空间机械臂电磁制动器温升最优设计及热真空实验  

Temperature Rise Optimization Design and Thermal Vacuum Experiment on Coil of Space Manipulator Electromagnetic Brake

作　　者：孙敬颋[1] 史士财[1] 陈泓[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验,黑龙江哈尔滨150080

出　　处：《机器人》2012年第2期170-175,共6页Robot

基　　金：国家863计划资助项目(2006AA04Z228)

摘　　要：采用遗传算法几何惩罚函数的方法对空间机械臂制动器电磁线圈温升进行了优化设计.首先针对空间机械臂电磁制动器对电磁力、电流以及磁场强度的限制要求,以温升为目标推导出优化模型.然后针对优化模型约束非线性问题,提出遗传算法结合惩罚函数的优化方法.本方法可在解决全局优化问题的同时保证计算过程中的解总是可行解.优化结果显示,线圈温升大大降低.最后,将制动器置于热真空环境模拟设备中,测出电磁制动器线圈温升曲线.实验结果显示,测得温升值与优化设计得出目标温升值基本吻合,验证了方法及设计的正确性.Temperature rise optimization design of space manipulator electromagnetic brake coil is done, using a new method which combines genetic algorithm with penalty function. Firstly, optimization model of space manipulator electromagnetic brake coil is obtained with the objective of temperature rise, which considers the restrictions such as electromagnetic force, current and magnetic density. Then, a method combining penalty function with genetic algorithm is proposed to solve the nonlinearity of constraint conditions in optimization model. The method is suitable for global optimization, and guaran- tees that the solution is always feasible in whole calculation process. The optimization result demonstrates that temperature rise is reduced remarkably. Finally, the brake is put into thermal vacuum environment simulation equipment and temperature rise curve is drawn. The temperature rise measured in the experiment closely meets the objective obtained by the optimization calculation, and this experimental result verifies the correctness of the method and the design.

关 键 词：空间机械臂 制动器 线圈 温升 最优设计 热真空实验 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]