Mechanical falling body device for controlling falling acceleration and falling simulation method

Abstract

The present application relates to a kind of control falling acceleration mechanical falling body device and falling simulation method, belong to the technical field of lunar soil test.The device is made of four steel wire ropes to form vertical track, mechanical falling body device is arranged on vertical track, mechanical falling body device is respectively with four steel wire ropes to realize clamping and relaxation, to change the friction between mechanical falling body device and steel wire rope to adjust the acceleration when falling.The mechanical falling body device provided by the present application effectively solves the problem of low gravity test difficulty for soil based on the way of controlling falling acceleration by friction.The present application can generate any 0-1G gravity field environment, and provide test conditions for tests under low gravity conditions for various needs.The generation of low gravity field is more flexible, and the test reproduction difficulty is reduced.The simulation method realizes the mechanical test of lunar soil under a series of low gravity environments, so as to realize the analysis of the influence mechanism of the penetration response of lunar soil in low gravity environment and gravity field.

Description

Technical Field

[0001] This invention relates to a mechanical falling device and a falling simulation method for controlling falling acceleration, belonging to the field of astronomical experimental technology. Background Technology

[0002] Currently, micro / low gravity simulation methods in spacecraft design, space medicine, and astronaut training mainly include gravity compensation methods such as suspension, robotic arms, and water flotation. However, lunar regolith (such as lunar soil) is composed of fragmented particles, and simply compensating for the gravity in the test chamber containing the lunar regolith cannot achieve low gravity simulation. Low gravity simulation for lunar regolith is more complex and difficult. Current main methods include: 1. Geocentrifuge method; 2. Gravity simulation using water permeability; 3. Gravity simulation using base friction; 4. Drop tower test.

[0003] The drop tower method is most similar to the principle of this invention. The difference is that the drop tower method has strict size and weight restrictions and cannot carry out geotechnical tests with sand boxes. Secondly, the drop tower method can only achieve a weightless state with 0g acceleration and cannot freely switch between 1-0g acceleration. Summary of the Invention

[0004] This invention addresses the deficiencies and problems existing in mechanical experiments under low gravity environments of planetary soil by providing a mechanical falling device and a falling simulation method for controlling falling acceleration.

[0005] The present invention adopts the following technical solution:

[0006] The present invention discloses a mechanical falling device for controlling falling acceleration, comprising a vertical track composed of four steel wire ropes, a mechanical falling device arranged on the vertical track, and the mechanical falling device clamping and slackling with the four steel wire ropes respectively, thereby changing the friction between the mechanical falling device and the steel wire ropes to adjust the acceleration during falling. The control equation is as follows:

[0007]

[0008] The friction force provided by the acceleration control system = gravity of the test chamber - wind resistance - total mass of the test chamber * a.

[0009] The mechanical falling body device for controlling falling acceleration according to the present invention includes: a fixed structure, an active clamping mechanism, and a main control motor;

[0010] The fixed structure is used to install the main control motor (2). The active clamping mechanism is installed in cooperation with the fixed structure. A clamping structure for wire rope to pass through is provided between the active clamping mechanism and the fixed structure. The active clamping mechanism is driven by the main control motor (2) to retract towards the fixed structure, thereby controlling the friction force applied to the wire rope by the clamping structure.

[0011] The mechanical falling body device for controlling falling acceleration according to the present invention has a fixed structure comprising: a main shaft, a passive fixing plate, a fixed shaft, a main shaft, a passive fixing plate, and a linear bearing.

[0012] The passive fixing plate one and the passive fixing plate two are arranged in parallel to each other, and the passive fixing plate one and the passive fixing plate two are fixed to each other by a fixing shaft;

[0013] The passive fixing plate 2 is provided with several through holes. The main control motor is fixed between the passive fixing plate 1 and the passive fixing plate 2. The drive shaft of the main control motor passes through the through holes on the passive fixing plate 2.

