星载环形天线重力补偿新方法
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摘要
针对环形天线地面展开试验中由吊丝非铅锤效应引起的重力补偿不足和吊丝附加水平横向力等问题,提出了一种吊丝主动水平定位与运动的重力补偿方法。对环形天线展开过程进行运动学分析得到了各桁架节点水平位移与桁架展开角的函数关系,进而实现天线展开过程中滑轮车对桁架节点位置的精确跟随;对环形天线展开过程进行力学分析,得到了各个吊丝的配重质量;基于ADAMS软件对所提重力补偿方法和吊丝配重法进行对比分析,验证了方法的合理性和正确性。
To solve the problems of the deviation of slings and the deficiency of vertical force caused by non plumb-bob effects of slings in the experiments of perimeter truss deployable reflectors in space orbit,agravity compensation method was proposed herein with active horizontal positioning and moving slings.Firstly,the relationships between the horizontal displacement of truss nodes and truss deployment angles were obtained by kinematic analyses of the deployment processes,so that the positions of the truss nodes could be followed in deployment processes accurately.Furthermore,static mechanics analyses of the deployment processes were carried out to determine the masses of counterweights.Finally,the rationality and correctness of the proposed method were verified by comparing with the hanging wire counterweight method based on ADAMS.
To solve the problems of the deviation of slings and the deficiency of vertical force caused by non plumb-bob effects of slings in the experiments of perimeter truss deployable reflectors in space orbit,agravity compensation method was proposed herein with active horizontal positioning and moving slings.Firstly,the relationships between the horizontal displacement of truss nodes and truss deployment angles were obtained by kinematic analyses of the deployment processes,so that the positions of the truss nodes could be followed in deployment processes accurately.Furthermore,static mechanics analyses of the deployment processes were carried out to determine the masses of counterweights.Finally,the rationality and correctness of the proposed method were verified by comparing with the hanging wire counterweight method based on ADAMS.
引文
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[12]刘振,高海波,邓宗全,等.摇臂转向架式星球车单索重力补偿[J].机械工程学报,2013,49(7):113-124.LIU Zhen,GAO Haibo,DENG Zongquan,et al.Gravity Compensation for Rocker-bogie Rovers Through Single String Tension[J].Journal of Mechanical Engineering,2013,49(7):113-124.
[13]姚燕生,梅涛,刘明,等.悬挂式重力补偿系统精密跟踪方法[J].哈尔滨工业大学学报,2009,41(11):205-208.YAO Yansheng,MEI Tao,LIU Ming,et al.Precision Tracking Method in Suspension System for Gravity Compensation[J].Journal of Harbin Institute of Technology,2009,41(11):205-208.
[14]李团结,张琰,李涛.周边桁架可展天线展开过程动力学分析及控制[J].航空学报,2009,30(3):444-449.LI Tuanjie,ZHANG Yan,LI Tao.Deployment Dynamic Analysis and Control of Hoop Truss Deployable Antenna[J].Acta Aeronautica et Astronautica Sinica,2009,30(3):444-449.
[15]齐朝晖,常进官,王刚.周边桁架式可展开天线展开分析与控制[J].宇航学报,2014,35(1):61-68.QI Zhaohui,CHANG Jinguan,WANG Gang.Analysis and Control of Deployment Process for Hoop Truss Deployable Antenna[J].Journal of Astronautics,2014,35(1):61-68.
[2]韦娟芳.卫星天线展开过程的零重力环境模拟设备[J].空间电子技术,2006,3(2):29-32.WEI Juanfang.Zero-gravity Environment Simulation of the Deployment Process of the Satellite Antenna[J].Space Electronic Technology,2006,3(2):29-32.
[3]徐文福,梁斌,李成,等.空间机器人微重力模拟实验系统研究综述[J].机器人,2009,31(1):88-96.XU Wenfu,LIANG Bin,LI Cheng,et al.A Review on Simulated Micro-gravity Experiment Systems of Space Robot[J].Robot,2009,31(1):88-96.
[4] SATO Y,EJIRI A,IIDA Y,et al.Micro-G Emulation System Using Constant-tension Suspension for a Space Manipulator[C]//IEEE International Conference on Robotics and Automation.California,1991,3:1893-1900.
[5] WHITE G C,XU Y.An Active Vertical-direction Gravity Compensation System[J].IEEE Transactions on Instrumentation and Measurement,1994,43(6):786-792.
[6] MEGURO A,ISHIKAWA H,TSUJIHATA A.Study on Ground Verification for Large Deployable Modular Structures[J].Journal of Spacecraft and Rockets,2006,43(4):780-787.
[7] MEGURO A,SHINTATE K,USUI M,et al.In-orbit Deployment Characteristics of Large Deployable Antenna Reflector Onboard Engineering Test SatelliteⅧ[J].Acta Astronautica,2009,65(9/10):1306-1316.
[8] TSUNODA H,HARIU K,KAWAKAMI Y,et al.Deployment Test Methods for a Large Deployable Mesh Reflector[J].Journal of Spacecraft and Rockets,1997,34(6):811-816.
[9] TSUNODA H,HARIU K,KAWAKAMI Y,et al.Structural Design and Deployment Test Methods for a Large Deployable Mesh Reflector[C]//38th Structures,Structural Dynamics,and Materials Conference.Kissimmee,FL,USA,1997:2963-2971.
[10]齐乃明,张文辉,高九州,等.三维空间微重力地面模拟试验系统设计[J].机械工程学报,2011,47(9):16-20.QI Naiming,ZHANG Wenhui,GAO Jiuzhou,et al.Design of Ground Simulation Test System for Three-dimensional Spatial Microgravity Environment[J].Journal of Mechanical Engineering,2011,47(9):16-20.
[11]刘巍,张磊,赵维.载人低重力模拟技术现状与研究进展[J].航天医学与医学工程,2012,25(6):463-468.LIU Wei,ZHANG Lei,ZHAO Wei.Current Situation and Research Progress of Low Gravity Simulation[J].Space Medicine&Medical Engineering,2012,25(6):463-468.
[12]刘振,高海波,邓宗全,等.摇臂转向架式星球车单索重力补偿[J].机械工程学报,2013,49(7):113-124.LIU Zhen,GAO Haibo,DENG Zongquan,et al.Gravity Compensation for Rocker-bogie Rovers Through Single String Tension[J].Journal of Mechanical Engineering,2013,49(7):113-124.
[13]姚燕生,梅涛,刘明,等.悬挂式重力补偿系统精密跟踪方法[J].哈尔滨工业大学学报,2009,41(11):205-208.YAO Yansheng,MEI Tao,LIU Ming,et al.Precision Tracking Method in Suspension System for Gravity Compensation[J].Journal of Harbin Institute of Technology,2009,41(11):205-208.
[14]李团结,张琰,李涛.周边桁架可展天线展开过程动力学分析及控制[J].航空学报,2009,30(3):444-449.LI Tuanjie,ZHANG Yan,LI Tao.Deployment Dynamic Analysis and Control of Hoop Truss Deployable Antenna[J].Acta Aeronautica et Astronautica Sinica,2009,30(3):444-449.
[15]齐朝晖,常进官,王刚.周边桁架式可展开天线展开分析与控制[J].宇航学报,2014,35(1):61-68.QI Zhaohui,CHANG Jinguan,WANG Gang.Analysis and Control of Deployment Process for Hoop Truss Deployable Antenna[J].Journal of Astronautics,2014,35(1):61-68.