Dynamic Analysis of Horizontal Servo System in Suspension Gravity Compensation System  

悬吊式重力补偿系统中水平随动机构的动力学分析

作　　者：WANG Wanqing WANG Qingxia YANG Shuai LI Na HUANG Shunzhou 王婉情;王庆霞;杨帅;李娜;黄顺舟(东华大学机械工程学院,上海201620;上海航天设备制造总厂有限公司,上海200245;上海航天工艺与装备工程技术研究中心,上海200245)

机构地区：[1]College of Mechanical Engineering,Donghua University,Shanghai 201620,China [2]Shanghai Aerospace Equipments Manufacturer Co.,Ltd.,Shanghai 200245,China [3]Shanghai Aerospace Process and Equipment Engineering and Technology Research Center,Shanghai 200245,China

出　　处：《Journal of Donghua University(English Edition)》2025年第1期29-40,共12页东华大学学报(英文版)

摘　　要：A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.针对二维可展开机构的地面试验,设计了一种悬吊式重力补偿系统:综合考虑转动随动机构与悬吊机构的刚柔耦合特征,采用拉格朗日方程推导并建立了以模拟展开物与重力补偿装置为整体的多体动力学模型;为应对水平方向上由被动跟随所引发的显著非铅锤效应而导致的系统内部瞬时冲击力,在竖直悬吊机构中串联了弹性元件,并将其与钢丝绳串联;利用ADAMS软件开展了串联弹性元件对转动随动机构动态响应的分析。仿真分析结果表明,与无弹性环节相比,有弹性环节的补偿误差从45%降低至0.31%。采用低刚度弹性环节的卸载率要高于采用高刚度弹性环节的卸载率,在卸载率满足要求的情况下,选择刚度系数为6 N/mm的弹簧进行试验,得出补偿误差满足设计要求(5%)的结论。

关 键 词：suspension gravity compensation passive servo system flexible-rigid coupling model series elastic element 

分 类 号：V216.8[航空宇航科学与技术—航空宇航推进理论与工程]