise vertical movement control of the slider trolley and the constant tension device fixed on the slider trolley along the slider guide rail; the constant tension device is connected to the detector cabin system during the test through the tension output rope.

[0010] Further, the slider lifting device includes a slider driving servo motor, a slider driving reducer, a slider lifting device mounting seat, a slider driving rope drum and a stroke measuring device;

[0011] The output shaft of the slider-driven servo motor is connected to the input shaft of the slider-driven reducer to achieve the effect of deceleration and torque increase, which is used to improve the torque output capacity and corresponding tension output capacity of the slider lifting device; the output shaft of the slider-driven reducer is connected to the slider-driven rope drum, and the housing of the slider-driven reducer is fixedly connected to the mounting seat of the slider lifting device; one end of the two slider-driven ropes is respectively connected to the slider-driven rope drum, and the other end is respectively connected to the upper and lower ends of the slider trolley, and the stroke measuring device is coaxially connected to the slider-driven rope drum.

[0012] Furthermore, the winding directions of the two slider-driven ropes on the slider-driven rope drum are opposite, that is, when the slider-driven rope drum rotates, the movement of one slider-driven rope is performed as rope collection, and the movement of the other slider-driven rope is performed as rope release.

[0013] Furthermore, the assembly of the slider trolley and the pre-tightening of the slider driving rope are achieved by adjusting the basket bolts, ensuring that the slider driving rope is in a suitable tension condition.

[0014] Furthermore, the slider trolley includes a slider trolley body and running wheels thereon, and the running wheels of the slider trolley distributed on both sides of the slider guide rail are respectively in contact with the slider guide rail to form a sliding pair, so that the slider trolley and the slider guide rail can slide freely relative to each other in the vertical direction.

[0015] Furthermore, the constant tension device includes a constant tension device driving motor, a constant tension device reducer, a constant tension device cable drum, a rope arrangement roller shaft, a constant tension device mounting seat, a stroke measuring device and a horizontal tension output rope;

[0016] The output shaft of the constant tension device driving motor is connected to the input shaft of the constant tension device reducer, and the output torque of the constant tension device is provided through the constant tension device reducer; the output shaft of the constant tension device reducer is fixedly connected to the constant tension device cable drum, the housing of the constant tension device reducer is fixedly connected to the constant tension device mounting seat, and is fixed on the slider trolley through the constant tension device mounting seat; the rope-arranging roller is radially connected to the constant tension device cable drum, and rolls in the opposite direction to the constant tension device cable drum when the constant tension device cable drum rotates, so as to press the horizontal tension output rope on the surface of the constant tension device cable drum when the constant tension device cable drum retracts and releases the horizontal tension output rope; one end of the horizontal tension output rope is connected and wound on the constant tension device cable drum, and the other end is connected to the detector cabin system during the test; the constant tension device driving motor is rotated to realize the control of the constant tension device cable drum to retract and release the rope, thereby realizing the control and output of the rope tension of the detector at the end; the stroke measuring device is coaxially connected to the constant tension device cable drum.

[0017] Furthermore, the control output of the constant tension device on the tension of the detector is realized through the semi-open loop control algorithm of active control. The control algorithm compensates the friction torque through the motor speed and realizes the accurate control of the output tension through the feedback of the motor current loop;

[0018] By measuring the amount of rope released and the target tension of the horizontal tension output rope, the rope sag characteristics are calculated according to the catenary model, and the height of the slider trolley and the output tension of the constant tension device are compensated and adjusted to further improve the horizontal tension size and direction accuracy.

[0019] Furthermore, the control algorithm is specifically as follows:

[0020] According to the Coulomb-viscous friction model, the output torque controlled by the motor current loop and the end pull have the following corresponding relationship:

[0021]

[0022] where τ m is the motor output torque, F m is the output tension of the constant tension device, i is the reduction ratio of the reducer of the constant tension device, and R is the radius of the cable drum of the constant tension device; F c is the Coulomb friction torque influence coefficient, F v is the viscous friction torque influence coefficient, sign is the sign function, v is the speed of the constant tension device to retract and release the horizontal tension output rope;

[0023] According to the above formula, the output of the constant tension device is determined to be a given tension F. m When the constant tension device drives the motor, the output torque of the constant tension device is adjusted, and the precise tension control of the horizontal tension output rope is achieved by regulating the output torque of the constant tension device driving motor.

