月壤钻进加载机构的研制与控制性能研究  

Development and control performance research of loading mechanism for lunar soil drilling

作　　者：刘德赟 王迎春 张鼐 赖小明 王国欣 赵帆 Liu Deyun;Wang Yingchun;Zhang Nai;Lai Xiaoming;Wang Guoxin;Zhao Fan(Beijing Spacecrafts,Beijing 100094,China)

机构地区：[1]北京卫星制造厂

出　　处：《电子测量技术》2018年第17期7-14,共8页Electronic Measurement Technology

基　　金：国家自然科学基金青年科学基金(U1637208)项目资助

摘　　要：深层月壤钻进采样工作载荷复杂多变,为了实现钻取采样装置在不同月壤工况下钻进采样作业的自适应性和高可靠性,设计研发了一种月壤钻进加载机构。采用了基于电流矢量细分驱动技术的双备份冗余细分控制方案,实现了钻进采样过程的柔性加载,提高了系统的可靠性;建立了系统月面工作过程中钻压力与加载机构的映射关系,开展了月壤和岩石负载钻进过程中加载机构的控制性能实验,分别针对斜坡函数、正弦函数以及阶跃函数等多种钻压力控制形式进行了测试,并开展了冲击载荷作用条件下的钻压力控制性能实验,效果良好。实验证明,设计的月壤钻进加载机构可满足不同钻压力形式的自适应跟踪控制,符合不同工况条件下月壤钻进作业需求。In order to realize the adaptability and high reliability of drilling sampling operation for drilling and sampler under different lunar soil conditions,a lunar soil drilling and loading mechanism is designed and developed.The dual backup redundant subdivision control scheme based on current vector subdivision drive technology is adopted to realize the flexible loading of the drilling sampling process and improve the reliability of the system.The mapping relationship between the pressure and the loading mechanism in the working process of the system is established,and the control performance experiment of loading mechanism for both lunar soil and rock drilling process is carried out.Control performance experiments are carried out for various drilling pressure control forms such as slope function,sine function and step function,and the experiment of drilling pressure control performance under impact loading conditions is carried out.The experiments show good results.It has been proved that the design of the lunar soil drilling loading mechanism can meet the self-adaptive tracking control of different drilling pressure forms,which is in line with the requirements of the drilling operation under different working conditions.

关 键 词：月壤钻 进加载机构 控制性能 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]