三轴气浮台重力梯度引起的不平衡力矩分析
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摘要
为降低重力干扰力矩对三轴气浮台平衡及仿真精度的影响,提出了气浮台重力梯度不平衡力矩的计算方法。根据台体上各质点受到的重力大小存在略微的差别,建立了重力梯度引起的不平衡力矩计算模型,分析了重力梯度不平衡力矩对气浮台平衡过程的影响。仿真结果表明:重力梯度不平衡力矩是气浮台台体二倍倾斜角的正弦函数;随着台体质心趋近回转中心重力梯度不平衡力矩作用越来越显著。
To reduce the influence of gravity disturbance torque on the balance and simulation accuracy of the three axis air-bearing testbed,the calculation method for unbalance torque raise by gravity gradient of air-bearing testbed was presented. According to the existing slightly difference by gravity on each particle of the platform,the computational model of unbalanced torque caused by gravity gradient was established and the influence of gravity gradient unbalance torque on the equilibrium of air-bearing testbed was analyzed.The simulation results show that the gravity gradient unbalanced torque is the sine function as two times tilt angle of the platform. With the mass center approaching to rotation center,the gravity gradient unbalance torque is gradually becoming the main factor affecting the air-bearing platform balance.
To reduce the influence of gravity disturbance torque on the balance and simulation accuracy of the three axis air-bearing testbed,the calculation method for unbalance torque raise by gravity gradient of air-bearing testbed was presented. According to the existing slightly difference by gravity on each particle of the platform,the computational model of unbalanced torque caused by gravity gradient was established and the influence of gravity gradient unbalance torque on the equilibrium of air-bearing testbed was analyzed.The simulation results show that the gravity gradient unbalanced torque is the sine function as two times tilt angle of the platform. With the mass center approaching to rotation center,the gravity gradient unbalance torque is gradually becoming the main factor affecting the air-bearing platform balance.
引文
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[8]向东,杨庆俊,包钢,等.三轴气浮平台常值干扰力矩的分析与补偿[J].宇航学报,2009,30(2):448-452.XIANG Dong,YANG Qingjun,BAO Gang,et al.Research on Analysing and Compensation of the Steady Disturbing Torque of the Three Axis Air Bearing Table[J].Journal of Astronautics,2009,30(2):448-452.
[2]KARAMI M A,SASSANI F.Spacecraft Momentum Dumping Using Fewer than Three External Control Torques[J].Journal of Guidance,Control,and Dynamics,2009,32(1):242-247.
[3]BAE JONGHEE,KIM YOUDAN.Adaptive Controller Design for Spacecraft Formation Flying Using Sliding Mode Controller and Neural Networks[J].Journal of the Franklin Institute,2012,349(5):578-603.
[4]REYNERSON,CHARLES M.Aerodynamic Disturbance Force and Torque for Spacecraft and Simple Shapes Using Finite Plate Elements-Part II:Aerodynamic Force&Torque[C]//2012 IEEE Aerospace Conference,March 3-10,2012,Big Sky,MT,United states 2012:1-9.
[5]陈欢龙,周军,刘莹莹.多体卫星物理仿真动态调平衡干扰力矩分析[J].计算机仿真,2010,27(10):66-70.CHEN Huanlong,ZHOU Jun,LIU Yingying.Analysis of Disturbance Torque on Multi-body Satellite Physical Simulation[J].Computer Simulation,2010,27(10):66-70.
[6]林来兴.试论气浮台仿真的功能[J].控制工程,1983(4):1-9.LIN Laixing.Study on the Function of the Air-bearing Table Simulation[J].Control Engineering of China,1983(4):1-9.
[7]王祖温,李延斌,包钢.3自由度气浮台力学性能研究——关于自重作用下不平衡力矩的分析[J].机械工程学报,2006,42(4):179-184.WANG Zuwen,LI Yanbin,BAO Gang.Study on the Mechanics Property of Three Degrees of Freedom Air-bearing Testbed—analysis on Unbalance Torque Acted on Gravity[J].Chinese Journal of Mechanical Engineering,2006,42(4):179-184.
[8]向东,杨庆俊,包钢,等.三轴气浮平台常值干扰力矩的分析与补偿[J].宇航学报,2009,30(2):448-452.XIANG Dong,YANG Qingjun,BAO Gang,et al.Research on Analysing and Compensation of the Steady Disturbing Torque of the Three Axis Air Bearing Table[J].Journal of Astronautics,2009,30(2):448-452.