[0014] Between the passive fixing clamp plate one and the passive fixing clamp plate two, there is also a main shaft one and a main shaft two; one end of the main shaft one and the main shaft two are fixed on the passive fixing clamp plate one, and the other end extends outward from the through hole of the passive fixing clamp plate two.

[0015] The first and second main shafts are parallel to the fixed shaft;

[0016] The active clamping mechanism includes: active fixing plate one, optical axis, and active fixing plate two;

[0017] The active fixing plate one and the active fixing plate two are arranged in parallel to each other, and an optical axis is provided between the active fixing plate one and the active fixing plate two;

[0018] The active fixing clamp is provided with a space hole for the main control motor;

[0019] The active fixing clamp is arranged parallel to the passive fixing clamp in the fixing structure.

[0020] The active fixing clamp second and the passive fixing clamp second in the fixing structure are arranged parallel to each other;

[0021] The active fixing plate one and the active fixing plate two are both located on the same side of the active fixing plate one and the passive fixing plate two;

[0022] The optical axis passes through the through hole of the passive fixing plate two and is fixed to the active fixing plate two;

[0023] The second main shaft passes through the second active fixing clamp.

[0024] The mechanical falling body device for controlling falling acceleration according to the present invention includes a steel wire rope pressure plate, an active pad plate, and a passive pad plate in the clamping structure.

[0025] There are two wire rope pressure plates, which are arranged in parallel to each other; a passive pad is provided between the two wire rope pressure plates; the two wire rope pressure plates and the passive pad are located on the end faces of the passive fixing plate one and the passive fixing plate two.

[0026] The active pads are located on the first and second active fixing plates, and the active pads are in the same position as the passive pads; the active pads are located between the two wire rope pressure plates.

[0027] The wire rope pressure plate is provided with through holes for the wire rope to pass through; the wire rope is threaded between the active pad plate and the passive pad plate.

[0028] The mechanical falling body device for controlling the falling acceleration described in this invention has linear bearings on both the first main shaft and the second main shaft.

[0029] The present invention describes a method for simulating the fall of a mechanical falling body using a device that controls the acceleration of its fall.

[0030] This fall simulation method uses an accelerometer, a wind speed sensor, a tension sensor, and a displacement sensor.

[0031] Accelerometers are used to detect the falling acceleration of mechanical falling devices in real time and provide feedback data;

[0032] Wind speed sensors are used to monitor outside wind speed in order to assess and compensate for the effects of wind resistance;

[0033] Tension sensors are installed at key nodes of the wire rope to measure the stress on the wire rope, ensuring safety and control accuracy.

[0034] Displacement sensors are used to detect the real-time position of mechanical falling bodies.

[0035] The information data obtained by using acceleration sensors, wind speed sensors, tension sensors, and displacement sensors is exchanged with the central monitoring system through a wireless communication module;

[0036] The fall simulation method is as follows:

[0037] Start-up phase: The controller checks the status of each sensor and servo motor to ensure that the system is in normal working condition; after setting the target acceleration, the controller starts the servo motor to put the wire rope clamp in the initial position, ready to start the descent;

[0038] Falling process: The servo motor adjusts the position of the clamping plate to control the falling acceleration; the acceleration sensor and displacement sensor provide feedback on the actual motion, and the wind speed sensor monitors the external environment in real time;

[0039] The PID controller and the wind resistance compensation module work together to ensure that the acceleration remains stable at the target value.

[0040] Stopping phase: When the predetermined falling distance is reached or the user issues a stop command, the servo motor gradually increases the clamping force and decreases the falling speed, eventually bringing the device to a smooth stop.

[0041] The present invention describes a method for simulating the fall of a mechanical falling body using a device that controls the acceleration of its fall.

[0042] If the acceleration exceeds the set safety threshold during the descent, the system will immediately activate emergency braking, and the servo motor will clamp the steel cable to the maximum extent to prevent the device from falling out of control.