[0024] Furthermore, the height of the slider trolley is compensated and adjusted, specifically:

[0025] Get the horizontal transverse distance x between the cable exit point at one end of the horizontal tension output rope close to the constant tension device and the cable node of the end detector cabin d 、Expected height of slider trolley H d and the expected horizontal tension F d ;

[0026] The connection point between the horizontal tension output rope and the end detector cabin is taken as the origin O of the coordinate system, the horizontal direction is the x-axis, and the vertical direction is the y-axis. The Cartesian coordinate system xOy is established, and the catenary equation of the rope is described as:

[0027]

[0028] Where a is the catenary coefficient, which is used to describe the catenary shape of the horizontal tension output rope, and x and y are the horizontal and vertical coordinates of any point on the horizontal tension output rope in the coordinate system xOy;

[0029] According to the static equilibrium equation of the horizontal tension output rope, we have:

[0030] F d =aγ

[0031] Where γ is the linear density of the horizontal tension output rope, then

[0032] Assume that the angle between the tangent line of the horizontal tension output rope at the point (x, y) and the horizontal direction is α. According to the catenary equation, we have:

[0033]

[0034] According to the tension decomposition relationship of the horizontal tension output rope at one end of the constant tension device, we have:

[0035] F m cosα=F d

[0036] Among them, F m is the output tension of the constant tension device;

[0037] According to the trigonometric function relationship, there is the following corresponding relationship:

[0038]

[0039] The height y of the exit point of the horizontal tension output rope at one end of the constant tension device calculated in the coordinate system xOy is the height ΔH to be compensated by the slider lifting device:

[0040]

[0041] Then the target height of the slider lifting device after compensation is calculated as:

[0042]

[0043] Furthermore, the output tension of the constant tension device is compensated and adjusted, specifically:

[0044] The constant tension device controls the output horizontal tension of the compensated motor torque τ m 'for:

[0045]

[0046] The beneficial effects of the present invention compared with the prior art are:

[0047] (1) The present invention creatively proposes a horizontal tension simulation device and a corresponding control method for a space probe during a takeoff and ascent test on the surface of an extraterrestrial body. The device can be applied to the takeoff process of a probe with a large working stroke and a high movement speed. At the same time, the magnitude and direction of the applied horizontal tension can be ensured to have high accuracy during the entire large-stroke and high-speed movement process, thereby meeting the requirements of the probe takeoff test.

[0048] (2) The present invention adopts a slider driving system based on a closed-loop rope bidirectional drive to realize high-speed follow-up movement of the constant tension device in the vertical direction, which has the advantages of light structure, good dynamic characteristics, fast response speed, low cost and high reliability.

[0049] (3) The present invention adopts a constant tension control method based on semi-closed-loop control of servo motor torque, which does not rely on external force sensor feedback and can ensure good tension control accuracy. Furthermore, during the control process, a compensation algorithm is designed for the tension direction and tension magnitude errors introduced by the rope sag, and control compensation is performed, thereby further improving the accuracy of tension control.

[0050] (4) In general, the constant tension device based on the mechanism principle is only designed for a specific constant tension output target, and it is difficult to adjust the tension output. The present invention can adjust the output horizontal tension by introducing active control of the motor, and has good adaptability to detectors with different takeoff speeds. It can meet the simulation requirements of different horizontal tensions of detectors with different takeoff speeds in the takeoff test, and has good scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the horizontal tension simulation device for the extraterrestrial takeoff and ascent test of the detector of the present invention;

[0052] Figure 2 This is a structural schematic diagram of the slider lifting device of the present invention;

[0053] Figure 3 It is a structural schematic diagram of the constant tension device of the present invention;

[0054] Figure 4 It is a schematic diagram of the structure of the slider trolley device of the present invention. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with the accompanying drawings.

[0056] like Figure 1 As shown, a horizontal tension simulation device for a probe extraterrestrial takeoff and ascent test proposed by the present invention includes a slider follower device driven by a rope, a constant tension device 2 and a mounting base 10.

