CN104118580A - Device and method for simulating low gravity - Google Patents
Device and method for simulating low gravity Download PDFInfo
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- CN104118580A CN104118580A CN201410333252.6A CN201410333252A CN104118580A CN 104118580 A CN104118580 A CN 104118580A CN 201410333252 A CN201410333252 A CN 201410333252A CN 104118580 A CN104118580 A CN 104118580A
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Abstract
The invention discloses a device and method for simulating low gravity. The device for simulating low gravity mainly comprises multiple constant-tension control systems and a movable and rotary three-degree-of-freedom comprehensive platform, a control subsystem, a main hanging structure and a multi-hanging-point combined control system, wherein the constant-tension control systems are used for controlling the tension of hanging ropes within the range of the vertical operating stroke according to a command, the multiple constant-tension control systems are connected to the lower portion of the movable and rotary three-degree-of-freedom comprehensive platform and are connected with a simulated low-gravity object through the hanging ropes, the posture parameter of the multiple constant-tension control systems serve as the control information of the movable and rotary three-degree-of-freedom comprehensive platform after being coupled, the main hanging structure is arranged on a servo comprehensive platform, and the multi-hanging-point combined control system calculates the current hanging force values of all hanging points and guarantees that the hanging force meets the set gravity requirement according to the position posture of the simulated low-gravity object, and the hanging force passes through the center of mass of the simulated low-gravity object. According to the low-gravity simulating device, the stress condition of all movable parts of moving mechanisms and the stress condition of the positions where the movable parts are connected can be represented truly so that the device can be adapted to the real-time change of the center of mass.
Description
Technical field
The present invention relates to a kind of low gravity simulation device and method.
Background technology
There is at present the device of the little gravity environment of various simulations, as the device with lowering cage, aircraft, waters, balloon and elevator machinery, subjects center of gravity is applied to vertical relief force etc., those conventional simulators are general adopt be arranged on various fixing or can geographical mobile system on, wherein most typical is that overhead traveling crane machinery and Transport Machinery are basic simulator.Existing low gravity simulation device generally is along the simulator of one direction certain track, and special dimension uses has developed a kind of single-point automatic tracking system, cannot meet multi-part mechanism product for the requirement of the low gravity real time simulation of each parts but appoint.
In lunar rover vehicle ground experiment process, require to carry out low gravity simulation, lunar rover vehicle running gear is multi-part train of mechanism (six take turns rocker-arm) conventionally, and running gear is made up of four movable parts and body connecting device five parts.The single-point type loss of weight analog machine of ability, can only hang for framing member (being mainly body connecting device, also referred to as casing) at present.In process of the test, only lunar rover vehicle casing (single-point) is carried out to Control of decreasing load, due to the complexity of simulation lunar surface landform, the variation randomness of movable part barycenter, cannot accurately simulate six wheel loads of taking turns in lunar rover vehicle moonwalk process, the inner barycenter situation of change of tracking mechanism part is adjusted at any time in real time.Cannot obtain the performance perameter of lunar rover vehicle moonwalk accurately.
Summary of the invention
The invention provides a kind of multiple spot and hang low gravity simulation device and method, to solve above-mentioned defect of the prior art.Form because inspection tour prober for moon surface has multiple kinematic mechanisms, in motion process, its barycenter is real-time change.For the stressing conditions of active connection place between the each kinematic mechanism of true reappearance, adapt to barycenter real-time change, this analog machine is hung respectively each movable parts.
Technical scheme of the present invention is as follows:
A kind of low gravity simulation device, mainly comprises with lower component:
With sling point many cover " permanent tension force " control system one to one, for realize the tension force control of lifting rope by instruction within the scope of vertical forced stroke;
Mobile platform and control subsystem, be mainly made up of platform framework and the servo motion platform that described " permanent tension force " control system is installed, and described servo motion platform adopts two-dimensional movement servocontrol scheme, can control each lifting rope and remain vertical; Described in the below of described servo motion platform is connected with, with sling point many cover " permanent tension force " control system one to one, described " permanent tension force " control system of overlapping are connected with the low gravity object of simulation by lifting rope respectively more; Described servo motion platform is preferably the servo motion platform of high response;
Hanging agent structure, be arranged on described servo motion platform, mainly by guide rail, longitudinal movement cart, cross motion dolly and rotating disk composition, wherein longitudinal movement cart is slidably connected on described guide rail, cross motion dolly is positioned at the top of longitudinal movement cart, and with longitudinal movement cart sliding block joint, the upper end of described rotating disk and longitudinal movement cart are rotationally connected, the lower end of described rotating disk and described high response servo motion platform are affixed, described rotating disk is used for according to the variation of each sling point relative position on servo motion platform, judge the variation of the low gravity movement direction of object of described simulation of being hung, controlling mobile platform turns to accordingly, each sling point on guarantee servo motion platform is all the time within the scope of forced stroke,
Many suspension centres combined control system, according to the low gravity object space of described simulation attitude, calculates the current hanging force value of each sling point in real time, and ensures that hanging force meets and set gravity requirement, and hanging force is by the barycenter of the low gravity object of described simulation.