[0043] If the wind speed changes drastically, causing the wind resistance to change too much, the controller will appropriately increase the clamping force and at the same time send an alarm to the monitoring system through the communication module.

[0044] If the tension sensor detects abnormal tension in the wire rope, the system will automatically stop the descent.

[0045] The fall simulation method for a mechanical falling body device that controls fall acceleration according to the present invention includes a model predictive control strategy, the model expression of which is as follows:

[0046]

[0047] In the formula: x¨(t+k|t) is the acceleration prediction at the future time t+kt; Fmotor(t+k|t) is the control force prediction at the future time; m(t+k|t) is the mass prediction at the future time, taking into account load changes; Q, R, and P are weighting matrices used to balance the effects of acceleration error, control input, and mass changes.

[0048] The optimal control input F is calculated by minimizing the cost function. motor (t), to ensure acceleration Get as close as possible to the target acceleration 'a';

[0049] H∞ control is:

[0050]

[0051] Where T zw (s) is the transfer function from disturbance (wind resistance, friction, etc.) to acceleration output;

[0052] By optimizing the control gain matrix K, the impact of disturbances on acceleration can be minimized, ensuring that the acceleration always remains close to the target a.

[0053] The steps of sliding mode control include:

[0054] Design of the sliding surface: The sliding surface S(t) can be defined as the difference between the acceleration error and the target acceleration.

[0055]

[0056] The sliding mode control law is designed as follows:

[0057] F motor (t)=-Ksgn(S(t))

[0058] Where K is the gain parameter and sgn(S(t)) is the sign function, which guides the system state to slide along the sliding surface.

[0059] Beneficial effects

[0060] The mechanical falling body device provided by this invention, which controls the falling acceleration based on friction, effectively solves the problem of difficult low-gravity tests on soil. It can generate any 0-1G gravity field environment, providing test conditions for various tests under low-gravity conditions. Compared with other tests such as drop tower tests, it greatly reduces costs, and the generation of low-gravity fields is more flexible, reducing the difficulty of test reproduction.

[0061] The present invention provides a method for simulating the fall of a mechanical falling object with controlled falling acceleration, enabling a series of mechanical tests on lunar soil under low gravity environments, thereby achieving a more comprehensive analysis of the probing response of lunar soil and the mechanism of the influence of the gravitational field in low gravity environments. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of the overall structure of the mechanical falling body device for controlling the falling acceleration of the present invention.

[0063] Figure 2 This is a schematic diagram of the fixed structure of the mechanical falling body device for controlling the falling acceleration of the present invention;

[0064] Figure 3 This is a schematic diagram of the active clamping mechanism of the mechanical falling body device for controlling the falling acceleration of the present invention;

[0065] Figure 4 This is a schematic diagram of the clamping structure of the mechanical falling body device for controlling the falling acceleration of the present invention;

[0066] Figure 5 This is a simulation verification test diagram of the fall simulation method of the present invention. Detailed Implementation

[0067] To make the objectives and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0068] like Figure 1 As shown: This invention mainly consists of four specially designed clamping plates, three sets of optical axes, wire rope clamps, clamping plates, pads, and a servo motor. Driven by the servo motor at the center of the device, it controls the magnitude of the device's falling acceleration. The specific technical solution is as follows:

[0069] The device drops vertically along a track of four steel wire ropes. During the drop, a servo motor drives the wire rope clamps to move closer to or further away from another clamp, thus clamping or releasing the wire ropes. This changes the magnitude of the upward friction provided by the wire ropes, thereby altering the acceleration of the entire device during descent. The specific formula used is as follows:

[0070]

[0071] The frictional force provided by the acceleration control system = gravity of the test chamber - wind resistance - total mass of the test chamber * a

[0072] This device can control the acceleration during descent, thereby creating any low gravity state between 0 and 1G, which can be used for a series of experiments in the low gravity environment of lunar soil.