[0057] The constant tension device 2 applies the required horizontal tension in the simulation process to the detector through the tension output rope, and the magnitude of the applied horizontal tension is adjusted by setting the tension control target;

[0058] The rope-driven slider follower device realizes high-speed following motion in the vertical direction during the take-off of the detector, ensuring that the tension output rope always applies horizontal tension to the detector during the take-off of the detector; it includes a slider lifting device 1, a first guide pulley group 8, a second guide pulley group 9, two slider driving ropes 5, a basket bolt 6, a slider trolley 3 and a slider guide rail 4;

[0059] The slider lifting device 1 is fixedly installed on the ground and is fixedly connected to the base of the mounting base 10. The first guide pulley block 8 is composed of two pairs of pulley pairs, and the two pairs of pulley pairs are vertically installed at the upper and lower ends of the column of the mounting base 10 respectively. The second guide pulley block 9 is composed of a pair of coaxial pulley pairs, which are installed between the two pairs of pulley pairs of the first guide pulley block 8. The slider guide rail 4 is vertically installed between the two pairs of pulley pairs of the guide pulley block 8 to provide a movement stroke of the slider trolley 3;

[0060] One end of a slider driving rope 5 is connected to the slider lifting device 1, and it passes around the upper tangent point of the second guide pulley group 9 and the lower tangent point of the pulley pair at the lower end of the first guide pulley group 8, and is connected to the lower end of the slider trolley 3. One end of another slider driving rope 5 is connected to the slider lifting device 1, and it passes around the right tangent point of the second guide pulley group 9 and the upper tangent point of the pulley pair at the upper end of the first guide pulley group 8, and is connected to the upper end of the slider trolley 3 through the basket bolt 6; the connecting sections of the two slider driving ropes 5 and the slider trolley 3 remain in line, so that the two slider driving ropes 5 led out from the slider lifting device 1 are connected to the slider trolley 3 to form a closed loop, realizing the transmission function, and completing the precise vertical movement control of the slider trolley 3 and the constant tension device 2 fixed on the slider trolley 3 along the slider guide rail 4; the constant tension device 2 is connected to the detector cabin system during the test through the tension output rope.

[0061] like Figure 2As shown, the slider lifting device 1 includes a slider driving servo motor 11, a slider driving reducer 12, a slider lifting device mounting seat 13, a slider driving rope drum 14 and a stroke measuring device 15. The output shaft of the slider driving servo motor 11 is connected to the input shaft of the slider driving reducer 12 to achieve the effect of reducing speed and increasing torque, which is used to improve the torque output capacity and corresponding tension output capacity of the slider lifting device 1; the output shaft of the slider driving reducer 12 is connected to the slider driving rope drum 14, and the housing of the slider driving reducer 12 is fixedly connected to the slider lifting device mounting seat 13; one end of the two slider driving ropes 5 is respectively connected to the slider driving rope drum 14, and the other end is respectively connected to the upper and lower ends of the slider trolley 3, and the winding directions of the two slider driving ropes 5 on the slider driving rope drum 14 are opposite, that is, when the slider driving rope drum 14 rotates, one slider driving rope 5 moves as a rope collection, and the other slider driving rope 5 moves as a rope release; the stroke measuring device 15 is coaxially connected to the slider driving rope drum 14.

[0062] One slider driving rope 5 is directly connected to the lower end of the slider trolley 3 through a rope ring, and the other slider driving rope 5 is connected to the upper end of the slider trolley 3 through a basket bolt 6. By adjusting the basket bolt 6, the assembly of the slider trolley 3 and the pre-tightening of the slider driving rope 5 can be easily achieved. At the same time, the adjustment of the basket bolt 6 can ensure that the slider driving rope 5 is in a suitable tension condition, thereby ensuring reliable transmission and good movement accuracy of the slider follower device.

[0063] like Figure 4 As shown, the slider trolley 3 includes a slider trolley body 31 and running wheels 32 thereon, which are used for installing the constant tension device 2 and driving the constant tension device 2 to perform vertical follow-up movement with the detector during takeoff. The running wheels 32 of the slider trolley 3 distributed on both sides of the slider guide rail 4 are in contact with the slider guide rail 4 to form a sliding pair, so that the slider trolley 3 and the slider guide rail 4 can slide freely relative to each other in the vertical direction, play a role in motion constraint, and ensure the reliability and smoothness of the movement during the high-speed vertical follow-up movement.

