低重力模拟试验平台索并联驱动系统张力优化策略  

Tension Optimization Strategy Research of the Wire-driven Parallel System of Low Gravity Simulation Platform

作　　者：陈强 董强 黄科 邢伟 程刚[1] 隋毅[2,3] CHEN Qiang;DONG Qiang;HUANG Ke;XING Wei;CHENG Gang;SUI Yi(Beijing Institute of Special Engineering Design and Research,Beijing 100028,China;Beijing Institute of Space Mechanics&Electricity,Beijing 100094,China;Laboratory of Aerospace Entry,Descent and Landing Technology,CASC,Beijing 100094,China)

机构地区：[1]北京特种工程设计研究院,北京100028 [2]北京空间机电研究所,北京100094 [3]中国航天科技集团有限公司航天进入、减速与着陆技术实验室,北京100094

出　　处：《航天返回与遥感》2020年第6期66-76,共11页Spacecraft Recovery & Remote Sensing

基　　金：国家重大科技专项工程。

摘　　要：冗余索并联系统动力学方程的张力解不唯一,为保证随动平台在工作空间内姿态可控及索张力连续平稳,并且满足张力在最大最小限制范围,需要对其索张力优化策略进行研究。通过建立索并联驱动系统的动力学模型,分别运用封闭(Closed-Form,CF)优化法、常规最小方差优化法及将张力分为上、中、下斜拉的分类最小方差优化法对系统力控工作空间(Force Controllable Workspace,FCWS)以及典型工况的运动轨迹张力进行优化计算,结果表明:在相同张力限制条件下,采用CF优化法计算的FCWS范围最小,常规最小方差优化法次之,分类最小方差优化法计算的FCWS最大并满足系统要求;在相同运动轨迹条件下,采用CF优化法计算的张力上限最大,常规最小方差优化法次之,分类最小方差优化法的张力上限最小并满足系统要求;将分类最小方差优化法在索并联驱动系统进行张力试验,结果表明系统张力变化规律符合该优化算法的理论值,证明了该优化法的正确性。综上所述,将分类最小方差优化法确定为系统的张力优化策略。The solution of the redundant wire-driven parallel system force equation is not unique,to insure the pose of platform is controllable and the wires’tensions are smooth and contained in the lower and upper limitation,it is necessary to research the system’s tension optimization strategy.By establishing the dynamic model of the wire-driven parallel system,the closed-form(CF)optimization,the general minimum variance optimization and the up-mid-down wire tension classified minimum variance optimization is used separately to calculate the system’s force controllable workspace(FCWS)and the wires’tensions of the typical trajectory.The calculation results show that:in the condition of the same tension constrain,the CF optimization’s FCWS is the smallest,the general minimum variance optimization’s is middle,the classified minimum variance optimization’s is the biggest and satisfies the system’s requirement;under the condition of the same typical trajectory,the closed-form optimization’s upper limit tension is the maximum,the general minimum variance optimization’s is middle,the classified minimum variance optimization’s is the lowest and satisfies the system’s requirement.The classified minimum variance optimization’s force experiment shows that the measurement force curves are consistent with the theory force curves,which proves the rationality of the optimization.Based on the above descriptions,the classified minimum variance optimization is taken as the system’s tensions optimization strategy.

关 键 词：索并联驱动系统 矢量封闭原理 索力优化 刚度控制 低重力模拟试验平台 航天返回 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]