[0073] A mechanical falling device for controlling the acceleration of falling body, the mechanical falling device includes: a fixed structure, an active clamping mechanism, and a main control motor 2;

[0074] The fixed structure is used to install the main control motor 2. The active clamping mechanism is installed in cooperation with the fixed structure. A clamping structure for wire rope to pass through is provided between the active clamping mechanism and the fixed structure. The active clamping mechanism is driven by the main control motor 2 to retract towards the fixed structure, thereby controlling the friction force applied to the wire rope by the clamping structure.

[0075] like Figure 2 As shown: The fixed structure includes: spindle 1, passive fixed clamping plate 4, fixed shaft 7, spindle 2 8, passive fixed clamping plate 2 9, and linear bearing 12;

[0076] Passive fixing plate 4 and passive fixing plate 9 are arranged in parallel to each other, and the passive fixing plate 4 and passive fixing plate 9 are fixed to each other by a fixing shaft 7.

[0077] The passive fixing clamp 2 9 is provided with several through holes. The main control motor 2 is fixed between the passive fixing clamp 1 4 and the passive fixing clamp 2 9. The drive shaft of the main control motor 2 passes through the through holes on the passive fixing clamp 2 9.

[0078] Between the passive fixing plate 1 (4) and the passive fixing plate 2 (9), there are also spindle 1 (1) and spindle 2 (8). One end of spindle 1 (1) and spindle 2 (8) are fixed to the passive fixing plate 1 (4), and the other end extends outward from the through hole of the passive fixing plate 2 (9). Spindle 1 (1) and spindle 2 (8) are parallel to the fixed shaft 7. Linear bearings 12 are provided on spindle 1 (1) and spindle 2 (8).

[0079] like Figure 3 As shown: The active clamping mechanism includes: active fixing clamp 1 5, optical axis 3, and active fixing clamp 2 10;

[0080] The active fixing clamp 5 and the active fixing clamp 10 are arranged in parallel to each other, and an optical axis 3 is provided between the active fixing clamp 5 and the active fixing clamp 10.

[0081] The active fixing clamp 5 is provided with a main control motor space hole 15;

[0082] The active fixing clamp 5 and the passive fixing clamp 4 in the fixing structure are arranged parallel to each other.

[0083] The active fixing clamp 210 and the passive fixing clamp 29 in the fixing structure are arranged parallel to each other;

[0084] Active fixing plate 15 and active fixing plate 20 are both located on the same side of active fixing plate 14 and passive fixing plate 29.

[0085] The optical axis 3 passes through the through hole of the passive fixing plate 2 9 and is fixed to the active fixing plate 2 10;

[0086] Main spindle 28 passes through active fixing clamp 210.

[0087] like Figure 4 As shown: The clamping structure includes a wire rope clamping plate 6, an active pad 13, and a passive pad 14;

[0088] There are two wire rope pressure plates 6, which are arranged in parallel to each other; a passive pad 14 is provided between the two wire rope pressure plates 6; the two wire rope pressure plates 6 and the passive pad 14 are located on the end faces of the passive fixing clamp 4 and the passive fixing clamp 9.

[0089] The active pads 13 are all located on the active fixing clamp 5 and the active fixing clamp 10, and the active pads 13 are in the same position as the passive pads 14; the active pads 13 are located between the two wire rope pressure plates 6.

[0090] The wire rope pressure plate 6 is provided with a through hole for the wire rope to pass through; the wire rope is passed between the active pad 13 and the passive pad 14.

[0091] like Figure 5 As shown: The falling simulation method of the mechanical falling device for controlling falling acceleration of the present invention includes a servo motor, a sensor module, an actuator and a communication module in its hardware part.

[0092] Servo motor: Responsible for adjusting the position of the wire rope clamp and controlling the magnitude of friction.

[0093] Clamping plates and wire rope clamps: driven by servo motors, they clamp or release the wire rope, thereby achieving deceleration control of the device.