[0064] The constant tension device 2 is installed on the slider trolley 3. Figure 3As shown, the constant tension device 2 includes a constant tension device drive motor 21, a constant tension device reducer 22, a constant tension device cable drum 23, a rope arrangement roller 24, a constant tension device mounting seat 25, a stroke measuring device 26 and a horizontal tension output rope 7. The constant tension device drive motor 21 is a high-precision servo motor with a built-in high-precision encoder, which can complete real-time high-precision position measurement and precise output torque control. The output shaft of the constant tension device drive motor 21 is connected to the input shaft of the constant tension device reducer 22, and the output torque of the constant tension device 2 is provided through the constant tension device reducer 22, providing a reliable torque output for the horizontal tension output. The output shaft of the constant tension device reducer 22 is fixedly connected to the constant tension device cable drum 23, and the box body of the constant tension device reducer 22 is fixedly connected to the constant tension device mounting seat 25, and is fixed on the slider trolley 3 through the constant tension device mounting seat 25; the rope roller shaft 24 is radially connected to the constant tension device cable drum 23, and rolls in the opposite direction to the constant tension device cable drum 23 when the constant tension device cable drum 23 rotates, and is used to press the horizontal tension output rope 7 on the surface of the constant tension device cable drum 23 when the constant tension device cable drum 23 retracts and releases the horizontal tension output rope 7, so that the horizontal tension output rope 7 The ropes on the surface of the constant tension device rope drum 23 are arranged tightly and neatly to prevent tangling of the ropes, thereby ensuring the reliability of the constant tension device 2 when retracting and releasing the ropes at high speed; one end of the horizontal tension output rope 7 is connected and wound around the constant tension device rope drum 23, and the other end of the horizontal tension output rope 7 is connected to the detector cabin system during the test; the constant tension device drive motor 21 is rotated to control the retracting and releasing of the constant tension device rope drum 23, thereby realizing the control and output of the rope tension of the detector at the end; the stroke measuring device 26 is coaxially connected to the constant tension device rope drum 23.

[0065] The horizontal tension simulation device for the probe extraterrestrial body takeoff and ascent test of the present invention realizes the control output of the probe tension by the constant tension device 2 through an actively controlled semi-open loop control algorithm. The control algorithm compensates the friction torque through the motor speed and realizes the accurate control of the output tension through the feedback of the motor current loop. The control algorithm is specifically as follows:

[0066] According to the Coulomb-viscous friction model, the output torque controlled by the motor current loop and the end pull have the following corresponding relationship:

[0067]

[0068] where τ m is the motor output torque, F m is the output tension of the constant tension device 2, i is the reduction ratio of the reducer 22 of the constant tension device, and R is the radius of the cable drum 23 of the constant tension device; F c is the Coulomb friction torque influence coefficient, which can be obtained through experimental calibration, Fv is the viscous friction torque influence coefficient, which can be obtained by calibration, sign is the sign function, and v is the speed of the constant tension device 2 to retract and release the horizontal tension output rope 7. According to the above calculation formula, the constant tension device 2 outputs a given tension F. m When the constant tension device drives the motor 21, the output torque is adjusted, and the tension of the horizontal tension output rope 7 is more accurately controlled by adjusting the output torque of the constant tension device driving motor 21.

[0069] At the same time, the present invention is provided with a rope sag compensation algorithm, which measures the rope release amount and the rope target tension of the horizontal tension output rope 7, calculates the rope sag characteristics according to the catenary model, and specifically compensates and adjusts the height of the slider trolley 3 and the output tension of the constant tension device 2, further improving the horizontal tension size and direction accuracy. The rope sag compensation algorithm is as follows:

[0070] The rope sag compensation algorithm obtains the horizontal lateral distance x between the cable exit point of the horizontal tension output rope 7 near the constant tension device 2 and the cable node of the end detector cabin through external measurement. d 、Expected height of slider trolley H d and the expected horizontal tension F d Based on the calculation, the position compensation H of the position control of the slider lifting device 1 is obtained. d ′ and the compensation amount τ of the output torque of the constant tension device 2 m ′.

[0071] Specifically, considering the deadweight of the rope and the existence of a horizontal span, the shape of the rope in the working plane is a catenary, and the sag of the rope can be described by the catenary equation. Further, the ideal compensation result of the rope sag compensation is that the horizontal tension output rope 7 is connected to the end of the terminal detector cabin, the tangent direction of the rope at the connection point of the rope is in the horizontal direction, and the rope tension at the connection point is the desired horizontal tension F d .

[0072] According to the catenary equation generally used in engineering, the connection point between the horizontal tension output rope 7 and the terminal detector cabin is taken as the origin O of the coordinate system, the horizontal direction is the x-axis, and the vertical direction is the y-axis. A Cartesian coordinate system xOy is established. In this coordinate system, the catenary equation of the rope is described as:

[0073]

[0074] Wherein a is the catenary coefficient, which is used to describe the catenary shape of the horizontal tension output rope 7, cosh is the hyperbolic cosine function, x is the horizontal coordinate of any point on the horizontal tension output rope 7 in the aforementioned coordinate system xOy, and y is the vertical coordinate corresponding to the point in the aforementioned coordinate system xOy.