A kind of method that uses above-mentioned low gravity simulation device to carry out low gravity simulation, use described lifting rope to carry out multiple spot hanging on the low gravity object of described simulation, in the low gravity object of which movement of described simulation process, described hanging agent structure is carried out synchronizing moving on described servo motion platform, and by described many suspension centres combined control system according to simulation low gravity object space attitude, calculate in real time the current hanging force value of each sling point, and transmit respectively instruction to described many cover " permanent tension force " control system, via the control of described many cover " permanent tension force " control system, ensureing that hanging force meets sets gravity requirement, and hanging force is by the barycenter of the low gravity object of described simulation.
Compared with prior art, beneficial effect of the present invention is as follows:
The one, the present invention can be in the low Gravity process of simulation, simulate low gravity object mass center while there is any variation, measure in real time the tension variation of hoist cable, realize the permanent tension force control of hoist cable and quickly retracting, realize many body hangings of the low gravity object of simulation and the real-time tracking of hanging, ensure the simulation of its low-gravity environment;
The 2nd, low gravity simulation device of the present invention adopts the scheme of multiple (for example 5) sling point, the four-dimension that suspension centre can be realized simulating low gravity object of which movement is followed the tracks of, comprise: (1) permanent tension force control on gravity direction and the quickly retracting of hoist cable, can respond the up-and-down movement that suspension centre occurs suddenly, and ensure the constant of hanging force; (2) formed by two parts in the movement of horizontal two-dimension direction, comprise the motion of servo system and the mobile platform of suspension centre, ensure hoist cable vertical and servo servo-actuated in rational stroke; (3) mobile platform (rotating disk), around the rotation of vertical ground center shaft, can be realized the unrestricted rotation of inspection tour prober for moon surface.
Certainly, implement arbitrary product of the present invention and might not need to reach above-described all advantages simultaneously.
Brief description of the drawings
Fig. 1 is the structural representation of the low gravity simulation device of the embodiment of the present invention;
Fig. 2 is the low gravity simulation device of the embodiment of the present invention is maked an inspection tour five sling points of device position view to lunar surface.
Detailed description of the invention
Below with specific embodiment, the present invention will be further described.
Embodiment
Refer to Fig. 1, the present embodiment provides a kind of 5 low gravity simulation devices of hanging, makes an inspection tour the low gravity simulation of device for carrying out lunar surface.Wherein, described 5 low gravity simulation devices of hanging comprise:
With sling point five cover " permanent tension force " control system 1 one to one, for realize the tension force control of lifting rope by instruction within the scope of vertical forced stroke; In addition, also comprise a set of " permanent tension force " control system for subsequent use, and for a set of " permanent tension force " control system of following mobile platform and control subsystem, be altogether equipped with seven covers " permanent tension force " control system;
Mobile platform and control subsystem, be mainly made up of platform framework 9 and the servo motion platform 2 that above-mentioned a set of " permanent tension force " control system is installed, and this servo motion platform 2 adopts two-dimensional movement servocontrol scheme, can control each lifting rope 3 and remain vertical; The below of servo motion platform is connected with and five sling points, five cover " permanent tension force " control system one to one, and those cover " permanent tension force " control system are connected with the low gravity object of simulation by lifting rope 3 respectively; Servo motion platform 2 is the servo motion platform of high response;
Hanging agent structure, be arranged on described servo motion platform 2, mainly by guide rail 4, longitudinal movement cart 5, cross motion dolly 6 and rotating disk 7 form, wherein longitudinal movement cart 5 is slidably connected on guide rail 4, cross motion dolly 6 is positioned at the top of longitudinal movement cart 5, and with longitudinal movement cart 5 sliding block joints, the upper end of rotating disk 7 and longitudinal movement cart 5 are rotationally connected, the lower end of rotating disk 7 is affixed with high response servo motion platform 2, rotating disk 7 is for according to the variation of each sling point relative position on servo motion platform 2, judge the variation of lunar surface tour device 8 sense of motions of being hung, controlling mobile platform turns to accordingly, each sling point on guarantee servo motion platform 2 is all the time within the scope of forced stroke,
Many suspension centres combined control system, makes an inspection tour device 8 position and attitudes according to lunar surface, calculates in real time the current hanging force value of each sling point, and ensures that hanging force meets the 1/6 gravity requirement setting, and keep hanging force to make an inspection tour all the time the barycenter of device 8 by lunar surface.