[0094] Sensor module:

[0095] Accelerometer: Real-time detection of the device's falling acceleration, providing feedback data.

[0096] Wind speed sensor: Used to monitor outside wind speed in order to assess and compensate for the effects of wind resistance.

[0097] Tension sensor: Installed on key nodes of the wire rope, it is used to measure the stress on the wire rope to ensure safety and control accuracy.

[0098] Displacement sensor: detects the real-time position of the device, provides displacement feedback, and helps determine whether the system is running along the predetermined path.

[0099] Communication module:

[0100] Wireless communication module: Used for data exchange between the controller and the central monitoring system to enable remote monitoring and operation.

[0101] Real-time data is acquired from various sensors and fused together, for example, the speed is calculated by combining data from acceleration and displacement sensors; among them, the PID controller enables precise control of the servo motor to ensure stable falling acceleration.

[0102] Wind resistance compensation module: Based on the data provided by the wind speed sensor, it estimates wind resistance in real time and generates a compensation signal, which is combined with acceleration control to form a closed-loop control.

[0103] The control strategy of this invention is as follows:

[0104] The system adopts a closed-loop control structure, with a PID controller as the core, to achieve precise control of acceleration.

[0105] The closed-loop control process is as follows:

[0106] 1. Target setting: Users set the target acceleration through the human-computer interface.

[0107] 2. Sensor feedback: The accelerometer acquires the actual acceleration of the device in real time, the displacement sensor acquires displacement data, and the wind speed sensor provides wind resistance information.

[0108] 3. Error Calculation: The controller calculates the error between the target acceleration and the actual acceleration in real time.

[0109] 4. PID control: Based on the error value, the PID controller generates a control signal to drive the servo motor to make corresponding adjustments.

[0110] 5. Wind resistance compensation: Data from the wind speed sensor is used to estimate the magnitude of wind resistance, generate a compensation signal, and combine it with the PID control signal to further improve the system's response accuracy.

[0111] The wind resistance compensation strategy is as follows:

[0112] Wind resistance has a significant impact on the device's descent, especially during long-distance or high-speed descents. The control system compensates for wind resistance through the following steps:

[0113] Wind resistance estimation model: Wind resistance is estimated using a classic wind resistance model, where is the real-time measured descent speed, and other parameters are known or experimentally determined constants.

[0114] Compensation signal generation: The estimated wind resistance is converted into the control requirements of the servo motor, and the effect of wind resistance is offset by increasing the clamping force.

[0115] Real-time dynamic adjustment: Based on real-time changes in wind speed, the wind resistance compensation signal is continuously updated to ensure that the acceleration during the entire descent remains near the target value.

[0116] The experimental procedure is as follows:

[0117] Startup Phase: After system startup, the controller checks the status of each sensor and servo motor to ensure the system is in normal working order. After the user sets the target acceleration, the controller starts the servo motor to position the wire rope clamp in its initial position, ready to begin the descent.

[0118] Falling process: The servo motor adjusts the position of the clamping plate to control the falling acceleration. All sensors operate continuously: the acceleration and displacement sensors provide feedback on the actual motion, while the wind speed sensor monitors the external environment in real time. The PID controller and wind resistance compensation module work together to ensure the acceleration remains stable at the target value.

[0119] Exceeding the acceleration threshold: If the acceleration is detected to exceed the set safety threshold, the system will immediately initiate emergency braking, and the servo motor will clamp the steel wire rope to the maximum extent to prevent the device from falling out of control.

[0120] Drastic changes in wind resistance: If drastic changes in wind speed lead to excessive changes in wind resistance, the controller will appropriately increase the clamping force and simultaneously send an alarm to the monitoring system via the communication module.

[0121] Abnormal tension: If the tension sensor detects abnormal tension in the wire rope (e.g., too high or too low), the system will automatically stop the descent and prompt the user to check.