[0075] At the same time, according to the static equilibrium equation of the horizontal tension output rope 7, we have

[0076] F d =aγ

[0077] Where γ is the linear density of the rope, which can be measured before the test begins, and a is the catenary coefficient. Therefore, further, the catenary shape parameters of the horizontal tension rope 7 can be calculated by the horizontal tension and the rope linear density:

[0078]

[0079] Assume that the angle between the tangent line of the horizontal tension output rope 7 at the point (x, y) and the horizontal direction is α. According to the catenary equation, we have

[0080]

[0081] Wherein, sinh is a hyperbolic sine function; according to the tension decomposition relationship of the horizontal tension output rope 7 at one end of the constant tension device 2, there is

[0082] F m cosα=F d

[0083] Among them, F m is the tension output by the constant tension device 2, α is the angle between the tangent line of the rope at the exit point of the constant tension device 2 and the horizontal direction, F d is the expected horizontal tension. At the same time, according to the trigonometric function relationship, there is the following corresponding relationship

[0084]

[0085] The height y of the cable outlet point of the horizontal tension output rope 7 at one end of the constant tension device 2 calculated in the coordinate system xOy is the height ΔH to be compensated by the slider lifting device 1, specifically:

[0086]

[0087] Then the target height controlled by the slider lifting device 1 after compensation is calculated as:

[0088]

[0089] At the same time, there is a constant tension device 2 to control the output horizontal tension of the compensated motor torque τm 'for:

[0090]

[0091] In summary, the present invention uses a set of slider follower devices to complete the rapid vertical following of the cable outlet point, so that the cable outlet point of the rope moves with the detector during takeoff, and the two are highly consistent, thereby ensuring the accuracy of the horizontal tension direction; at the same time, a set of constant tension devices is used to complete the application of horizontal tension through active control. For the following movement in the vertical direction, a slider follower device with a rope bidirectional drive is used to complete the high-dynamic motion control of the constant tension output device, so that the cable outlet point of the tension output rope of the constant tension device follows the upward movement of the detector in the vertical direction, so that during the entire process of the detector taking off, the cable outlet point of the constant tension touchdown device is highly consistent with the horizontal tension rope node on the detector, ensuring that the constant tension rope is always in the horizontal direction during the test, thereby ensuring the accuracy of the applied horizontal tension direction. The slider follower has the characteristics of simple and light structure, good dynamic characteristics of movement, and good adaptability to high-speed following movement, which can well meet the functional requirements of high-speed and high-acceleration movement following during the detector takeoff.

[0092] A semi-closed loop constant tension control method is designed using a constant tension output device based on a high-precision servo motor and a high-precision reducer without using external sensors. The high-precision reducer has low friction torque and low transmission loss, and the built-in torque feedback function of the high-precision servo motor is used to achieve high-precision horizontal tension output control, meeting the requirements of accurate horizontal tension control.

[0093] At the same time, considering that the horizontal tension application rope has a long lateral span, the rope is significantly affected by the gravity sag during the working process. Therefore, in order to further improve the accuracy of horizontal tension application, a compensation algorithm for rope sag is added to the control algorithm. Based on the catenary model of the rope, the rope sag is calculated according to the real-time state of the system, and compensation control is implemented in a targeted manner to further improve the accuracy of horizontal tension control.

