系绳拖曳半物理试验装置设计与方案可行性验证  

Design and Feasibility Verification of Tethered Towing Semi-physical Test Device

作　　者：杜木雄 贺云[1,2,3] 刘明洋 张世轩[1,2,3] 赵志亮 DU Mu-xiong;HE Yun;LIU Ming-yang;ZHANG Shi-xuan;ZHAO Zhi-liang(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100039,China;College of Mechanical Engineering and Automation,Northeastern University,Shenyang 110006,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110016 [3]中国科学院大学,北京100039 [4]东北大学机械工程与自动化学院,沈阳110006

出　　处：《科学技术与工程》2020年第35期14730-14736,共7页Science Technology and Engineering

基　　金：兴辽英才计划(XLYC1808040)。

摘　　要：空间绳系系统需进行地面试验,以验证其理论研究结果的正确性。针对其非线性动力学模型较为复杂、地面难以模拟太空复杂情况而不易开展全物理试验的问题,设计了系绳拖曳地面半物理仿真试验装置。仿真系统中系绳收放与张力控制部分以实物的方式引入仿真回路,拖曳过程中系统动力学部分以数学模型描述并转化为仿真计算模型,与实物部分构建成半物理仿真闭合回路。采用基于模糊比例积分微分(proportion integration differentiation,PID)的主从位置闭环控制器对张力控制器进行控制,搭建半物理试验装置拖曳过程Simulink仿真模型,对闭合回路实现仿真计算以验证半物理试验装置方案设计的可行性。仿真结果表明:张力控制器满足半物理加载机构对模拟被动星的系绳控制指令要求;半物理试验装置设计方案原理正确,可通过模拟不同工况下动力学模型特性,考核系绳收放装置性能。The space tethering system needs a ground test to verify the correctness of its theoretical research results.The nonlinear dynamic model is complex,and difficult for the ground to simulate the complex situation of space or carry out a full physical test.Therefore,a tethered towed semi-physical simulation test device was designed.The tether retracting and tensioning part of the simulation system introduced a simulation circuit in the form of a physical object.During the dragging process,the system dynamics part was described by a mathematical model and converted into a simulation calculation model.A semi-physical simulation closed loop was constructed with the physical part.The controller of the master-slave position based on fuzzy proportion integration differentiation(PID)was used to control the tension controller,and the Simulink simulation model of the dragging process of the semi-physical test device was set up.From the simulation results,it can be seen that the tension controller meets the requirements of the tether control instruction of the semi-physical loading mechanism to simulate the passive star.Meanwhile,the design principle of the semi-physical test device is correct,and the performance of the tether retractable device can be simulated by the dynamic model characteristics under different working conditions.

关 键 词：绳系系统 半物理装置 张力控制器 可行性验证 

分 类 号：V416.8[航空宇航科学与技术—航空宇航推进理论与工程]