Wherein, the sling point that lunar surface is maked an inspection tour device 8 is five, refer to Fig. 2, these five sling points lay respectively at following five portions cover parts of lunar surface tour device: " tour device " casing and inner various instrument and equipment 81 thereof, left side master rocker and the near front wheel 82, right side master rocker and off front wheel 83, trailing wheel 84 in left side secondary-rocker and left side, trailing wheel 85 in right side secondary-rocker and right side, above-mentioned five cover " permanent tension force " control system 1 are for following the tracks of the motion of each being hung " portion's grip assembly " three degree of freedom direction, be the up-and-down movement of each being hung " portion's grip assembly " along vertical, the left and right of horizontal direction and moving forward and backward, meanwhile, above-mentioned five cover " permanent tension force " control system 1 are also followed the tracks of lunar surface and are maked an inspection tour the rotation around self center shaft of device 8 entirety.
The method that adopts above-mentioned low gravity simulation device to carry out the low gravity simulation of lunar surface is as follows:
Use lifting rope 3 to make an inspection tour on device and carry out multiple spot hanging (five points) at lunar surface, make an inspection tour device 8 in the motion process on simulative lunar soil 10 surfaces at lunar surface, above-mentioned hanging agent structure is carried out synchronizing moving on servo motion platform 2, and make an inspection tour device 8 position and attitudes by many suspension centres combined control system according to lunar surface, calculate in real time the current hanging force value of each sling point, and transmit respectively instruction to many cover " permanent tension force " control system 1, via the control of many covers " permanent tension force " control system 1, ensureing that hanging force meets sets gravity requirement, and hanging force is maked an inspection tour the barycenter of device by lunar surface.
The lunar surface 1/6g low-gravity environment simulation erecting by overhang of the present embodiment adopts the principle of barycenter hanging compensation terrestrial gravitation, for mobile subsystem process of the test provides the simulation of low-gravity environment, that is: the vertical extended line of " hanging force " is all the time by the barycenter of hanging object, weighs 1/6 simulation to realize lunar surface gravity as the earth.
It is that robot mechanism technology, power control technology, position tracking technique and sensor information fusion technology etc. are carried out to integrated and innovation that low-gravity environment analog machine of the present invention is realized technology path, and development simulation hanging experimental set-up, completes predetermined test objective.Determine technical requirements and the total arrangement of simulation erecting by overhang according to experimental principle, work flow and working environment, utilize Robotics to realize state simulation, motion control, performance test, utilize power root to realize simulation all the time with control technology, be beneficial to semi-physical simulation process the performance of the lunar rover vehicle is tested, assessed and verifies.
The disclosed preferred embodiment of the present invention is just for helping to set forth the present invention above.Preferred embodiment does not have all details of detailed descriptionthe, and also not limiting this invention is only described detailed description of the invention.Obviously,, according to the content of this specification sheets, can make many modifications and variations.These embodiment are chosen and specifically described to this specification sheets, is in order to explain better principle of the present invention and practical application, thereby under making, the present invention can be understood and utilize to technical field technical personnel well.The present invention is only subject to the restriction of claims and four corner and equivalent.
Claims (5)
1. a low gravity simulation device, is characterized in that, mainly comprises with lower component:
With sling point many cover " permanent tension force " control system one to one, for realize the tension force control of lifting rope by instruction within the scope of vertical forced stroke;
Mobile rotation comprehensive platform and control subsystem, mainly formed by platform framework and the servo motion platform that described " permanent tension force " control system is installed, described servo motion platform adopts the servocontrol scheme of two-dimensional movement one dimension control rotation, can control each lifting rope and remain vertical; Described in the below of described servo motion platform is connected with, with sling point many cover " permanent tension force " control system one to one, described " permanent tension force " control system of overlapping are connected with the low gravity object of simulation by lifting rope respectively more;
Hanging agent structure, be arranged on described servo motion platform, mainly by guide rail, longitudinal movement cart, cross motion dolly and rotating disk composition, wherein longitudinal movement cart is slidably connected on described guide rail, cross motion dolly is positioned at the top of longitudinal movement cart, and with longitudinal movement cart sliding block joint, the upper end of described rotating disk and longitudinal movement cart are rotationally connected, the lower end of described rotating disk and described high response servo motion platform are affixed, described rotating disk is used for according to the variation of each sling point relative position on servo motion platform, judge the variation of the low gravity movement direction of object of described simulation of being hung, controlling mobile platform turns to accordingly, each sling point on guarantee servo motion platform is all the time within the scope of forced stroke,
Many suspension centres combined control system, according to the each movable part position and attitude of the low gravity object of described simulation, measure in real time position and posture and the hanging force value of each movable part, analyze each movable part posture information and coupling situation, control in real time motion, rotation and the motion of constant tension system elevator of hanging platform, set gravity requirement to ensure that hanging force meets constantly, and hanging force is constantly by the barycenter of the low gravity object of described simulation.
