航天捕获拖曳伺服机构系绳张力峰均比抑制技术

张得礼; 卜飞飞; 潘子昊; 杨志达; 王俊; 王苑; 张宇

doi:10.13224/j.cnki.jasp.20230176

航天捕获拖曳伺服机构系绳张力峰均比抑制技术

doi: 10.13224/j.cnki.jasp.20230176

1.
南京航空航天大学机电学院，南京 210016
2.
上海宇航系统工程研究所，上海 201109

基金项目: 中央高校基本科研业务费项目（NT2023007）

详细信息

作者简介:
张得礼（1973-），男，副教授、硕士生导师，博士，主要从事伺服和机器人控制技术研究。E-mail：Nuaazdl@126.com

中图分类号: V19；TP23
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- 被引次数: 0
出版历程
- 收稿日期: 2023-03-23
- 网络出版日期: 2023-08-15

Peak-to-average ratio suppression technology of aerospace tension servo mechanism

1.
College of Mechanical and Electrical Engineering， Nanjing University of Aeronautics and Astronautics，Nanjing 210016，China
2.
Aerospace System Engineering Shanghai，Shanghai 201109，China

摘要

摘要:
系绳张力的建立需要收绳与目标物拖曳之间存在速度差，针对传统PI控制难以在张力建立或释放等动态过程中获得平稳快速的控制效果问题，提出了一种将积分控制器分段组合的抗冲击策略，在张力建立过程中采用纯积分控制，当张力反馈接近参考值时，加入比例控制使张力值快速收敛，进而较为精确地建立张力，并有效抑制张力冲击，同时采用积分重置的方法使动态控制过程前后张力连续稳定。仿真和样机实验表明，该控制策略精度较高，张力突变过程响应平稳且迅速，且不需要引入额外的物理量，结构简单，占用硬件资源少，可靠性较高。
- 柔性伺服 /
- 永磁电动机 /
- 张力控制 /
- 抗冲击策略 /
- 比列-积分-微分控制（PID）
Abstract:
Establishment of the tether tension requires a speed difference between the rope retraction and the target drag, making it difficult for the traditional PI control to obtain a stable and fast control effect in the dynamic process of tension establishment or release. To solve the problem, an anti-impact strategy was proposed, in which integral controllers were piecewise combined. Only integral control was used in the process of tension establishment. When the tension feedback was close to the reference value, the proportional control was added to make the tension value converge quickly, then the tension was established more accurately and the tension impact was effectively suppressed. Meanwhile, the integral reset method was used to make the tension continuous and stable before and after the dynamic control process. Simulation and prototype experiments showed that the anti-impact control strategy had high accuracy, and the response to tension sudden changes was smooth and rapid. At the same time, the control strategy did not need to introduce additional physical quantities, featuring simple structure and high reliability, and occupying less hardware resources.
- flexible servo /
- permanent magnet motor /
- tension control /
- anti-shock strategy /
- proportional integral derivative (PID)

HTML

图 1 柔性传动机构中的张力控制

Figure 1. Tension control in flexible drive

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图 2 柔性系绳拖曳系统结构图

Figure 2. Structure diagram of flexible rope towing system

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图 3 张力控制系统的传递函数模型

Figure 3. Transfer function model of tension control

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图 4 张力控制过程中的张力冲击现象

Figure 4. Tension impact under tension control strategy

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图 5 本文所提出分段控制策略示意图

Figure 5. Piecewise control concept proposed in this paper

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图 6 不同阻尼比下二阶系统的阶跃响应

Figure 6. Step response of second order system with different damping coefficients

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图 7 积分分离PI张力控制策略框图

Figure 7. Integral separation PI tension control strategy diagram

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图 8 抗冲击张力控制策略模式切换示意图

Figure 8. Example of switching strategy in anti-impact tension control

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图 9 抗冲击张力控制策略

Figure 9. Anti impact strategy of tension control

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图 10 不同控制策略下的静态负载仿真结果

Figure 10. Simulation results of different control strategy at the condition of static load

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图 11 不同控制策略下的自由负载仿真结果

Figure 11. Simulation results of different control strategy at the condition of free load

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图 12 实验平台

Figure 12. Experiment platform

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图 13 不同控制策略下的静态负载阶跃实验结果

Figure 13. Experimental results of step setting for different tension control strategies under static load

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图 14 不同控制策略下的自由负载阶跃实验结果

Figure 14. Experimental results of step setting for different tension control strategies under free load

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表 1 永磁同步电动机柔性系绳张力控制系统主要参数

Table 1. Main parameters of flexible tether tension control system based on permanent magnet synchronous motor

参数	数值
参数	夹送电动机（A）	收卷电动机（B）
系绳弹性系数/（N/m）	140
系绳速度变化范围/（m/s）	0～0.5
母线电压/V	28.0	28.0
额定转速/（r/min）	1100	1100
额定转矩/（mN·m）	50	200
额定电流/A	0.35	1.3
最大转矩/（mN·m）	150	400
最大转矩速度/（r/min）	400	400
相电阻/Ω	11.5	3.6
相电感/mH	4.78	3.86
极对数	6	5

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