[0122] Stopping phase: When the predetermined falling distance is reached or the user issues a stop command, the servo motor gradually increases the clamping force and decreases the falling speed, eventually bringing the device to a smooth stop.

[0123] The control algorithm for the above experiments was implemented using C or Python, with real-time control based on an RTOS. The PID controller and wind resistance compensation module were implemented as configurable modules to allow for adjustments based on different experimental requirements.

[0124] Data acquisition and display: Data is transmitted to a computer via a serial communication module or CAN bus, and the real-time operating status is displayed using host computer software.

[0125] System testing and calibration

[0126] Acceleration control test: Conduct multiple experiments under different target accelerations to evaluate control accuracy and response time.

[0127] Verification of wind resistance compensation effect: The effect of the wind resistance compensation module was verified by changing the wind speed and descent speed.

[0128] Repeatability and reliability testing: Repeated testing under different environmental conditions ensures that the system has sufficient robustness and reliability.

[0129] Control system parameters

[0130] Controlled dynamic equations: For an arbitrary acceleration a (in m / s²), 2 The acceleration of the device is controlled by the force F applied by the servo motor. motor It is determined by both external disturbances (wind resistance, friction, etc.). Assuming the mass of the device is m, its equation of motion is:

[0131]

[0132] in: It is the acceleration of the device; F motor (t) is the control force generated by the motor; F ext (t) represents the external disturbance force (such as wind resistance, friction, etc.).

[0133] The goal is to increase acceleration It always approaches the set target acceleration a.

[0134] Target acceleration 'a': This is set according to mission requirements and can range from 0G to 1G, i.e.:

[0135] a∈[0,g] where g≈9.8m / s 2

[0136] That is, the range of the target acceleration 'a' is from 0 to 9.8 m / s². 2 Any value between.

[0137]

[0138] in: It is the acceleration of the device; F motor (t) is the control force generated by the motor; F ext (t) represents the external disturbance force (such as wind resistance, friction, etc.).

[0139] External disturbances include wind resistance and mechanical friction. Wind resistance F wind Depending on the velocity v, according to the previous model:

[0140]

[0141] The effects of friction and wear can be represented by a gradually decreasing attenuation factor η(t):

[0142] F motor (t)=η(t)F motor,ideal (t)

[0143] Impact of mission payload:

[0144] In practical applications, the task load (i.e., the total mass of the device) may change. Changes in the task load affect the device's inertia, thus impacting acceleration control. Assuming the change in load is Δm(t), the mass of the device is m(t) = m0 + Δm(t), where m0 is the initial mass and Δm(t) is the load that varies with time.

[0145] The acceleration equation of the device should be adjusted according to the change in mass:

[0146]

[0147] Comprehensive control approach:

[0148] To address the effects of varying acceleration 'a', changes in mission load, and inertia, the following control strategy is adopted:

[0149] Model predictive control (MPC): Used to optimize control inputs to ensure the acceleration of the device. It always remains near the target acceleration a.

[0150] Robust control (H∞, sliding mode control): used to handle external disturbances (such as wind speed changes, friction, etc.) and system uncertainties.

[0151] Real-time adjustment of mass and inertia compensation: When considering changes in mission load, inertia changes are compensated by dynamically adjusting the control input.

[0152] Model Predictive Control (MPC) Design:

[0153] MPC minimizes acceleration error by predicting future accelerations and optimizing control inputs. For any acceleration *a*, the MPC cost function can be extended as:

[0154]

[0155] Where: x¨(t+k|t) is the acceleration prediction at the future time t+kt; Fmotor(t+k|t) is the control force prediction at the future time; m(t+k|t) is the mass prediction at the future time, considering load changes; Q, R, and P are weighting matrices used to balance the effects of acceleration error, control input, and mass changes. MPC calculates the optimal control input F by minimizing the cost function. motor (t), to ensure acceleration Get as close as possible to the target acceleration 'a'.