2. low gravity simulation device as claimed in claim 1, it is characterized in that, the low gravity object of described simulation is multi-part mechanism product, between multi-part, there is relative irregular movement, described multi-part mechanism product embodiments is that lunar surface is maked an inspection tour device, in this example, " permanent tension force " control system arranges five covers altogether, described five sling points lay respectively at following five portions cover parts of described lunar surface tour device: " tour device " casing and inner various instrument and equipment thereof, left side master rocker and the near front wheel, right side master rocker and off front wheel, trailing wheel in left side secondary-rocker and left side, trailing wheel in right side secondary-rocker and right side, described parts link with a sling point respectively, corresponding " permanent tension force " control system is for following the tracks of the motion of being hung " portion's grip assembly " three degree of freedom direction, along the up-and-down movement of vertical, the left and right of horizontal direction and moving forward and backward, meanwhile, described each sling point respectively corresponding " permanent tension force " control system be coupled and realizes integral platform and move and rotate from motion tracking lunar surface tour device by pose.
3. low gravity simulation device as claimed in claim 1, is characterized in that, also comprises a set of " permanent tension force " control system for subsequent use.
4. a right to use requires the method that in 1-3, the low gravity simulation device described in any one carries out low gravity simulation, it is characterized in that, use described lifting rope to carry out multiple spot hanging on the low gravity object of described simulation, in the low gravity object of which movement of described simulation process, described hanging agent structure is carried out synchronizing moving on described servo motion platform, and by described many suspension centres combined control system according to simulation low gravity object space attitude, calculate in real time the current hanging force value of each sling point, and transmit respectively instruction to described many cover " permanent tension force " control system, via the control of described many cover " permanent tension force " control system, ensureing that hanging force meets sets gravity requirement, and hanging force is by the barycenter of the low gravity object of described simulation.
5. the method that right to use requires the low gravity simulation device described in 4 to carry out low gravity simulation, it is characterized in that, the low gravity object of described simulation is that lunar surface is maked an inspection tour device, the sling point that described lunar surface is maked an inspection tour on device is five, described " permanent tension force " control system arranges five covers altogether, described five sling points lay respectively at following five portions cover parts of described lunar surface tour device: " tour device " casing and inner various instrument and equipment thereof, left side master rocker and the near front wheel, right side master rocker and off front wheel, trailing wheel in left side secondary-rocker and left side, trailing wheel in right side secondary-rocker and right side, described " permanent tension force " control system corresponding with each sling point difference is used for following the tracks of the motion of each being hung " portion's grip assembly " three degree of freedom direction, along the up-and-down movement of vertical, the left and right of horizontal direction and moving forward and backward, meanwhile, described and each sling point respectively corresponding " permanent tension force " control system also follow the tracks of the rotation of described lunar surface tour device entirety around self center shaft.
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| CN104678781A (en) * | 2015-03-05 | 2015-06-03 | 南京航空航天大学 | System and method of regulation and control of postures and landing experiments for space robot simulating gecko |
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| CN108382616B (en) * | 2018-05-17 | 2023-07-04 | 燕山大学 | Suspension gravity compensation device based on magnetic suspension follow-up |
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| CN109720609B (en) * | 2018-12-25 | 2022-04-12 | 哈尔滨工业大学 | Suspended microgravity simulation device and control method |
| CN112079258A (en) * | 2020-09-08 | 2020-12-15 | 中原动力智能机器人有限公司 | Movable microgravity environment simulation device |
| CN112416028A (en) * | 2020-11-12 | 2021-02-26 | 上海卫星装备研究所 | Multi-point hanging constant force joint adjustment control method and system |
| CN113291496A (en) * | 2021-05-31 | 2021-08-24 | 哈尔滨工业大学 | Suspension type discrete motion system and use method |
| CN113371235A (en) * | 2021-05-31 | 2021-09-10 | 哈尔滨工业大学 | Active and passive combined suspension type double-layer motion platform and using method |
| CN113781888A (en) * | 2021-09-30 | 2021-12-10 | 北京九天微星科技发展有限公司 | Lunar vehicle model and teaching aid for teaching |
| CN114603603A (en) * | 2022-03-03 | 2022-06-10 | 深圳技术大学 | Ground simulation device and method for on-orbit operation of space manipulator |
| US11938623B2 (en) | 2022-03-03 | 2024-03-26 | Shenzhen Technology University | Ground simulation device and method for on-orbit manipulation of space manipulator |
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