一种太阳翼对接用调姿机构虚腿调平策略  

A False Leg Leveling Strategy for the Attitude AdjustmentMechanism of Solar Wing Docking

作　　者：商涛 鲍成文 寇士营 王文宗 石震宇 SHANG Tao;BAO Chengwen;KOU Shiying;WANG Wenzong;SHI Zhenyu(Tianjin Institute of Aerospace Electromechanical Equipment,Tianjin 300458,China;Tianjin Aerospace Intelligent Equipment Technology Enterprise Key Laboratory,Tianjin 300458,China;School of Mechanical and Transport Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]天津航天机电设备研究所,天津300458 [2]天津市宇航智能装备技术企业重点实验室,天津300458 [3]太原理工大学机械与运载工程学院,太原030024

出　　处：《航天控制》2024年第4期78-84,共7页Aerospace Control

摘　　要：针对太阳翼对接过程中姿态调整的快速性和准确性需求及人工调整不便的问题,本文设计了一种调平策略,能够根据地面状态更新调姿机构的运动学参数,利用激光跟踪仪获取调平所需位姿,采用基于运动学逆解的关节位置闭环控制实现动平台的调平,避免了传统支腿升降调平法在调平过程中存在的虚腿问题,实现了调姿机构从支腿收起状态到触地支撑状态再到动平台调至水平状态的自动调节。通过仿真验证了该调平策略的可行性,为太阳翼对接用调姿机构在工程应用中存在的虚腿调平问题提供了解决思路和方法。In order to fulfill the demands for rapid and precise attitude adjustment during the docking process of solar arrays,and to resolve the challenges associated with manual adjustment,this study proposes a leveling strategy,which can update the kinematic parameters of the AAM according to the ground leveling situation,uses the laser tracker to obtain the pose required for leveling,applies closed-loop joint position control based on kinematic inverse solution to realizing the leveling of the moving platform,avoids the false leg in the leveling process through implementation of the traditional outrigger lifting and leveling method,and realizes the automatic adjustment of the AAM from the state of the outrigger stowed away to the state of touching the ground as support and then to the state that the moving platform is automatically adjusted to the horizontal plane level.The feasibility of the leveling strategy is verified through simulation,which provides a solution to false leg-leveling in the engineering application of AAM during solar wing docking.

关 键 词：并联机构 虚腿调平 运动学逆解 激光跟踪仪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V554[自动化与计算机技术—控制科学与工程]