[0156] Predictive Model: For MPC optimization, the system's dynamic model needs to include the effects of external disturbances and mass changes, for example:

[0157]

[0158] Robust control design (H∞ control):

[0159] H∞ control can further enhance the system's robustness to uncertainties in wind resistance, friction, and mass variations. Its optimization objective is to minimize the system's response to disturbances, ensuring acceleration remains stable under disturbances and uncertainties. The design of the H∞ control is as follows:

[0160]

[0161] Where T zw (s) is the transfer function from disturbance (wind resistance, friction, etc.) to acceleration output. By optimizing the control gain matrix K, the influence of disturbance on acceleration can be minimized, ensuring that the acceleration always approaches the target a.

[0162] Sliding mode control (SMC): When faced with large external disturbances (such as rapid changes in wind speed or sudden changes in load), sliding mode control can provide strong robustness. The design steps for sliding mode control are as follows:

[0163] Design of the sliding surface: The sliding surface S(t) can be defined as the difference between the acceleration error and the target acceleration.

[0164]

[0165] Control law design: The sliding mode control law is as follows:

[0166] F motor (t)=-Ksgn(S(t))

[0167] Where K is the gain parameter and sgn(S(t)) is the sign function, which guides the system state to slide along the sliding surface.

[0168] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A mechanical falling body device for controlling falling acceleration, characterized in that: The system includes a vertical track composed of four steel wire ropes, and a mechanical drop device arranged on the vertical track. The mechanical drop device clamps and relaxes with the four steel wire ropes, thereby changing the friction between the mechanical drop device and the steel wire ropes to adjust the acceleration during descent. The control equation is as follows: ； The mechanical falling device includes: a fixed structure, an active clamping mechanism, and a main control motor (2); The fixed structure is used to install the main control motor (2). The active clamping mechanism is installed in cooperation with the fixed structure. A clamping structure for wire rope to pass through is provided between the active clamping mechanism and the fixed structure. The active clamping mechanism is driven by the main control motor (2) to retract towards the fixed structure, thereby controlling the frictional force applied to the wire rope by the clamping structure. The fixed structure includes: main spindle one (1), passive fixed clamping plate one (4), fixed shaft (7), main spindle two (8), passive fixed clamping plate two (9), and linear bearing (12); The passive fixing clamps 1 (4) and 2 (9) are arranged in parallel to each other, and the 2 (9) and 3 (1) are fixed to each other by a fixing shaft (7). The passive fixing clamp two (9) is provided with several through holes. The main control motor (2) is fixed between the passive fixing clamp one (4) and the passive fixing clamp two (9). The drive shaft of the main control motor (2) passes through the through holes on the passive fixing clamp two (9). Between the passive fixing clamp 1 (4) and the passive fixing clamp 2 (9), there is also a main shaft 1 (1) and a main shaft 2 (8); one end of the main shaft 1 (1) and the main shaft 2 (8) are fixed on the passive fixing clamp 1 (4), and the other end extends outward from the through hole of the passive fixing clamp 2 (9). The first spindle (1) and the second spindle (8) are parallel to the fixed shaft (7); The active clamping mechanism includes: active fixing clamp one (5), optical axis (3), and active fixing clamp two (10); The active fixing clamp one (5) and the active fixing clamp two (10) are arranged in parallel to each other, and an optical axis (3) is provided between the active fixing clamp one (5) and the active fixing clamp two (10). The active fixing clamp (5) is provided with a main control motor space hole (15); The active fixing clamp (5) and the passive fixing clamp (4) in the fixing structure are arranged parallel to each other; The active fixing clamp two (10) and the passive fixing clamp two (9) in the fixing structure are arranged parallel to each other; The active fixing clamp 1 (5) and the active fixing clamp 2 (10) are both located on the same side of the passive fixing clamp 1 (4) and the passive fixing clamp 2 (9); The optical axis (3) passes through the through hole of the passive fixing plate two (9) and is fixed to the active fixing plate two (10); Main shaft 2 (8) passes through active fixing clamp 2 (10); The clamping structure includes a wire rope clamping plate (6), an active pad (13), and a passive pad (14). There are two wire rope pressure plates (6), and the two wire rope pressure plates (6) are arranged in parallel to each other; a passive pad (14) is provided between the two wire rope pressure plates (6); the two wire rope pressure plates (6) and the passive pad (14) are both located on the end faces of the passive fixing clamp one (4) and the passive fixing clamp two (9); The active pads (13) are all located on the active fixing clamp one (5) and the active fixing clamp two (10), and the active pads (13) are in the same position as the passive pads (14); the active pads (13) are located between the two wire rope pressure plates (6); The wire rope pressure plate (6) is provided with a through hole for the wire rope to pass through; the wire rope is passed between the active pad (13) and the passive pad (14).

