论文部分内容阅读
设计了大跟踪范围的星球车重力补偿系统.星球车重力补偿系统主要包含拉力系统和位置系统:拉力系统产生恒定吊索补偿力;位置系统搭载拉力系统并跟踪星球车水平面投影,保持吊索垂直.为提高拉力系统快速性并避免激发位置系统纵振,提出粗精控制结合、开环闭环结合的拉力系统方案:使用同轴、相对布置的大、小电机驱动卷筒收放吊索;使用被动的恒力机构张紧吊索.工作时,大电机输入主要拉力,抑制低频拉力干扰;小电机精确调整拉力,抑制中频干扰;在电机响应滞后时,恒力机构使用其开环特性响应高频干扰.为在大范围内准确跟踪星球车,提出双层位置伺服的位置系统方案:使用天车系统搭载2维跟踪平台;天车系统运动范围大、精度低、快速性差,使用其进行大范围初步跟踪,达到粗调的目的;跟踪平台运动范围小、精度高、快速性好,使用其进行小范围精确跟踪,达到精调的功能.补偿系统覆盖面积30m×30m.实践证明,按照以上方法构造的重力补偿系统的位置跟踪误差小于0.01m;普通情况下,拉力补偿误差小于±0.5%;阶跃干扰出现时,拉力补偿误差小于1.5%.
The gravity compensation system of the planetary car with large tracking range is designed.The gravity compensation system of the planetary car mainly includes the tension system and the position system: the tension system generates a constant sling compensation force; the position system is equipped with a tension system and tracks the horizontal projection of the satellite car, In order to improve the rapidity of the tension system and avoid the longitudinal vibration excitation of the position system, the paper puts forward a tension control system combined with open loop and closed loop system: the use of coaxial and relative large and small motors to drive the reel to receive the sling; Passive constant force institutions tension sling. Work, a large motor input main pulling force, inhibition of bass tension interference; small motor precise adjustment of tension, inhibit the intermediate frequency interference; in the motor response lag, the constant force institutions to use its open-loop characteristics of high response Frequency interference.In order to accurately track the planetary car in a wide range, put forward a double-layer position servo position system program: the use of crane system equipped with two-dimensional tracking platform; Crane system range of motion, low accuracy, rapidity, the use of its large The range of the initial tracking, to coarse tuning purposes; tracking platform, small range of motion, high precision, fast, good use of its small-scale precision The compensation system covers an area of 30m × 30m.It has been proved that the position tracking error of the gravity compensation system constructed in the above method is less than 0.01m. Under normal circumstances, the compensation error of the pullout is less than ± 0.5%. The step interference When it occurs, the tension compensation error is less than 1.5%.