[0094] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0095] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A horizontal tension simulation device for a probe extraterrestrial takeoff and ascent test, characterized in that: It comprises a slide follower device driven by a rope, a constant tension device (2) and a mounting base (10); The constant tension device (2) applies the required horizontal tension in the simulation process to the detector through the tension output rope, and the magnitude of the applied horizontal tension is adjusted by setting the tension control target; The rope-driven slider follower device realizes high-speed follow-up movement in the vertical direction during the take-off of the detector, ensuring that the tension output rope always applies horizontal tension to the detector during the take-off of the detector; it comprises a slider lifting device (1), a first guide pulley group (8), a second guide pulley group (9), two slider driving ropes (5), a basket bolt (6), a slider trolley (3) and a slider guide rail (4); The slider lifting device (1) is fixedly installed on the ground and fixedly connected to the base of the mounting base (10). The first guide pulley block (8) is composed of two pairs of pulley pairs, and the two pairs of pulley pairs are respectively vertically installed at the upper and lower ends of the column of the mounting base (10). The second guide pulley block (9) is composed of a pair of coaxial pulley pairs and is installed between the two pairs of pulley pairs of the first guide pulley block (8). The slider guide rail (4) is vertically installed between the two pairs of pulley pairs of the guide pulley block (8) to provide a movement stroke of the slider trolley (3); One end of a slider driving rope (5) is connected to the slider lifting device (1), and passes through the upper tangent point of the second guide pulley group (9), the lower tangent point of the pulley pair at the lower end of the first guide pulley group (8), and is connected to the lower end of the slider trolley (3). One end of another slider driving rope (5) is connected to the slider lifting device (1), and passes through the right tangent point of the second guide pulley group (9), the upper tangent point of the pulley pair at the upper end of the first guide pulley group (8), and is connected to the upper end of the slider trolley (3) through the basket bolt (6). The two slider driving ropes (5) and the connecting section of the slider trolley (3) are kept in the same line, so that the two slider driving ropes (5) led out from the slider lifting device (1) are connected to the slider trolley (3) to form a closed loop, thereby realizing the transmission function and completing the precise vertical movement control of the slider trolley (3) and the constant tension device (2) fixed on the slider trolley (3) along the slider guide rail (4); the constant tension device (2) is connected to the detector cabin system during the test process through the tension output rope.

2. The horizontal tension simulation device for the take-off and ascent test of an extraterrestrial body of a probe according to claim 1, characterized in that: The slider lifting device (1) comprises a slider driving servo motor (11), a slider driving reducer (12), a slider lifting device mounting seat (13), a slider driving rope drum (14) and a stroke measuring device (15); The output shaft of the slider driving servo motor (11) is connected to the input shaft of the slider driving reducer (12) to achieve the effect of reducing speed and increasing torque, so as to improve the torque output capacity and corresponding tension output capacity of the slider lifting device (1); the output shaft of the slider driving reducer (12) is connected to the slider driving rope drum (14), and the housing of the slider driving reducer (12) is fixedly connected to the slider lifting device mounting seat (13); one end of the two slider driving ropes (5) is respectively connected to the slider driving rope drum (14), and the other end is respectively connected to the upper and lower ends of the slider trolley (3), and the stroke measuring device (15) is coaxially connected to the slider driving rope drum (14).

3. The horizontal tension simulation device for the take-off and ascent test of an extraterrestrial body of a probe according to claim 2, characterized in that: The two slider-driven ropes (5) are wound around the slider-driven rope drum (14) in opposite directions, that is, when the slider-driven rope drum (14) rotates, the movement of one slider-driven rope (5) is manifested as rope collection, while the movement of the other slider-driven rope (5) is manifested as rope release.

4. The horizontal tension simulation device for the take-off and ascent test of an extraterrestrial body of a probe according to claim 1, characterized in that: The assembly of the slider trolley (3) and the pre-tightening of the slider driving rope (5) are achieved by adjusting the basket bolt (6), thereby ensuring that the slider driving rope (5) is in a suitable tension condition.

5. The horizontal tension simulation device for the take-off and ascent test of an extraterrestrial body of a probe according to claim 1, characterized in that: The slider trolley (3) comprises a slider trolley body (31) and running wheels (32) thereon. The running wheels (32) of the slider trolley (3) distributed on both sides of the slider guide rail (4) are in contact with the slider guide rail (4) respectively to form a sliding pair, so that the slider trolley (3) and the slider guide rail (4) can slide freely relative to each other in the vertical direction.