2. The mechanical falling body device for controlling falling acceleration according to claim 1, characterized in that: Linear bearings (12) are provided on both spindle one (1) and spindle two (8).

3. A method for simulating the fall of a mechanical body using the controlled falling acceleration device as described in claim 1 or 2, characterized in that: This fall simulation method uses an accelerometer, a wind speed sensor, a tension sensor, and a displacement sensor. Accelerometers are used to detect the falling acceleration of mechanical falling devices in real time and provide feedback data; Wind speed sensors are used to monitor outside wind speed in order to assess and compensate for the effects of wind resistance; Tension sensors are installed at key nodes of the wire rope to measure the stress on the wire rope, ensuring safety and control accuracy. Displacement sensors are used to detect the real-time position of mechanical falling bodies. The information data obtained by using acceleration sensors, wind speed sensors, tension sensors, and displacement sensors is exchanged with the central monitoring system through a wireless communication module; The fall simulation method is as follows: Start-up phase: The controller checks the status of each sensor and servo motor to ensure that the system is in normal working condition; after setting the target acceleration, the controller starts the servo motor to put the wire rope clamp in the initial position, ready to start the descent; Falling process: The servo motor adjusts the position of the clamping plate to control the falling acceleration; the acceleration sensor and displacement sensor provide feedback on the actual motion, and the wind speed sensor monitors the external environment in real time; Stopping phase: When the predetermined falling distance is reached or the user issues a stop command, the servo motor gradually increases the clamping force and decreases the falling speed, eventually bringing the device to a smooth stop.

4. The method for simulating the fall of a mechanical falling body using a device for controlling falling acceleration as described in claim 3, characterized in that: If the acceleration exceeds the set safety threshold during the descent, the system will immediately activate emergency braking, and the servo motor will clamp the steel cable to the maximum extent to prevent the device from falling out of control. If the wind speed changes drastically, causing the wind resistance to change too much, the controller will appropriately increase the clamping force and at the same time send an alarm to the monitoring system through the communication module. If the tension sensor detects abnormal tension in the wire rope, the system will automatically stop the descent.

5. The method for simulating the fall of a mechanical falling body using a device for controlling falling acceleration according to claim 3, characterized in that: The control strategy includes model predictive control, the model expression of which is as follows: In the formula: It is the future moment Acceleration prediction; It is a prediction of control over future moments; It is a future quality prediction, taking into account load changes; and It is a weighting matrix used to balance the effects of acceleration error, control input, and mass change; The optimal control input F is calculated by minimizing the cost function. motor (t), to ensure acceleration As close as possible to the target acceleration ; H∞ control is: in It is the transfer function from disturbance (wind resistance, friction, etc.) to acceleration output; By optimizing the control gain matrix K, the impact of disturbances on acceleration can be minimized, ensuring that the acceleration always remains close to the target. ; The steps of sliding mode control include: Designing the sliding surface: Sliding surface It can be defined as the difference between the acceleration error and the target acceleration: The sliding mode control law is designed as follows: Where K is the gain parameter. It is a symbolic function used to guide the system state to slide along the sliding surface.

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