微重力落塔精密三自由度电磁释放控制系统  

Microgravity falling tower precision three-degree-of-freedom electromagnetic release control system

作　　者：蒲浩 董文博[1,2,3] 张永康 郭清远[1,3] PU Hao;DONG Wenbo;ZHANG Yongkang;GUO Qingyuan(Technology and Engineering Center for Space Utilization,Chinese Academy of Sciences,Beijing 100094,China;University of Chinese Academy of Sciences,Beijing 100049,China;Key Laboratory of Space Utilization,Chinese Academy of Sciences,Beijing 100094,China)

机构地区：[1]中国科学院空间应用工程与技术中心,北京100094 [2]中国科学院大学,北京100049 [3]中国科学院太空应用重点实验室,北京100094

出　　处：《中国惯性技术学报》2020年第4期515-521,共7页Journal of Chinese Inertial Technology

基　　金：载人航天工程-空间应用系统项目;中科院科研仪器研制项目(YJKYYQ20180017)。

摘　　要：在微重力落塔释放载荷舱时,由于机械应力、摩擦力等的干扰,会产生旋转力矩和加速度突变,影响载荷舱内的微重力水平。为此,提出了通过主动控制释放电磁力减缓应力影响以提高微重力水平的工作方式。首先对舱体的姿态与位置进行了动力学解耦分析。然后对三自由度控制模型进行了研究,并提出了优化的释放过程运动规划曲线。对比了多种不同释放方式和释放策略的仿真结果,最后设计了释放系统样机,实现了上述电磁释放的运动规划与闭环控制。实验结果表明,与直接释放相比较,所提出方案可以实现载荷舱在0.15 s内从零加速度到重力加速度的平稳过渡,水平方向的加速度扰动幅值降低到3.7%,有效减缓释放过程中的转动干扰,提高载荷舱内的微重力水平。When the load compartment of the microgravity drop tower is released,the sudden rotation torque and acceleration generated will affect the microgravity level in the load compartment due to the interference of mechanical stress,friction,etc.The release of electromagnetic force through active control is innovatively proposed to reduce the effect of stress and improve the level of microgravity.Firstly,the dynamic decoupling analysis of the cabin attitude and position is carried out.The three-degree-of-freedom control model is studied and an optimized motion planning curve for the release process is proposed.The simulation results of different release modes and release strategies are compared.A prototype of the release system is designed to realize the above-mentioned electromagnetic release motion planning and closed-loop control.The experimental results show that,compared with direct release,a smooth transition from zero acceleration to gravitational acceleration in the load compartment can be achieved within 0.15 s,and the horizontal acceleration disturbance amplitude is reduced to 3.7%,which effectively slows down the rotation disturbance during the release process and improves the microgravity level in the load compartment.

关 键 词：微重力落塔 电磁悬浮制动控制 多自由度动力学解耦 微重力释放曲线规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]