6. The horizontal tension simulation device for the take-off and ascent test of an extraterrestrial body of a probe according to claim 1, characterized in that: The constant tension device (2) comprises a constant tension device driving motor (21), a constant tension device reducer (22), a constant tension device cable drum (23), a rope arrangement roller shaft (24), a constant tension device mounting seat (25), a stroke measuring device (26) and a horizontal tension output rope (7); The output shaft of the constant tension device driving motor (21) is connected to the input shaft of the constant tension device reducer (22), and the output torque of the constant tension device (2) is provided through the constant tension device reducer (22); the output shaft of the constant tension device reducer (22) is fixedly connected to the constant tension device cable drum (23), the housing of the constant tension device reducer (22) is fixedly connected to the constant tension device mounting seat (25), and is fixed on the slider trolley (3) through the constant tension device mounting seat (25); the rope roller shaft (24) is radially connected to the constant tension device cable drum (23), and when the constant tension device cable drum (23) rotates, it rotates in the opposite direction to the constant tension device cable drum (23). The roller is used to press the horizontal tension output rope (7) against the surface of the constant tension device cable drum (23) when the constant tension device cable drum (23) retracts and releases the horizontal tension output rope (7); one end of the horizontal tension output rope (7) is connected and wound on the constant tension device cable drum (23), and the other end is connected to the detector cabin system during the test; the constant tension device drive motor (21) is rotated to realize the control of the constant tension device cable drum (23) to retract and release the rope, thereby realizing the control and output of the detector rope tension at the end; the stroke measuring device (26) is coaxially connected to the constant tension device cable drum (23).

7. The horizontal tension simulation device for the take-off and ascent test of an extraterrestrial body of a probe according to claim 6, characterized in that: The control output of the tension of the detector by the constant tension device (2) is realized through the semi-open loop control algorithm of active control. The control algorithm compensates the friction torque through the motor speed and realizes the accurate control of the output tension through the feedback of the motor current loop; By measuring the amount of the horizontal tension output rope (7) released and the target tension of the rope, the rope sag characteristics are calculated according to the catenary model, and the height of the slider trolley (3) and the output tension of the constant tension device (2) are compensated and adjusted, thereby further improving the horizontal tension size and direction accuracy.

8. The horizontal tension simulation device for the take-off and ascent test of an extraterrestrial body of a probe according to claim 7, characterized in that: The control algorithm is specifically: According to the Coulomb-viscous friction model, the output torque controlled by the motor current loop and the end pull have the following corresponding relationship: where τ m is the motor output torque, F m is the output tension of the constant tension device (2), i is the reduction ratio of the reducer (22) of the constant tension device, and R is the radius of the cable drum (23) of the constant tension device; F c is the Coulomb friction torque influence coefficient, F v is the viscous friction torque influence coefficient, sign is the sign function, v is the speed of the constant tension device (2) to retract and release the horizontal tension output rope (7); According to the above formula, the constant tension device (2) outputs a given tension F. m When the constant tension device drives the motor (21), the output torque of the constant tension device is adjusted, and accurate tension control of the horizontal tension output rope (7) is achieved by regulating the output torque of the constant tension device drive motor (21).

9. The horizontal tension simulation device for the take-off and ascent test of an extraterrestrial body of a probe according to claim 8, characterized in that: The height of the slider trolley (3) is compensated and adjusted, specifically: Obtain the horizontal transverse distance x between the cable exit point of the horizontal tension output rope (7) close to one end of the constant tension device (2) and the cable node of the end detector cabin. d 、Expected height of slider trolley H d and the expected horizontal tension F d ; The connection point between the horizontal tension output rope (7) and the terminal detector cabin is taken as the origin O of the coordinate system, the horizontal direction is the x-axis, and the vertical direction is the y-axis. A Cartesian coordinate system xOy is established, and the catenary equation of the rope is described as: Wherein a is the catenary coefficient, which is used to describe the catenary shape of the horizontal tension output rope (7); x and y are the horizontal and vertical coordinates of any point on the horizontal tension output rope (7) in the coordinate system xOy; According to the static equilibrium equation of the horizontal tension output rope (7), we have: F d =aγ Where γ is the linear density of the horizontal tension output rope (7), then Assume that the angle between the tangent line of the horizontal tension output rope (7) at the point (x, y) and the horizontal direction is α. According to the catenary equation, we have: According to the tension decomposition relationship of the horizontal tension output rope (7) at one end of the constant tension device (2), we have: F m cosα=F d Among them, F m is the output tension of the constant tension device (2); According to the trigonometric function relationship, there is the following corresponding relationship: The height y of the exit point of the horizontal tension output rope (7) at one end of the constant tension device (2) calculated in the coordinate system xOy is the height ΔH to be compensated by the slider lifting device (1): Then, the target height controlled by the slider lifting device (1) after compensation is calculated as:

10. The horizontal tension simulation device for the take-off and ascent test of an extraterrestrial body of a probe according to claim 9, characterized in that: The output tension of the constant tension device (2) is compensated and adjusted, specifically: The constant tension device (2) controls the compensated motor torque τ of the output horizontal tension m 'for:

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